+ python -m lidar_slam --no-model /working/cd0f6d16-5d9f-424f-8917-df007eb4756f Lidar SLAM 0.0.15 ===================================================== The recording path: /working/cd0f6d16-5d9f-424f-8917-df007eb4756f 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 0.025769231 Adjusted end_distance from 9.223372036854776e+18 to 449.975769231 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025769231 meters Centerline goodness : 0.460768 Centerline is valid? [0, False] SLAMing on 0.055769231 meters Centerline goodness : 0.466598 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999925e-01 3.80382532e-04 6.89401613e-05 8.07737658e-04] [-3.80417722e-04 9.99999797e-01 5.11149029e-04 -4.20967560e-03] [-6.87457152e-05 -5.11175217e-04 9.99999867e-01 -5.54313855e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085769231 meters Centerline goodness : 0.459459 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999042e-01 1.37932042e-03 1.16982982e-04 4.01461099e-03] [-1.37946133e-03 9.99998313e-01 1.21312521e-03 -8.32252688e-03] [-1.15309496e-04 -1.21328542e-03 9.99999257e-01 -1.53382767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11576923100000001 meters Centerline goodness : 0.450954 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99996217e-01 2.71308273e-03 -4.53223016e-04 9.13229238e-03] [-2.71214262e-03 9.99994196e-01 2.06216603e-03 -1.05179488e-02] [ 4.58815212e-04 -2.06092902e-03 9.99997771e-01 -4.39620628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145769231 meters Centerline goodness : 0.453113 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99993819e-01 3.47291313e-03 -5.47604077e-04 1.10797273e-02] [-3.47174340e-03 9.99991720e-01 2.12277054e-03 -1.06403938e-02] [ 5.54971741e-04 -2.12085628e-03 9.99997597e-01 -5.12997218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17576923100000003 meters Centerline goodness : 0.424718 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99975972e-01 6.92844426e-03 -2.29578508e-04 1.70938423e-02] [-6.92760479e-03 9.99969965e-01 3.47520487e-03 -1.37211542e-02] [ 2.53649376e-04 -3.47353094e-03 9.99993935e-01 -8.06868233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20576923100000002 meters Centerline goodness : 0.447634 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99969680e-01 7.78016178e-03 -3.28138154e-04 1.91278892e-02] [-7.77899413e-03 9.99963891e-01 3.42103451e-03 -1.25583624e-02] [ 3.54742507e-04 -3.41837820e-03 9.99994094e-01 -8.87370909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23576923100000002 meters Centerline goodness : 0.444620 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99963365e-01 8.54807990e-03 -4.45074107e-04 2.13039622e-02] [-8.54656891e-03 9.99958056e-01 3.29283271e-03 -1.06220002e-02] [ 4.73202836e-04 -3.28890822e-03 9.99994480e-01 -9.98127727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265769231 meters Centerline goodness : 0.474083 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.9999063 0.01365069 -0.00102029 0.03180041] [-0.01364293 0.99988056 0.00726188 -0.01222667] [ 0.00111929 -0.00724728 0.99997311 -0.01656831] [ 0. 0. 0. 1. ]] SLAMing on 0.295769231 meters Centerline goodness : 0.435300 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 0.99989987 0.01406202 -0.00158331 0.0362285 ] [-0.01405026 0.99987533 0.00720545 -0.01082114] [ 0.00168444 -0.00718248 0.99997279 -0.01909556] [ 0. 0. 0. 1. ]] SLAMing on 0.32576923100000005 meters Centerline goodness : 0.073939 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99988221 0.01516 -0.00239424 0.04687088] [-0.01514234 0.99985922 0.00722854 -0.00896873] [ 0.00250349 -0.00719144 0.99997101 -0.0259737 ] [ 0. 0. 0. 1. ]] SLAMing on 0.355769231 meters Centerline goodness : 0.488169 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99988151 0.0151858 -0.00252232 0.04869497] [-0.01516813 0.99986127 0.00688225 -0.00636738] [ 0.00262649 -0.00684318 0.99997314 -0.02732339] [ 0. 0. 0. 1. ]] SLAMing on 0.38576923100000005 meters Centerline goodness : 0.445890 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.05 [[ 9.99845764e-01 1.53006992e-02 8.62187389e-03 5.98474623e-02] [-1.53404123e-02 9.99871936e-01 4.55893398e-03 -8.06799337e-04] [-8.55101486e-03 -4.69049393e-03 9.99952439e-01 -4.64929897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.415769231 meters Centerline goodness : 0.402618 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.05 [[ 0.99984223 0.01545378 0.00875756 0.062399 ] [-0.01548779 0.99987273 0.00382909 0.00580413] [-0.00869727 -0.00396412 0.99995432 -0.04670472] [ 0. 0. 0. 1. ]] SLAMing on 0.44576923100000004 meters Centerline goodness : 0.439547 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.05 [[ 0.9998468 0.01528551 0.00852841 0.06465231] [-0.0153145 0.99987713 0.00334525 0.00919422] [-0.00847623 -0.00347535 0.99995804 -0.04846235] [ 0. 0. 0. 1. ]] SLAMing on 0.475769231 meters Centerline goodness : 0.405337 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 0.99985243 0.01508811 0.00821355 0.06758664] [-0.01511179 0.99988181 0.00282906 0.01293223] [-0.00816989 -0.00295276 0.99996227 -0.05041322] [ 0. 0. 0. 1. ]] SLAMing on 0.505769231 meters Centerline goodness : 0.379120 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99985757 0.0151093 0.00751923 0.07805199] [-0.01512857 0.9998824 0.00251279 0.01943887] [-0.00748038 -0.00262619 0.99996857 -0.05740029] [ 0. 0. 0. 1. ]] SLAMing on 0.535769231 meters Centerline goodness : 0.418191 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99986371 0.01484071 0.00723345 0.08045311] [-0.01485648 0.99988736 0.00213187 0.02226763] [-0.007201 -0.00223905 0.99997157 -0.05877942] [ 0. 0. 0. 1. ]] SLAMing on 0.565769231 meters Centerline goodness : 0.431599 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99986941 0.01458898 0.00695087 0.0829251 ] [-0.01460269 0.99989152 0.00192581 0.02339988] [-0.00692202 -0.00202706 0.99997399 -0.06023111] [ 0. 0. 0. 1. ]] SLAMing on 0.595769231 meters Centerline goodness : 0.355897 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 0.9999586 0.00833019 0.00366097 0.10674424] [-0.00833898 0.99996237 0.00239322 0.02465098] [-0.00364089 -0.00242365 0.99999043 -0.05548602] [ 0. 0. 0. 1. ]] SLAMing on 0.625769231 meters Centerline goodness : 0.074871 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 0.99997182 0.00693396 0.00287652 0.11338688] [-0.00693857 0.99997465 0.00159813 0.02567464] [-0.00286536 -0.00161805 0.99999459 -0.05905972] [ 0. 0. 0. 1. ]] SLAMing on 0.655769231 meters Centerline goodness : 0.074640 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.06 [[ 0.99997459 0.00665739 0.00254987 0.11577373] [-0.00666183 0.99997631 0.00173411 0.02452878] [-0.00253827 -0.00175106 0.99999525 -0.06018215] [ 0. 0. 0. 1. ]] SLAMing on 0.685769231 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 0.715769231 meters Centerline goodness : 0.277874 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 9.99970978e-01 3.16458991e-03 6.93026240e-03 1.67242477e-01] [-3.17080763e-03 9.99994580e-01 8.86380152e-04 2.18525785e-02] [-6.92741981e-03 -9.08328956e-04 9.99975593e-01 -6.97634280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.745769231 meters Centerline goodness : 0.381368 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 0.9999744 0.00306424 0.00646614 0.17050501] [-0.00307203 0.99999457 0.00119462 0.01866792] [-0.00646245 -0.00121445 0.99997838 -0.07116034] [ 0. 0. 0. 1. ]] SLAMing on 0.7757692310000001 meters Centerline goodness : 0.126220 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997745 0.00284216 0.006084 0.17521537] [-0.00285324 0.99999428 0.00181414 0.01318567] [-0.00607881 -0.00183146 0.99997985 -0.07287959] [ 0. 0. 0. 1. ]] SLAMing on 0.805769231 meters Centerline goodness : 0.344796 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997873 0.00289299 0.00584581 0.17732855] [-0.0029049 0.99999372 0.00202995 0.01136486] [-0.0058399 -0.00204689 0.99998085 -0.07386507] [ 0. 0. 0. 1. ]] SLAMing on 0.835769231 meters Centerline goodness : 0.344796 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997873 0.00289299 0.00584581 0.17732855] [-0.0029049 0.99999372 0.00202995 0.01136486] [-0.0058399 -0.00204689 0.99998085 -0.07386507] [ 0. 0. 0. 1. ]] SLAMing on 0.865769231 meters Centerline goodness : 0.073476 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99997842 0.00292909 0.00587997 0.18038865] [-0.00294237 0.99999314 0.00225027 0.0101306 ] [-0.00587333 -0.00226752 0.99998018 -0.07431789] [ 0. 0. 0. 1. ]] SLAMing on 0.895769231 meters Centerline goodness : 0.096784 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.08 [[ 0.99997974 0.00301943 0.00560398 0.18299263] [-0.0030329 0.99999253 0.00239793 0.00965453] [-0.0055967 -0.00241487 0.99998142 -0.07561441] [ 0. 0. 0. 1. ]] SLAMing on 0.925769231 meters Centerline goodness : 0.296778 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.99998067 0.00313963 0.00536643 0.18544003] [-0.00315324 0.99999183 0.00252892 0.00860095] [-0.00535845 -0.00254579 0.9999824 -0.07687444] [ 0. 0. 0. 1. ]] SLAMing on 0.955769231 meters Centerline goodness : 0.502172 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.99997959 0.00343445 0.0053867 0.18861228] [-0.00344915 0.99999035 0.00272178 0.00617741] [-0.0053773 -0.0027403 0.99998179 -0.07754657] [ 0. 0. 0. 1. ]] SLAMing on 0.985769231 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 1.0157692310000002 meters Centerline goodness : 0.061371 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99997323 0.00514512 0.00520332 0.19673248] [-0.00516379 0.99998025 0.00358162 0.00672273] [-0.00518479 -0.00360839 0.99998005 -0.0802182 ] [ 0. 0. 0. 1. ]] SLAMing on 1.045769231 meters Centerline goodness : 0.245048 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99997325 0.00534865 0.00498988 0.19889051] [-0.00536708 0.9999788 0.0036873 0.00579283] [-0.00497005 -0.00371399 0.99998075 -0.08099328] [ 0. 0. 0. 1. ]] SLAMing on 1.075769231 meters Centerline goodness : 0.074324 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.08 [[ 0.99997357 0.00552367 0.00472671 0.20143829] [-0.00554195 0.99997718 0.00386344 0.00421101] [-0.00470526 -0.00388953 0.99998137 -0.08209483] [ 0. 0. 0. 1. ]] SLAMing on 1.105769231 meters Centerline goodness : 0.073418 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.09 [[ 0.99997977 0.00511572 0.00378129 0.21158758] [-0.00512941 0.99998029 0.00361953 0.00336404] [-0.0037627 -0.00363885 0.9999863 -0.08775097] [ 0. 0. 0. 1. ]] SLAMing on 1.135769231 meters Centerline goodness : 0.075161 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.09 [[ 0.9999804 0.00514409 0.00357035 0.21380515] [-0.00515715 0.99998001 0.0036595 0.00333571] [-0.00355145 -0.00367784 0.99998693 -0.08877443] [ 0. 0. 0. 1. ]] SLAMing on 1.165769231 meters Centerline goodness : 0.074424 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.09 [[ 0.99998095 0.0052055 0.00331802 0.21626234] [-0.00521747 0.99997988 0.00360835 0.00388915] [-0.00329917 -0.00362559 0.99998799 -0.08971384] [ 0. 0. 0. 1. ]] SLAMing on 1.195769231 meters Centerline goodness : 0.251227 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:-0.10 [[ 0.99998612 0.00487826 0.00199062 0.2299348 ] [-0.00488526 0.99998185 0.00352744 0.00344699] [-0.00197338 -0.00353712 0.9999918 -0.09773361] [ 0. 0. 0. 1. ]] SLAMing on 1.2257692310000001 meters Centerline goodness : 0.057083 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:-0.10 [[ 0.9999873 0.00480063 0.00153726 0.23369957] [-0.00480631 0.99998157 0.0037086 0.00169939] [-0.00151943 -0.00371595 0.99999194 -0.09961096] [ 0. 0. 0. 1. ]] SLAMing on 1.2557692310000002 meters Centerline goodness : 0.294212 Centerline is valid? [False, False] Translation: X:0.24, Y:0.00, Z:-0.10 [[ 9.99998421e-01 1.66060260e-03 6.32192541e-04 2.43467268e-01] [-1.66104356e-03 9.99998377e-01 6.97620530e-04 3.68531075e-03] [-6.31033044e-04 -6.98669528e-04 9.99999557e-01 -1.04520125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285769231 meters Centerline goodness : 0.207569 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:-0.11 [[ 9.99998747e-01 1.55471668e-03 2.97693104e-04 2.46207573e-01] [-1.55496988e-03 9.99998428e-01 8.52231931e-04 2.40965879e-03] [-2.96367657e-04 -8.52693767e-04 9.99999593e-01 -1.05425360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.315769231 meters Centerline goodness : 0.055742 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:-0.11 [[ 9.99998898e-01 1.48199403e-03 -8.69047531e-05 2.49420544e-01] [-1.48190738e-03 9.99998413e-01 9.88828449e-04 8.88724936e-04] [ 8.83700530e-05 -9.88698574e-04 9.99999507e-01 -1.06553894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.345769231 meters Centerline goodness : 0.388096 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.00, Z:-0.11 [[ 9.99999149e-01 3.04433594e-04 -1.26865539e-03 2.62447024e-01] [-3.03677819e-04 9.99999776e-01 5.95879271e-04 -2.36887863e-03] [ 1.26883651e-03 -5.95493501e-04 9.99999018e-01 -1.13655745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.375769231 meters Centerline goodness : 0.364475 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.12 [[ 9.99998666e-01 2.17276118e-04 -1.61908633e-03 2.65731329e-01] [-2.16034544e-04 9.99999683e-01 7.66971446e-04 -3.88062795e-03] [ 1.61925246e-03 -7.66620645e-04 9.99998395e-01 -1.15240883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.405769231 meters Centerline goodness : 0.054281 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.00, Z:-0.12 [[ 9.99997977e-01 9.80623024e-05 -2.00882745e-03 2.69059164e-01] [-9.63086015e-05 9.99999614e-01 8.73075381e-04 -4.49601433e-03] [ 2.00891229e-03 -8.72880148e-04 9.99997601e-01 -1.16513790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.435769231 meters Centerline goodness : 0.261552 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.12 [[ 9.99996623e-01 -2.67900313e-04 -2.58495194e-03 2.75110368e-01] [ 2.71279626e-04 9.99999109e-01 1.30704015e-03 -8.78642494e-03] [ 2.58459948e-03 -1.30773698e-03 9.99995805e-01 -1.18391436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4657692310000001 meters Centerline goodness : 0.132513 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.01, Z:-0.12 [[ 9.99993299e-01 -1.34420929e-03 -3.40510712e-03 2.82705152e-01] [ 1.34676730e-03 9.99998813e-01 7.49045935e-04 -1.05292720e-02] [ 3.40409621e-03 -7.53626802e-04 9.99993922e-01 -1.22468521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4957692310000001 meters Centerline goodness : 0.133184 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.13 [[ 9.99985403e-01 -3.01475475e-03 -4.48397374e-03 2.94161792e-01] [ 3.01733271e-03 9.99995286e-01 5.68274597e-04 -1.82493525e-02] [ 4.48223940e-03 -5.81795943e-04 9.99989785e-01 -1.28899322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5257692310000002 meters Centerline goodness : 0.136441 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.13 [[ 0.99998295 -0.0031583 -0.00491093 0.29762748] [ 0.00316413 0.9999943 0.00117926 -0.0234838 ] [ 0.00490717 -0.00119478 0.99998725 -0.13035245] [ 0. 0. 0. 1. ]] SLAMing on 1.555769231 meters Centerline goodness : 0.135635 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.03, Z:-0.13 [[ 0.99998051 -0.00322876 -0.00534367 0.30095956] [ 0.00323857 0.99999308 0.00182865 -0.02922361] [ 0.00533773 -0.00184592 0.99998405 -0.13133862] [ 0. 0. 0. 1. ]] SLAMing on 1.585769231 meters Centerline goodness : 0.052596 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.04, Z:-0.13 [[ 9.99979827e-01 -6.31670951e-03 6.66706787e-04 3.43737552e-01] [ 6.31637317e-03 9.99979924e-01 5.05385741e-04 -3.76925343e-02] [-6.69885777e-04 -5.01164377e-04 9.99999650e-01 -1.34977011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.615769231 meters Centerline goodness : 0.292359 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.14 [[ 9.99981638e-01 -6.05132039e-03 3.22906218e-04 3.46380142e-01] [ 6.05091887e-03 9.99980936e-01 1.23028108e-03 -4.31594916e-02] [-3.30344888e-04 -1.22830461e-03 9.99999191e-01 -1.35572224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.645769231 meters Centerline goodness : 0.189571 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.14 [[ 9.99985818e-01 -5.31597423e-03 -3.23805015e-04 3.52942328e-01] [ 5.31678170e-03 9.99982625e-01 2.54607796e-03 -5.19598254e-02] [ 3.10264504e-04 -2.54776345e-03 9.99996706e-01 -1.38041202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.675769231 meters Centerline goodness : 0.192556 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.14 [[ 9.99987741e-01 -4.91205711e-03 -6.24254711e-04 3.55761677e-01] [ 4.91395310e-03 9.99983205e-01 3.07286772e-03 -5.59374620e-02] [ 6.09150125e-04 -3.07589761e-03 9.99995084e-01 -1.39088944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.705769231 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 1.7357692310000001 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 1.7657692310000002 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 1.7957692310000002 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 1.825769231 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 1.855769231 meters Centerline goodness : 0.472686 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 0.99977869 0.02093957 0.00202481 0.47444122] [-0.02094565 0.99977603 0.00302943 -0.07270529] [-0.00196092 -0.00307117 0.99999336 -0.14501984] [ 0. 0. 0. 1. ]] SLAMing on 1.885769231 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 1.915769231 meters Centerline goodness : 0.136722 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.15 [[ 0.99974593 0.02250615 0.00124656 0.48593289] [-0.02251077 0.99973929 0.00382243 -0.07403261] [-0.0011602 -0.00384952 0.99999192 -0.14966998] [ 0. 0. 0. 1. ]] SLAMing on 1.945769231 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 1.9757692310000001 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 2.0057692310000004 meters Centerline goodness : 0.160953 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.15 [[ 0.9996836 0.02426436 -0.00662823 0.54122827] [-0.02423563 0.99969668 0.00438 -0.07609361] [ 0.0067325 -0.00421798 0.99996844 -0.14660148] [ 0. 0. 0. 1. ]] SLAMing on 2.035769231 meters Centerline goodness : 0.155843 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:-0.15 [[ 0.99965793 0.02511668 -0.00729169 0.54795761] [-0.02508099 0.99967319 0.00494503 -0.07691124] [ 0.00741351 -0.00476046 0.99996119 -0.15016006] [ 0. 0. 0. 1. ]] SLAMing on 2.065769231 meters Centerline goodness : 0.158196 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.07, Z:-0.15 [[ 0.99967648 0.02268464 -0.01150405 0.57652688] [-0.02260776 0.99972149 0.00677021 -0.07426893] [ 0.01165442 -0.00650793 0.99991091 -0.14902978] [ 0. 0. 0. 1. ]] SLAMing on 2.0957692310000002 meters Centerline goodness : 0.158294 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.07, Z:-0.15 [[ 0.99967402 0.02263607 -0.01180913 0.57949985] [-0.02255623 0.99972211 0.0068504 -0.0748689 ] [ 0.01196092 -0.0065818 0.9999068 -0.15005513] [ 0. 0. 0. 1. ]] SLAMing on 2.125769231 meters Centerline goodness : 0.164115 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.07, Z:-0.16 [[ 0.99971922 0.01976852 -0.01306455 0.59085423] [-0.01972348 0.99979911 0.0035677 -0.07497102] [ 0.01313246 -0.00330902 0.99990829 -0.15507401] [ 0. 0. 0. 1. ]] SLAMing on 2.1557692310000003 meters Centerline goodness : 0.075787 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.08, Z:-0.16 [[ 0.99971713 0.0195786 -0.01350335 0.59430455] [-0.01952775 0.99980176 0.00388786 -0.07891047] [ 0.01357679 -0.00362307 0.99990127 -0.15636969] [ 0. 0. 0. 1. ]] SLAMing on 2.185769231 meters Centerline goodness : 0.129585 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.16 [[ 9.99755984e-01 1.66742987e-02 -1.44893061e-02 6.03139118e-01] [-1.66653902e-02 9.99860852e-01 7.35363589e-04 -7.92477069e-02] [ 1.44995516e-02 -4.93714208e-04 9.99894754e-01 -1.61265821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2157692310000003 meters Centerline goodness : 0.080753 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.08, Z:-0.16 [[ 0.99979006 0.00983635 -0.01797471 0.6288416 ] [-0.00979831 0.99994957 0.00220351 -0.08353958] [ 0.01799548 -0.00202692 0.99983601 -0.15673317] [ 0. 0. 0. 1. ]] SLAMing on 2.245769231 meters Centerline goodness : 0.101811 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.17 [[ 0.99993596 0.00461808 -0.01033199 0.6484979 ] [-0.00454699 0.9999659 0.0068931 -0.08823381] [ 0.01036347 -0.00684567 0.99992286 -0.16512708] [ 0. 0. 0. 1. ]] SLAMing on 2.275769231 meters Centerline goodness : 0.096474 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.17 [[ 9.99933768e-01 -3.74464115e-05 -1.15090344e-02 6.60427232e-01] [ 7.44245461e-05 9.99994837e-01 3.21255436e-03 -9.23718110e-02] [ 1.15088547e-02 -3.21319814e-03 9.99928608e-01 -1.70687526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305769231 meters Centerline goodness : 0.131922 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.17 [[ 0.99992348 -0.00108518 -0.01232294 0.66813092] [ 0.00112085 0.9999952 0.00288791 -0.09495557] [ 0.01231974 -0.0029015 0.9999199 -0.17481561] [ 0. 0. 0. 1. ]] SLAMing on 2.335769231 meters Centerline goodness : 0.101212 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.18 [[ 0.99991919 -0.00101848 -0.01267181 0.67079748] [ 0.0010608 0.99999388 0.0033334 -0.09868234] [ 0.01266834 -0.00334658 0.99991415 -0.17562268] [ 0. 0. 0. 1. ]] SLAMing on 2.3657692310000003 meters Centerline goodness : 0.128042 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.20 [[ 0.999987 -0.00202644 -0.00467963 0.68362511] [ 0.00203752 0.99999513 0.00236415 -0.10016856] [ 0.00467482 -0.00237366 0.99998626 -0.19950168] [ 0. 0. 0. 1. ]] SLAMing on 2.395769231 meters Centerline goodness : 0.129604 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.20 [[ 0.99998544 -0.00177937 -0.00509507 0.6879501 ] [ 0.0017946 0.99999393 0.00298666 -0.10491195] [ 0.00508972 -0.00299576 0.99998256 -0.19995418] [ 0. 0. 0. 1. ]] SLAMing on 2.4257692310000003 meters Centerline goodness : 0.128504 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.20 [[ 0.99998411 -0.00163362 -0.00539537 0.69025743] [ 0.00165089 0.99999352 0.00319861 -0.1062804 ] [ 0.00539011 -0.00320747 0.99998033 -0.20026996] [ 0. 0. 0. 1. ]] SLAMing on 2.455769231 meters Centerline goodness : 0.128506 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.20 [[ 0.99998229 -0.00125034 -0.00581938 0.69448917] [ 0.00127141 0.99999265 0.00361702 -0.1089582 ] [ 0.00581482 -0.00362436 0.99997653 -0.20064828] [ 0. 0. 0. 1. ]] SLAMing on 2.4857692310000004 meters Centerline goodness : 0.099501 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.20 [[ 0.99998048 -0.00109672 -0.00615184 0.69712776] [ 0.00112098 0.9999916 0.00394258 -0.11144969] [ 0.00614747 -0.0039494 0.99997331 -0.20159347] [ 0. 0. 0. 1. ]] SLAMing on 2.515769231 meters Centerline goodness : 0.106800 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.20 [[ 9.99979013e-01 -9.60345182e-04 -6.40715022e-03 6.99175915e-01] [ 9.87703984e-04 9.99990403e-01 4.26824536e-03 -1.13879951e-01] [ 6.40298974e-03 -4.27448415e-03 9.99970365e-01 -2.02308705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545769231 meters Centerline goodness : 0.114285 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.21 [[ 0.99996914 -0.00165175 -0.00768063 0.71145636] [ 0.00168615 0.99998857 0.00447506 -0.11830851] [ 0.00767316 -0.00448788 0.99996049 -0.2080985 ] [ 0. 0. 0. 1. ]] SLAMing on 2.575769231 meters Centerline goodness : 0.150611 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.21 [[ 0.99996675 -0.00149442 -0.00801618 0.71362264] [ 0.00153396 0.99998668 0.00492884 -0.12168677] [ 0.00800871 -0.00494097 0.99995572 -0.20837025] [ 0. 0. 0. 1. ]] SLAMing on 2.605769231 meters Centerline goodness : 0.138025 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.21 [[ 0.99995549 -0.00231537 -0.00914621 0.72326406] [ 0.00236007 0.99998531 0.00487938 -0.12640461] [ 0.00913478 -0.00490075 0.99994627 -0.21221378] [ 0. 0. 0. 1. ]] SLAMing on 2.6357692310000003 meters Centerline goodness : 0.118590 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.21 [[ 0.99995325 -0.00215778 -0.00942511 0.72527267] [ 0.00220753 0.99998367 0.00527199 -0.12902879] [ 0.00941358 -0.00529255 0.99994169 -0.2127658 ] [ 0. 0. 0. 1. ]] SLAMing on 2.665769231 meters Centerline goodness : 0.084937 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.21 [[ 0.99994813 -0.00184298 -0.01001732 0.72958888] [ 0.00190159 0.99998111 0.00584426 -0.13248907] [ 0.01000636 -0.00586301 0.99993275 -0.21358057] [ 0. 0. 0. 1. ]] SLAMing on 2.6957692310000003 meters Centerline goodness : 0.088355 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.22 [[ 9.99997251e-01 1.26080338e-03 -1.97680040e-03 7.48755937e-01] [-1.26161247e-03 9.99999121e-01 -4.08099605e-04 -1.32010479e-01] [ 1.97628413e-03 4.10592439e-04 9.99997963e-01 -2.22790183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725769231 meters Centerline goodness : 0.087028 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.22 [[ 9.99996259e-01 1.45168041e-03 -2.31849378e-03 7.50811982e-01] [-1.45193155e-03 9.99998940e-01 -1.06640690e-04 -1.34146166e-01] [ 2.31833651e-03 1.10006585e-04 9.99997307e-01 -2.23085095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7557692310000004 meters Centerline goodness : 0.155079 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.23 [[ 9.99991920e-01 1.87846531e-03 -3.55403218e-03 7.63075851e-01] [-1.87665381e-03 9.99998108e-01 5.12968291e-04 -1.38377587e-01] [ 3.55498905e-03 -5.06294459e-04 9.99993553e-01 -2.29892004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.785769231 meters Centerline goodness : 0.155079 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.23 [[ 9.99991920e-01 1.87846531e-03 -3.55403218e-03 7.63075851e-01] [-1.87665381e-03 9.99998108e-01 5.12968291e-04 -1.38377587e-01] [ 3.55498905e-03 -5.06294459e-04 9.99993553e-01 -2.29892004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.815769231 meters Centerline goodness : 0.169261 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:-0.23 [[ 9.99990641e-01 1.99702472e-03 -3.83805739e-03 7.65102505e-01] [-1.99379904e-03 9.99997656e-01 8.44088881e-04 -1.40569975e-01] [ 3.83973406e-03 -8.36428666e-04 9.99992278e-01 -2.30486286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8457692310000002 meters Centerline goodness : 0.086651 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.23 [[ 0.9999877 0.00204206 -0.00452067 0.76945208] [-0.0020349 0.99999667 0.00158797 -0.14654797] [ 0.0045239 -0.00157875 0.99998852 -0.23073163] [ 0. 0. 0. 1. ]] SLAMing on 2.875769231 meters Centerline goodness : 0.086226 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.23 [[ 0.99998577 0.00213589 -0.00488943 0.77152146] [-0.00212597 0.99999567 0.00203303 -0.14992646] [ 0.00489375 -0.00202261 0.99998598 -0.23079767] [ 0. 0. 0. 1. ]] SLAMing on 2.9057692310000003 meters Centerline goodness : 0.084603 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.23 [[ 0.99998381 0.00219482 -0.00525021 0.7737719 ] [-0.00218253 0.99999487 0.00234625 -0.15212673] [ 0.00525534 -0.00233475 0.99998347 -0.23119276] [ 0. 0. 0. 1. ]] SLAMing on 2.935769231 meters Centerline goodness : 0.086148 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.23 [[ 0.99998195 0.00231361 -0.00554534 0.7753293 ] [-0.00229963 0.99999416 0.00252691 -0.15319335] [ 0.00555115 -0.00251412 0.99998143 -0.23104405] [ 0. 0. 0. 1. ]] SLAMing on 2.9657692310000003 meters Centerline goodness : 0.086634 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.23 [[ 0.99997545 0.00329813 -0.00618223 0.7788533 ] [-0.00328124 0.99999087 0.00273908 -0.15248846] [ 0.00619121 -0.00271872 0.99997714 -0.23022693] [ 0. 0. 0. 1. ]] SLAMing on 2.995769231 meters Centerline goodness : 0.087235 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 9.99939903e-01 1.06723127e-02 2.50842212e-03 7.98736516e-01] [-1.06736513e-02 9.99942899e-01 5.20848618e-04 -1.51659067e-01] [-2.50272023e-03 -5.47591340e-04 9.99996718e-01 -2.39043089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0257692310000004 meters Centerline goodness : 0.086297 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 0.99988752 0.01483121 0.00223414 0.8004853 ] [-0.01484237 0.99987702 0.00506502 -0.1548512 ] [-0.00215875 -0.00509761 0.99998468 -0.23923079] [ 0. 0. 0. 1. ]] SLAMing on 3.055769231 meters Centerline goodness : 0.087409 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 0.9998835 0.01514773 0.00187999 0.80253375] [-0.01515675 0.99987323 0.00487915 -0.15249972] [-0.00180585 -0.00490707 0.99998633 -0.23963387] [ 0. 0. 0. 1. ]] SLAMing on 3.085769231 meters Centerline goodness : 0.086853 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.24 [[ 0.99988215 0.01527929 0.00149259 0.80452619] [-0.01528603 0.99987253 0.00461146 -0.15015324] [-0.00142194 -0.00463373 0.99998825 -0.239815 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1157692310000003 meters Centerline goodness : 0.087130 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.24 [[ 9.99878048e-01 1.55961506e-02 8.05431139e-04 8.08487050e-01] [-1.55995571e-02 9.99868585e-01 4.41217177e-03 -1.47592506e-01] [-7.36512397e-04 -4.42419807e-03 9.99989942e-01 -2.40141765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145769231 meters Centerline goodness : 0.105930 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.24 [[ 9.99878587e-01 1.55729416e-02 5.42464830e-04 8.09971227e-01] [-1.55751268e-02 9.99869504e-01 4.28846904e-03 -1.46788154e-01] [-4.75609963e-04 -4.29639733e-03 9.99990657e-01 -2.40320374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1757692310000003 meters Centerline goodness : 0.087925 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:-0.24 [[ 9.99880033e-01 1.54892516e-02 4.59407273e-05 8.13266993e-01] [-1.54893091e-02 9.99871481e-01 4.13546458e-03 -1.45964603e-01] [ 1.81204282e-05 -4.13568005e-03 9.99991448e-01 -2.41190706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205769231 meters Centerline goodness : 0.087325 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.24 [[ 9.99881038e-01 1.54228832e-02 -2.13121260e-04 8.14747056e-01] [-1.54219108e-02 9.99873118e-01 3.98909605e-03 -1.44967426e-01] [ 2.74617581e-04 -3.98533476e-03 9.99992021e-01 -2.41524682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2357692310000004 meters Centerline goodness : 0.087661 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 9.99881993e-01 1.53540484e-02 -5.04013456e-04 8.16466358e-01] [-1.53520798e-02 9.99875298e-01 3.70151305e-03 -1.42940927e-01] [ 5.60783816e-04 -3.69333859e-03 9.99993022e-01 -2.41955920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265769231 meters Centerline goodness : 0.089553 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 9.99879366e-01 1.55035404e-02 -9.45108657e-04 8.18842741e-01] [-1.55004043e-02 9.99874612e-01 3.23989822e-03 -1.39112592e-01] [ 9.95220045e-04 -3.22485781e-03 9.99994305e-01 -2.41838550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2957692310000004 meters Centerline goodness : 0.089400 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 0.99987976 0.01546164 -0.00118714 0.82014693] [-0.0154579 0.99987574 0.00309235 -0.13825685] [ 0.00123481 -0.00307363 0.99999451 -0.24199311] [ 0. 0. 0. 1. ]] SLAMing on 3.325769231 meters Centerline goodness : 0.090365 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 0.99988082 0.01534747 -0.00167406 0.82290585] [-0.0153423 0.99987762 0.00306 -0.13834518] [ 0.00172082 -0.00303395 0.99999392 -0.24216333] [ 0. 0. 0. 1. ]] SLAMing on 3.355769231 meters Centerline goodness : 0.090751 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.24 [[ 0.9999244 0.01211749 -0.00208702 0.82476832] [-0.01211979 0.99992596 -0.00109255 -0.13520346] [ 0.00207363 0.00111776 0.99999723 -0.24266005] [ 0. 0. 0. 1. ]] SLAMing on 3.3857692310000003 meters Centerline goodness : 0.092891 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:-0.24 [[ 0.99995517 0.00761996 -0.0056208 0.85173018] [-0.00761187 0.99996996 0.0014591 -0.1351177 ] [ 0.00563175 -0.00141625 0.99998314 -0.24210044] [ 0. 0. 0. 1. ]] SLAMing on 3.415769231 meters Centerline goodness : 0.093861 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:-0.24 [[ 0.99995399 0.00758608 -0.00587182 0.85293127] [-0.00757696 0.99997006 0.00157382 -0.13618645] [ 0.00588358 -0.00152926 0.99998152 -0.24213904] [ 0. 0. 0. 1. ]] SLAMing on 3.4457692310000003 meters Centerline goodness : 0.092240 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.24 [[ 0.99994867 0.00414496 -0.00924483 0.87611244] [-0.00410658 0.99998288 0.00416742 -0.13430752] [ 0.00926194 -0.00412924 0.99994858 -0.24041313] [ 0. 0. 0. 1. ]] SLAMing on 3.475769231 meters Centerline goodness : 0.094498 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.24 [[ 0.99994531 0.00411641 -0.00961407 0.87838098] [-0.00407758 0.99998346 0.00405512 -0.1334939 ] [ 0.0096306 -0.0040157 0.99994556 -0.24091882] [ 0. 0. 0. 1. ]] SLAMing on 3.5057692310000004 meters Centerline goodness : 0.091903 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:-0.24 [[ 0.9999427 0.00412386 -0.00987872 0.88003379] [-0.00408434 0.99998359 0.00401748 -0.13325024] [ 0.00989513 -0.00397691 0.99994313 -0.24157662] [ 0. 0. 0. 1. ]] SLAMing on 3.535769231 meters Centerline goodness : 0.096834 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.25 [[ 0.99998496 0.00421335 -0.00351168 0.84095962] [-0.00419829 0.99998201 0.00428493 -0.13308137] [ 0.00352967 -0.00427012 0.99998465 -0.25018559] [ 0. 0. 0. 1. ]] SLAMing on 3.5657692310000004 meters Centerline goodness : 0.094375 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.25 [[ 0.99998386 0.00423411 -0.00378951 0.84259833] [-0.0042186 0.99998272 0.00409408 -0.13168746] [ 0.00380677 -0.00407803 0.99998444 -0.2507812 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5957692310000002 meters Centerline goodness : 0.100032 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:-0.25 [[ 0.99998308 0.00422339 -0.00399927 0.84387244] [-0.00420811 0.99998384 0.00382139 -0.12979249] [ 0.00401534 -0.0038045 0.9999847 -0.25132185] [ 0. 0. 0. 1. ]] SLAMing on 3.625769231 meters Centerline goodness : 0.111358 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.25 [[ 0.99998101 0.00441794 -0.00429694 0.84552663] [-0.00440236 0.99998373 0.00362865 -0.12779299] [ 0.0043129 -0.00360966 0.99998418 -0.25126459] [ 0. 0. 0. 1. ]] SLAMing on 3.6557692310000003 meters Centerline goodness : 0.108811 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.25 [[ 0.99997942 0.00441448 -0.00465427 0.84696784] [-0.00439822 0.99998421 0.00349772 -0.12707827] [ 0.00466964 -0.00347717 0.99998305 -0.25089501] [ 0. 0. 0. 1. ]] SLAMing on 3.685769231 meters Centerline goodness : 0.109398 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99997657 0.00465298 -0.0050202 0.84853995] [-0.00463662 0.99998392 0.00326456 -0.12473005] [ 0.00503531 -0.00324121 0.99998207 -0.25029264] [ 0. 0. 0. 1. ]] SLAMing on 3.7157692310000003 meters Centerline goodness : 0.106641 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99997522 0.00463197 -0.00530053 0.85007391] [-0.00461651 0.99998507 0.00292438 -0.12241138] [ 0.00531399 -0.00289983 0.99998168 -0.25080843] [ 0. 0. 0. 1. ]] SLAMing on 3.745769231 meters Centerline goodness : 0.109814 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99997422 0.00462026 -0.00549584 0.85128367] [-0.00460625 0.99998612 0.00255846 -0.11982564] [ 0.00550759 -0.00253308 0.99998162 -0.25152259] [ 0. 0. 0. 1. ]] SLAMing on 3.7757692310000004 meters Centerline goodness : 0.112740 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.25 [[ 0.99996972 0.00510141 -0.00587696 0.8533959 ] [-0.00508856 0.99998464 0.00219906 -0.11601461] [ 0.00588809 -0.00216908 0.99998031 -0.2520296 ] [ 0. 0. 0. 1. ]] SLAMing on 3.805769231 meters Centerline goodness : 0.113221 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.25 [[ 0.99996736 0.00518758 -0.00619417 0.8547197 ] [-0.00517526 0.9999846 0.00200428 -0.11447867] [ 0.00620447 -0.00197215 0.99997881 -0.25191037] [ 0. 0. 0. 1. ]] SLAMing on 3.8357692310000004 meters Centerline goodness : 0.108749 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.25 [[ 0.9999626 0.00541484 -0.00674424 0.8571029 ] [-0.00540254 0.99998371 0.0018411 -0.11258318] [ 0.0067541 -0.00180459 0.99997556 -0.25167754] [ 0. 0. 0. 1. ]] SLAMing on 3.8657692310000003 meters Centerline goodness : 0.108392 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.25 [[ 0.99996134 0.00531952 -0.00700093 0.85819129] [-0.00530636 0.99998412 0.00189616 -0.11331997] [ 0.00701091 -0.00185893 0.9999737 -0.25176799] [ 0. 0. 0. 1. ]] SLAMing on 3.895769231 meters Centerline goodness : 0.112875 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:-0.25 [[ 0.99996004 0.00515524 -0.00730321 0.85948229] [-0.00513991 0.99998455 0.00211656 -0.11527617] [ 0.00731401 -0.00207894 0.99997109 -0.25192206] [ 0. 0. 0. 1. ]] SLAMing on 3.9257692310000003 meters Centerline goodness : 0.116826 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.25 [[ 9.99970655e-01 9.68218911e-04 -7.59938797e-03 8.61241904e-01] [-9.84986769e-04 9.99997088e-01 -2.20304243e-03 -1.14572424e-01] [ 7.59723282e-03 2.21046308e-03 9.99968697e-01 -2.52571686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.955769231 meters Centerline goodness : 0.114408 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:-0.25 [[ 9.99922424e-01 7.19685024e-04 -1.24349307e-02 9.07093196e-01] [-7.49737229e-04 9.99996809e-01 -2.41226436e-03 -1.16545878e-01] [ 1.24331550e-02 2.42140016e-03 9.99919774e-01 -2.48894879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9857692310000004 meters Centerline goodness : 0.112614 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.25 [[ 0.99998113 -0.00381987 -0.00481168 0.92321184] [ 0.00383362 0.99998859 0.00285094 -0.1209274 ] [ 0.00480073 -0.00286933 0.99998436 -0.25256333] [ 0. 0. 0. 1. ]] SLAMing on 4.015769231 meters Centerline goodness : 0.096860 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.25 [[ 0.99997951 -0.00388315 -0.00509018 0.9242625 ] [ 0.00389779 0.99998828 0.00287018 -0.12123207] [ 0.00507897 -0.00288997 0.99998293 -0.25247144] [ 0. 0. 0. 1. ]] SLAMing on 4.045769231 meters Centerline goodness : 0.097522 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.26 [[ 9.99989271e-01 -4.63171845e-03 -7.41071339e-05 8.77355561e-01] [ 4.63190678e-03 9.99985399e-01 2.78337212e-03 -1.21440678e-01] [ 6.12142558e-05 -2.78368551e-03 9.99996124e-01 -2.55292499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.075769231000001 meters Centerline goodness : 0.109141 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.26 [[ 9.99969040e-01 -7.84867867e-03 -5.64130665e-04 8.79525677e-01] [ 7.84781289e-03 9.99968049e-01 -1.52088022e-03 -1.17806488e-01] [ 5.76049541e-04 1.51640594e-03 9.99998684e-01 -2.56044245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105769231 meters Centerline goodness : 0.108082 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.26 [[ 9.99968825e-01 -7.85287740e-03 -8.25346936e-04 8.80593162e-01] [ 7.85141132e-03 9.99967620e-01 -1.76479556e-03 -1.16215521e-01] [ 8.39178935e-04 1.75826041e-03 9.99998102e-01 -2.56362247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.135769231 meters Centerline goodness : 0.095117 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.26 [[ 0.99999456 -0.00243867 -0.00221928 0.9039972 ] [ 0.00242466 0.99997726 -0.00629305 -0.11610729] [ 0.00223458 0.00628764 0.99997774 -0.25517915] [ 0. 0. 0. 1. ]] SLAMing on 4.1657692310000005 meters Centerline goodness : 0.105115 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.26 [[ 9.99997334e-01 -2.22564363e-03 -6.15068697e-04 8.86713414e-01] [ 2.22736531e-03 9.99993564e-01 2.81279048e-03 -1.14742807e-01] [ 6.08804469e-04 -2.81415296e-03 9.99995855e-01 -2.58570144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.195769231 meters Centerline goodness : 0.106463 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.26 [[ 9.99997092e-01 -2.30120612e-03 -7.21924239e-04 8.86965200e-01] [ 2.30307051e-03 9.99993988e-01 2.59241483e-03 -1.13613748e-01] [ 7.15954218e-04 -2.59406993e-03 9.99996379e-01 -2.58386411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225769231 meters Centerline goodness : 0.106420 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.26 [[ 9.99999088e-01 -1.21519898e-04 -1.34520524e-03 8.65396903e-01] [ 1.14160507e-04 9.99985035e-01 -5.46955658e-03 -1.11680733e-01] [ 1.34584977e-03 5.46939802e-03 9.99984137e-01 -2.58513222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.255769231 meters Centerline goodness : 0.104922 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.26 [[ 9.99998606e-01 -4.60465735e-04 -1.60492684e-03 8.66464693e-01] [ 4.51219293e-04 9.99983327e-01 -5.75689389e-03 -1.10771722e-01] [ 1.60755093e-03 5.75616169e-03 9.99982141e-01 -2.58253725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.285769231000001 meters Centerline goodness : 0.104392 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.26 [[ 9.99995657e-01 -9.43503954e-04 2.79225664e-03 8.17572273e-01] [ 9.58644398e-04 9.99984820e-01 -5.42593492e-03 -1.10747388e-01] [-2.78709486e-03 5.42858813e-03 9.99981381e-01 -2.59238086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.315769231 meters Centerline goodness : 0.102817 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.26 [[ 9.99997584e-01 4.84922155e-05 2.19774833e-03 8.22843884e-01] [-3.86651378e-05 9.99990003e-01 -4.47125186e-03 -1.09159605e-01] [-2.19794318e-03 4.47115608e-03 9.99987589e-01 -2.62950429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345769231 meters Centerline goodness : 0.102649 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.26 [[ 9.99997870e-01 -9.83715921e-05 2.06141270e-03 8.23575079e-01] [ 1.08438744e-04 9.99988067e-01 -4.88407524e-03 -1.06897084e-01] [-2.06090764e-03 4.88428837e-03 9.99985948e-01 -2.63396131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3757692310000005 meters Centerline goodness : 0.102236 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.26 [[ 0.99998765 0.00260507 0.00423354 0.75862633] [-0.00255378 0.99992383 -0.01207563 -0.10364168] [-0.00426468 0.01206467 0.99991812 -0.2646537 ] [ 0. 0. 0. 1. ]] SLAMing on 4.405769231000001 meters Centerline goodness : 0.100906 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.26 [[ 9.99997496e-01 1.20253112e-04 2.23481682e-03 7.37560575e-01] [-1.10959953e-04 9.99991349e-01 -4.15801240e-03 -1.01582213e-01] [-2.23529750e-03 4.15775401e-03 9.99988858e-01 -2.62735025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.435769231 meters Centerline goodness : 0.100618 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.26 [[ 9.99981746e-01 -6.99729088e-04 6.00154412e-03 6.89316591e-01] [ 7.29289037e-04 9.99987608e-01 -4.92461726e-03 -9.96002070e-02] [-5.99802385e-03 4.92890422e-03 9.99969864e-01 -2.63523877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465769231 meters Centerline goodness : 0.102156 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.26 [[ 0.99999415 -0.0027163 0.00208122 0.67012647] [ 0.00270853 0.99998939 0.00372541 -0.09791652] [-0.00209132 -0.00371975 0.99999089 -0.26097275] [ 0. 0. 0. 1. ]] SLAMing on 4.495769231000001 meters Centerline goodness : 0.099898 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.26 [[ 9.99999947e-01 1.15276087e-04 -3.05138301e-04 6.54871225e-01] [-1.16633466e-04 9.99990082e-01 -4.45213171e-03 -9.42883611e-02] [ 3.04622051e-04 4.45216706e-03 9.99990043e-01 -2.64151469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.525769231 meters Centerline goodness : 0.098524 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.26 [[ 9.99999898e-01 -2.86883158e-04 -3.49653257e-04 6.54937440e-01] [ 2.85134915e-04 9.99987510e-01 -4.98976894e-03 -9.20223544e-02] [ 3.51080371e-04 4.98966873e-03 9.99987490e-01 -2.64014815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.555769231 meters Centerline goodness : 0.095625 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.26 [[ 0.99999359 -0.00214856 0.00286501 0.6076048 ] [ 0.00216756 0.99997557 -0.00664522 -0.09068813] [-0.00285066 0.00665138 0.99997382 -0.26495199] [ 0. 0. 0. 1. ]] SLAMing on 4.5857692310000004 meters Centerline goodness : 0.097004 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.26 [[ 0.9999936 -0.00232808 0.00271644 0.60803525] [ 0.0023463 0.99997466 -0.00672115 -0.09063309] [-0.00270072 0.00672748 0.99997372 -0.26492261] [ 0. 0. 0. 1. ]] SLAMing on 4.615769231000001 meters Centerline goodness : 0.105723 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 0.99999328 -0.00271409 0.00246599 0.60915738] [ 0.00273182 0.99997025 -0.00721375 -0.08863316] [-0.00244634 0.00722044 0.99997094 -0.26569005] [ 0. 0. 0. 1. ]] SLAMing on 4.645769231 meters Centerline goodness : 0.105106 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 0.9999935 -0.00279747 0.0022752 0.60986294] [ 0.00281426 0.99996859 -0.00740976 -0.08758782] [-0.0022544 0.00741612 0.99996996 -0.26595123] [ 0. 0. 0. 1. ]] SLAMing on 4.675769231 meters Centerline goodness : 0.105106 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 0.9999935 -0.00279747 0.0022752 0.60986294] [ 0.00281426 0.99996859 -0.00740976 -0.08758782] [-0.0022544 0.00741612 0.99996996 -0.26595123] [ 0. 0. 0. 1. ]] SLAMing on 4.7057692310000006 meters Centerline goodness : 0.090957 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997111e-01 6.96741236e-04 2.30052279e-03 6.09725355e-01] [-6.89813401e-04 9.99995229e-01 -3.01083885e-03 -9.05442018e-02] [-2.30260960e-03 3.00924322e-03 9.99992821e-01 -2.65664507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.735769231 meters Centerline goodness : 0.097444 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997334e-01 5.99569830e-04 2.22994080e-03 6.10039836e-01] [-5.92445251e-04 9.99994723e-01 -3.19425257e-03 -8.96721767e-02] [-2.23184421e-03 3.19292293e-03 9.99992412e-01 -2.65880678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765769231 meters Centerline goodness : 0.093273 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997517e-01 4.91099372e-04 2.17366977e-03 6.10275747e-01] [-4.83494119e-04 9.99993765e-01 -3.49795152e-03 -8.80750749e-02] [-2.17537406e-03 3.49689187e-03 9.99991520e-01 -2.65984699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.795769231 meters Centerline goodness : 0.089437 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99997805e-01 4.43982185e-04 2.04755824e-03 6.10393103e-01] [-4.35788414e-04 9.99991903e-01 -4.00043965e-03 -8.50686128e-02] [-2.04931779e-03 3.99953857e-03 9.99989902e-01 -2.65476629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825769231000001 meters Centerline goodness : 0.088106 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.27 [[ 9.99998023e-01 4.30283635e-04 1.94157391e-03 6.10507556e-01] [-4.22353523e-04 9.99991576e-01 -4.08293607e-03 -8.46040407e-02] [-1.94331437e-03 4.08210796e-03 9.99989780e-01 -2.65138965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.855769231 meters Centerline goodness : 0.096782 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.27 [[ 9.99998130e-01 4.51681343e-04 1.88024441e-03 6.10687518e-01] [-4.44054915e-04 9.99991682e-01 -4.05452672e-03 -8.46762103e-02] [-1.88206013e-03 4.05368421e-03 9.99990013e-01 -2.65159167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885769231 meters Centerline goodness : 0.988463 Centerline is valid? [False, True] Translation: X:0.61, Y:-0.09, Z:-0.27 [[ 9.99998458e-01 4.15115277e-04 1.70657532e-03 6.11330134e-01] [-4.08539710e-04 9.99992499e-01 -3.85162246e-03 -8.59585746e-02] [-1.70816139e-03 3.85091931e-03 9.99991126e-01 -2.65467110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9157692310000005 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.09, Z:-0.27 [[ 9.99997036e-01 -1.75182753e-03 1.69065337e-03 6.41635105e-01] [ 1.75181823e-03 9.99998466e-01 6.98174081e-06 -8.77427542e-02] [-1.69066301e-03 -4.02000272e-06 9.99998571e-01 -2.70231810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945769231000001 meters Centerline goodness : 0.988842 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.09, Z:-0.27 [[ 9.99982800e-01 -5.61617908e-03 1.69065345e-03 6.72513134e-01] [ 5.61617533e-03 9.99984229e-01 6.96307006e-06 -9.03906901e-02] [-1.69066589e-03 2.53205591e-06 9.99998571e-01 -2.69458070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.975769231 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.09, Z:-0.27 [[ 9.99976471e-01 -6.64818662e-03 1.69065360e-03 7.03275750e-01] [ 6.64818441e-03 9.99977901e-01 6.92599460e-06 -9.11639670e-02] [-1.69066229e-03 4.31394529e-06 9.99998571e-01 -2.68853789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005769231 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.09, Z:-0.27 [[ 9.99971716e-01 -7.32861148e-03 1.69065360e-03 7.33117203e-01] [ 7.32861024e-03 9.99973145e-01 6.92599460e-06 -9.16084749e-02] [-1.69065896e-03 5.46434260e-06 9.99998571e-01 -2.68276428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.035769231000001 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.09, Z:-0.26 [[ 9.99960242e-01 -8.75540245e-03 1.69065368e-03 7.63726613e-01] [ 8.75540328e-03 9.99961671e-01 6.90761731e-06 -9.21170284e-02] [-1.69064936e-03 7.89501209e-06 9.99998571e-01 -2.64531207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065769231 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.09, Z:-0.26 [[ 9.99946114e-01 -1.02426108e-02 1.69065368e-03 7.94510601e-01] [ 1.02426138e-02 9.99947543e-01 6.90761731e-06 -9.33227563e-02] [-1.69063574e-03 1.04094675e-05 9.99998571e-01 -2.63945643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.095769231 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.10, Z:-0.26 [[ 9.99912835e-01 -1.30944391e-02 1.69065368e-03 8.24756016e-01] [ 1.30944461e-02 9.99914264e-01 6.90761731e-06 -9.83995851e-02] [-1.69059918e-03 1.52311583e-05 9.99998571e-01 -2.64046703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1257692310000005 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:-0.27 [[ 9.99896019e-01 -1.43210874e-02 1.69065368e-03 8.55382952e-01] [ 1.43210962e-02 9.99897448e-01 6.90761731e-06 -1.00709932e-01] [-1.69057922e-03 1.73051149e-05 9.99998571e-01 -2.65109254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.155769231000001 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.10, Z:-0.27 [[ 9.99885014e-01 -1.50698831e-02 1.69065368e-03 8.84916764e-01] [ 1.50698930e-02 9.99886443e-01 6.90761731e-06 -1.02907776e-01] [-1.69056579e-03 1.85711469e-05 9.99998571e-01 -2.66517714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185769231 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.11, Z:-0.27 [[ 9.99875893e-01 -1.56633727e-02 1.69065360e-03 9.14142831e-01] [ 1.56633834e-02 9.99877322e-01 6.92653069e-06 -1.07734572e-01] [-1.69055469e-03 1.95556844e-05 9.99998571e-01 -2.66886704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.215769231 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.11, Z:-0.27 [[ 9.99886621e-01 -1.49628345e-02 1.69065362e-03 9.44016689e-01] [ 1.49628442e-02 9.99888050e-01 6.92086123e-06 -1.09922339e-01] [-1.69056791e-03 1.83769102e-05 9.99998571e-01 -2.67815547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245769231000001 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.11, Z:-0.26 [[ 9.99913763e-01 -1.30233495e-02 1.69065355e-03 9.73548417e-01] [ 1.30233563e-02 9.99915192e-01 6.93950859e-06 -1.12570237e-01] [-1.69060054e-03 1.50790734e-05 9.99998571e-01 -2.62552055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.275769231 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.11, Z:-0.26 [[ 9.99941065e-01 -1.07241733e-02 1.69065339e-03 1.00401768e+00] [ 1.07241768e-02 9.99942494e-01 6.97750563e-06 -1.13095354e-01] [-1.69063100e-03 1.11537715e-05 9.99998571e-01 -2.60934524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305769231 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.11, Z:-0.26 [[ 9.99983950e-01 -5.40753980e-03 1.69065339e-03 1.03408953e+00] [ 5.40753573e-03 9.99985379e-01 6.97750563e-06 -1.13273160e-01] [-1.69066640e-03 2.16487498e-06 9.99998571e-01 -2.57941620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3357692310000004 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.11, Z:-0.26 [[ 9.99993217e-01 -3.27226463e-03 1.69065339e-03 1.06426858e+00] [ 3.27225751e-03 9.99994646e-01 6.97750563e-06 -1.12504895e-01] [-1.69066717e-03 -1.44520505e-06 9.99998571e-01 -2.58976969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365769231000001 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.11, Z:-0.26 [[ 9.99997726e-01 -1.30022514e-03 1.69065347e-03 1.09553397e+00] [ 1.30021524e-03 9.99999155e-01 6.95857939e-06 -1.11541854e-01] [-1.69066109e-03 -4.76035016e-06 9.99998571e-01 -2.60549013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.395769231 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.11, Z:-0.26 [[ 9.99995347e-01 2.53920390e-03 1.69065362e-03 1.12578158e+00] [-2.53921923e-03 9.99996776e-01 6.92064594e-06 -1.09471842e-01] [-1.69063060e-03 -1.12135539e-05 9.99998571e-01 -2.64743294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425769231 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.11, Z:-0.27 [[ 9.99989889e-01 4.16702795e-03 1.69065370e-03 1.15678350e+00] [-4.16704558e-03 9.99991318e-01 6.90179414e-06 -1.08108955e-01] [-1.69061026e-03 -1.39467554e-05 9.99998571e-01 -2.65718316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4557692310000006 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.10, Z:-0.26 [[ 9.99962298e-01 8.51729468e-03 1.69065362e-03 1.18783686e+00] [-8.51731855e-03 9.99963727e-01 6.92037981e-06 -1.03056443e-01] [-1.69053336e-03 -2.13199544e-05 9.99998571e-01 -2.61455457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485769231000001 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.10, Z:-0.26 [[ 9.99930059e-01 1.17054628e-02 1.69065378e-03 1.21945501e+00] [-1.17054912e-02 9.99931488e-01 6.88143213e-06 -9.96291292e-02] [-1.69045740e-03 -2.66708838e-05 9.99998571e-01 -2.59572987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.515769231 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.10, Z:-0.26 [[ 9.99892299e-01 1.45784878e-02 1.69065477e-03 1.25046103e+00] [-1.45785199e-02 9.99893728e-01 6.62964612e-06 -9.64375779e-02] [-1.69037845e-03 -3.12761763e-05 9.99998571e-01 -2.57803767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545769231 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.09, Z:-0.26 [[ 9.99816823e-01 1.90647083e-02 1.69065492e-03 1.28206201e+00] [-1.90647467e-02 9.99818251e-01 6.59106144e-06 -9.12241672e-02] [-1.69022199e-03 -3.88217619e-05 9.99998571e-01 -2.58178159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.575769231000001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.09, Z:-0.26 [[ 9.99794292e-01 2.02117401e-02 1.69065585e-03 1.31337889e+00] [-2.02117797e-02 9.99795721e-01 6.34247149e-06 -8.78556135e-02] [-1.69018230e-03 -4.05123305e-05 9.99998571e-01 -2.59661390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605769231 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.08, Z:-0.26 [[ 9.99771187e-01 2.13240605e-02 1.69065600e-03 1.34410849e+00] [-2.13241016e-02 9.99772615e-01 6.30439496e-06 -8.26409829e-02] [-1.69013713e-03 -4.23546727e-05 9.99998571e-01 -2.62751167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635769231 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.08, Z:-0.26 [[ 9.99760890e-01 2.18014595e-02 1.69065688e-03 1.37494533e+00] [-2.18015009e-02 9.99762319e-01 6.05799999e-06 -8.07823801e-02] [-1.69012297e-03 -4.29154089e-05 9.99998571e-01 -2.63403157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6657692310000005 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.08, Z:-0.26 [[ 9.99753812e-01 2.21236982e-02 1.69065772e-03 1.40591523e+00] [-2.21237397e-02 9.99755240e-01 5.81348969e-06 -7.89354472e-02] [-1.69011530e-03 -4.32157297e-05 9.99998571e-01 -2.63972774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.695769231000001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.08, Z:-0.26 [[ 9.99754721e-01 2.20825529e-02 1.69065785e-03 1.43747410e+00] [-2.20825943e-02 9.99756150e-01 5.77602552e-06 -7.60580504e-02] [-1.69011803e-03 -4.31087201e-05 9.99998571e-01 -2.62999197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725769231 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.07, Z:-0.26 [[ 9.99760356e-01 2.18259333e-02 1.69065797e-03 1.46847770e+00] [-2.18259742e-02 9.99761785e-01 5.73873127e-06 -6.99456770e-02] [-1.69012998e-03 -4.26376133e-05 9.99998571e-01 -2.60125425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.755769231 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.07, Z:-0.26 [[ 9.99791109e-01 2.03686285e-02 1.69065876e-03 1.49954463e+00] [-2.03686669e-02 9.99792537e-01 5.49692445e-06 -6.54937073e-02] [-1.69019605e-03 -3.99322414e-05 9.99998571e-01 -2.59624300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785769231000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.06, Z:-0.26 [[ 9.99805261e-01 1.96616678e-02 1.69065888e-03 1.53117020e+00] [-1.96617051e-02 9.99806690e-01 5.46003203e-06 -6.33900825e-02] [-1.69022470e-03 -3.87002051e-05 9.99998571e-01 -2.61568723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.815769231 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.06, Z:-0.26 [[ 9.99824190e-01 1.86743209e-02 1.69065900e-03 1.56273482e+00] [-1.86743568e-02 9.99825619e-01 5.42318207e-06 -6.17196093e-02] [-1.69026290e-03 -3.69941979e-05 9.99998571e-01 -2.63939356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.06, Z:-0.27 [[ 9.99851342e-01 1.71590991e-02 1.69065973e-03 1.59405320e+00] [-1.71591324e-02 9.99852771e-01 5.18449195e-06 -6.00750511e-02] [-1.69032185e-03 -3.41939754e-05 9.99998571e-01 -2.66875548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8757692310000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:-0.27 [[ 9.99900865e-01 1.39785973e-02 1.69065990e-03 1.62485030e+00] [-1.39786259e-02 9.99902294e-01 5.12956023e-06 -5.80478454e-02] [-1.69042300e-03 -2.87621540e-05 9.99998571e-01 -2.68384263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.06, Z:-0.27 [[ 9.99935881e-01 1.11971570e-02 1.69066059e-03 1.65554604e+00] [-1.11971813e-02 9.99937310e-01 4.89132656e-06 -5.64930437e-02] [-1.69049983e-03 -2.38216460e-05 9.99998571e-01 -2.69056838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.935769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.06, Z:-0.27 [[ 9.99945286e-01 1.03230965e-02 1.69066064e-03 1.68662029e+00] [-1.03231195e-02 9.99946715e-01 4.87315579e-06 -5.54869420e-02] [-1.69052024e-03 -2.23257810e-05 9.99998571e-01 -2.69954106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965769231 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.05, Z:-0.27 [[ 9.99948434e-01 1.00135261e-02 1.69066074e-03 1.71811646e+00] [-1.00135486e-02 9.99949863e-01 4.83694819e-06 -5.44157175e-02] [-1.69052754e-03 -2.17662123e-05 9.99998571e-01 -2.69447105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.995769231000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.05, Z:-0.27 [[ 9.99942719e-01 1.05688478e-02 1.69066085e-03 1.74862168e+00] [-1.05688710e-02 9.99944148e-01 4.79871726e-06 -5.15480297e-02] [-1.69051571e-03 -2.26668188e-05 9.99998571e-01 -2.66897557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025769231000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.05, Z:-0.26 [[ 9.99935527e-01 1.12287275e-02 1.69066090e-03 1.78025650e+00] [-1.12287516e-02 9.99936956e-01 4.77965426e-06 -4.99342026e-02] [-1.69050065e-03 -2.37633575e-05 9.99998571e-01 -2.64094007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.055769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.05, Z:-0.27 [[ 9.99921833e-01 1.23882434e-02 1.69066102e-03 1.81077180e+00] [-1.23882691e-02 9.99923262e-01 4.73896559e-06 -4.63255472e-02] [-1.69047257e-03 -2.56829589e-05 9.99998571e-01 -2.65650897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0857692310000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:-0.27 [[ 9.99916446e-01 1.28156849e-02 1.69066107e-03 1.84209680e+00] [-1.28157111e-02 9.99917875e-01 4.71874065e-06 -4.44011430e-02] [-1.69046176e-03 -2.63853704e-05 9.99998571e-01 -2.66620440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.115769231000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.04, Z:-0.27 [[ 9.99920551e-01 1.24913273e-02 1.69066119e-03 1.87241618e+00] [-1.24913530e-02 9.99921980e-01 4.67750676e-06 -4.26220909e-02] [-1.69047085e-03 -2.57957809e-05 9.99998571e-01 -2.68350732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.04, Z:-0.26 [[ 9.99947049e-01 1.01508983e-02 1.69066124e-03 1.90380032e+00] [-1.01509207e-02 9.99948478e-01 4.65700070e-06 -4.01664491e-02] [-1.69052687e-03 -2.18185223e-05 9.99998571e-01 -2.64315188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.175769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.04, Z:-0.26 [[ 9.99957118e-01 9.10513201e-03 1.69066135e-03 1.93556152e+00] [-9.10515283e-03 9.99958547e-01 4.61675331e-06 -3.93633505e-02] [-1.69054924e-03 -2.00102853e-05 9.99998571e-01 -2.63313303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2057692310000006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.04, Z:-0.27 [[ 9.99968648e-01 7.73597016e-03 1.69066146e-03 1.96549966e+00] [-7.73598895e-03 9.99970077e-01 4.57656772e-06 -3.60239034e-02] [-1.69057547e-03 -1.76553626e-05 9.99998571e-01 -2.65487125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.235769231000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.03, Z:-0.26 [[ 9.99971905e-01 7.30280957e-03 1.69066171e-03 1.99729500e+00] [-7.30282759e-03 9.99973334e-01 4.48240880e-06 -3.33782198e-02] [-1.69058390e-03 -1.68288939e-05 9.99998571e-01 -2.63190042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.03, Z:-0.26 [[ 9.99969354e-01 7.64415488e-03 1.69066182e-03 2.02799919e+00] [-7.64417331e-03 9.99970783e-01 4.44136608e-06 -3.13575680e-02] [-1.69057847e-03 -1.73649419e-05 9.99998571e-01 -2.61981400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.295769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.03, Z:-0.26 [[ 9.99936192e-01 1.11693459e-02 1.69066187e-03 2.05883971e+00] [-1.11693693e-02 9.99937621e-01 4.42095597e-06 -2.81249118e-02] [-1.69050703e-03 -2.33043007e-05 9.99998571e-01 -2.61617593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.03, Z:-0.26 [[ 9.99909703e-01 1.33314695e-02 1.69066198e-03 2.09064529e+00] [-1.33314959e-02 9.99911132e-01 4.38114567e-06 -2.60104983e-02] [-1.69045332e-03 -2.69198033e-05 9.99998571e-01 -2.63736189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.355769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.02, Z:-0.27 [[ 9.99855043e-01 1.69420864e-02 1.69066208e-03 2.12083081e+00] [-1.69421179e-02 9.99856472e-01 4.34154906e-06 -1.94440067e-02] [-1.69034587e-03 -3.29843161e-05 9.99998571e-01 -2.67590668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.02, Z:-0.27 [[ 9.99833628e-01 1.81619773e-02 1.69066208e-03 2.15087214e+00] [-1.81620106e-02 9.99835057e-01 4.34154906e-06 -1.56684288e-02] [-1.69030436e-03 -3.50466494e-05 9.99998571e-01 -2.67490514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4157692310000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.01, Z:-0.27 [[ 9.99813472e-01 1.92396211e-02 1.69066208e-03 2.18144038e+00] [-1.92396559e-02 9.99814901e-01 4.34154906e-06 -1.22041546e-02] [-1.69026561e-03 -3.68684959e-05 9.99998571e-01 -2.65499878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445769231000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.01, Z:-0.26 [[ 9.99801419e-01 1.98560646e-02 1.69066208e-03 2.21052511e+00] [-1.98561003e-02 9.99802848e-01 4.34154906e-06 -5.94951673e-03] [-1.69024256e-03 -3.79106427e-05 9.99998571e-01 -2.61516835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.24, Y:0.00, Z:-0.26 [[ 9.99830858e-01 1.83138267e-02 1.69066203e-03 2.24034341e+00] [-1.83138603e-02 9.99832287e-01 4.36178214e-06 1.15323885e-03] [-1.69029860e-03 -3.53235925e-05 9.99998571e-01 -2.64347508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.27, Y:0.00, Z:-0.27 [[ 9.99870906e-01 1.59785435e-02 1.69066198e-03 2.27132359e+00] [-1.59785738e-02 9.99872334e-01 4.38055615e-06 3.87812994e-03] [-1.69037614e-03 -3.13943578e-05 9.99998571e-01 -2.66917070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.535769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.30, Y:0.01, Z:-0.27 [[ 9.99921796e-01 1.23912955e-02 1.69066203e-03 2.30207685e+00] [-1.23913206e-02 9.99923225e-01 4.36081071e-06 5.35350827e-03] [-1.69047819e-03 -2.53100049e-05 9.99998571e-01 -2.69457096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.33, Y:0.01, Z:-0.27 [[ 9.99994348e-01 2.90602273e-03 1.69066203e-03 2.33293468e+00] [-2.90603425e-03 9.99995777e-01 4.36081071e-06 6.62548207e-03] [-1.69064222e-03 -9.27390782e-06 9.99998571e-01 -2.66556329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.36, Y:0.01, Z:-0.27 [[ 9.99994278e-01 2.93024516e-03 1.69066203e-03 2.36477087e+00] [-2.93025672e-03 9.99995707e-01 4.36081071e-06 6.66302189e-03] [-1.69064199e-03 -9.31485952e-06 9.99998571e-01 -2.66610154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6257692310000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.40, Y:0.01, Z:-0.26 [[ 9.99997966e-01 -1.10012070e-03 1.69066213e-03 2.39525835e+00] [ 1.10011497e-03 9.99999395e-01 4.31985846e-06 8.39356243e-03] [-1.69066586e-03 -2.45992695e-06 9.99998571e-01 -2.64573100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.655769231000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:-0.27 [[ 9.99972338e-01 -7.24329786e-03 1.69066219e-03 2.42693837e+00] [ 7.24330094e-03 9.99973767e-01 4.29949172e-06 1.19918943e-02] [-1.69064898e-03 7.94660221e-06 9.99998571e-01 -2.66591644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.46, Y:0.01, Z:-0.27 [[ 9.99950428e-01 -9.81241298e-03 1.69066229e-03 2.45811324e+00] [ 9.81241980e-03 9.99951857e-01 4.25893789e-06 1.22969543e-02] [-1.69062268e-03 1.23307613e-05 9.99998571e-01 -2.70225891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.715769231 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:2.49, Y:0.01, Z:-0.27 [[ 9.99922667e-01 -1.23208182e-02 1.69066244e-03 2.48949575e+00] [ 1.23208287e-02 9.99924096e-01 4.19839420e-06 1.17132200e-02] [-1.69058584e-03 1.66322927e-05 9.99998571e-01 -2.71573150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745769231000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.52, Y:0.01, Z:-0.27 [[ 9.99848472e-01 -1.73255289e-02 1.69066254e-03 2.52064408e+00] [ 1.73255467e-02 9.99849901e-01 4.15829533e-06 8.51367087e-03] [-1.69048082e-03 2.51339875e-05 9.99998571e-01 -2.70545294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775769231000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.55, Y:0.01, Z:-0.27 [[ 9.99800160e-01 -1.99193624e-02 1.69066268e-03 2.55183070e+00] [ 1.99193839e-02 9.99801589e-01 4.09839043e-06 6.10582226e-03] [-1.69040887e-03 2.95793876e-05 9.99998571e-01 -2.67891952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.00, Z:-0.27 [[ 9.99680908e-01 -2.52036433e-02 1.69066278e-03 2.58244501e+00] [ 2.52036725e-02 9.99682337e-01 4.05891068e-06 -1.41402170e-03] [-1.69022801e-03 3.85532953e-05 9.99998571e-01 -2.67876340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8357692310000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.01, Z:-0.27 [[ 9.99606770e-01 -2.79901256e-02 1.69066282e-03 2.61186180e+00] [ 2.79901588e-02 9.99608199e-01 4.03928451e-06 -6.11599046e-03] [-1.69011348e-03 4.32842248e-05 9.99998571e-01 -2.69579084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865769231000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.01, Z:-0.27 [[ 9.99534376e-01 -3.04659332e-02 1.69066278e-03 2.64266823e+00] [ 3.04659699e-02 9.99535805e-01 4.05869571e-06 -1.06820975e-02] [-1.69000163e-03 4.74508754e-05 9.99998571e-01 -2.69763037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.895769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.01, Z:-0.27 [[ 9.99489411e-01 -3.19070469e-02 1.69066278e-03 2.67233667e+00] [ 3.19070856e-02 9.99490839e-01 4.05869571e-06 -1.43868290e-02] [-1.68993146e-03 4.98874986e-05 9.99998571e-01 -2.70089427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.02, Z:-0.27 [[ 9.99521892e-01 -3.08727929e-02 1.69066273e-03 2.70159963e+00] [ 3.08728301e-02 9.99523321e-01 4.07802736e-06 -2.16581807e-02] [-1.68998273e-03 4.81194656e-05 9.99998571e-01 -2.70724765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9557692310000006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.03, Z:-0.27 [[ 9.99667320e-01 -2.57369547e-02 1.69066264e-03 2.73135783e+00] [ 2.57369845e-02 9.99668749e-01 4.11643288e-06 -3.01756506e-02] [-1.69020855e-03 3.93974946e-05 9.99998571e-01 -2.71328762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985769231000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.03, Z:-0.27 [[ 9.99736716e-01 -2.28831965e-02 1.69066254e-03 2.76130194e+00] [ 2.28832222e-02 9.99738145e-01 4.15597891e-06 -3.32334488e-02] [-1.69031493e-03 3.45329218e-05 9.99998571e-01 -2.71065719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.015769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.04, Z:-0.27 [[ 9.99786262e-01 -2.06051684e-02 1.69066249e-03 2.79106122e+00] [ 2.06051908e-02 9.99787691e-01 4.17571910e-06 -3.58353918e-02] [-1.69038959e-03 3.06615966e-05 9.99998571e-01 -2.70212141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.04, Z:-0.27 [[ 9.99821738e-01 -1.88051338e-02 1.69066240e-03 2.82107347e+00] [ 1.88051536e-02 9.99823167e-01 4.21360632e-06 -4.27504200e-02] [-1.69044267e-03 2.75803108e-05 9.99998571e-01 -2.70792828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.075769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.05, Z:-0.27 [[ 9.99829964e-01 -1.83625891e-02 1.69066230e-03 2.85157339e+00] [ 1.83626082e-02 9.99831393e-01 4.25137657e-06 -4.70545536e-02] [-1.69045531e-03 2.67943158e-05 9.99998571e-01 -2.71981957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105769231000001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.05, Z:-0.27 [[ 9.99818906e-01 -1.89551513e-02 1.69066230e-03 2.88246182e+00] [ 1.89551712e-02 9.99820335e-01 4.25137657e-06 -5.35807863e-02] [-1.69043913e-03 2.77961868e-05 9.99998571e-01 -2.69590639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.135769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.06, Z:-0.27 [[ 9.99819025e-01 -1.89488613e-02 1.69066230e-03 2.91272019e+00] [ 1.89488812e-02 9.99820454e-01 4.25137657e-06 -5.72774573e-02] [-1.69043931e-03 2.77855519e-05 9.99998571e-01 -2.68362876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1657692310000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.06, Z:-0.26 [[ 9.99817853e-01 -1.90105626e-02 1.69066235e-03 2.94371635e+00] [ 1.90105827e-02 9.99819283e-01 4.23037802e-06 -6.12378136e-02] [-1.69043724e-03 2.79108689e-05 9.99998571e-01 -2.64399241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.195769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.07, Z:-0.26 [[ 9.99862382e-01 -1.65032720e-02 1.69066235e-03 2.97274724e+00] [ 1.65032885e-02 9.99863811e-01 4.23037802e-06 -6.82164511e-02] [-1.69050192e-03 2.36716927e-05 9.99998571e-01 -2.63154540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.07, Z:-0.26 [[ 9.99910296e-01 -1.32869275e-02 1.69066230e-03 3.00286618e+00] [ 1.32869393e-02 9.99911725e-01 4.25046418e-06 -6.93359300e-02] [-1.69056954e-03 1.82136446e-05 9.99998571e-01 -2.64856348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.255769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.07, Z:-0.27 [[ 9.99991232e-01 -3.83123512e-03 1.69066230e-03 3.03186951e+00] [ 3.83123340e-03 9.99992661e-01 4.25046418e-06 -7.05821065e-02] [-1.69066618e-03 2.22689498e-06 9.99998571e-01 -2.72483617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.07, Z:-0.27 [[ 9.99997640e-01 1.36442572e-03 1.69066220e-03 3.06347544e+00] [-1.36443493e-03 9.99999069e-01 4.29145256e-06 -7.15386854e-02] [-1.69065477e-03 -6.59824099e-06 9.99998571e-01 -2.71483317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.07, Z:-0.27 [[ 9.99978024e-01 6.41046400e-03 1.69066230e-03 3.09408023e+00] [-6.41048035e-03 9.99979453e-01 4.25156785e-06 -7.22498933e-02] [-1.69060031e-03 -1.50894319e-05 9.99998571e-01 -2.71998173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.07, Z:-0.27 [[ 9.99882562e-01 1.52316481e-02 1.69066235e-03 3.12584124e+00] [-1.52316770e-02 9.99883991e-01 4.23174286e-06 -7.10780006e-02] [-1.69040176e-03 -2.99828687e-05 9.99998571e-01 -2.67748727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3757692310000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.07, Z:-0.27 [[ 9.99830565e-01 1.83298362e-02 1.69066245e-03 3.15737017e+00] [-1.83298695e-02 9.99831994e-01 4.19077891e-06 -6.93314618e-02] [-1.69030159e-03 -3.51796909e-05 9.99998571e-01 -2.69738124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.07, Z:-0.28 [[ 9.99744001e-01 2.25626661e-02 1.69066255e-03 3.18857896e+00] [-2.25627054e-02 9.99745430e-01 4.14963349e-06 -6.65607810e-02] [-1.69013853e-03 -4.22944922e-05 9.99998571e-01 -2.75752541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.435769231 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.06, Z:-0.28 [[ 9.99728746e-01 2.32287886e-02 1.69066316e-03 3.21960733e+00] [-2.32288284e-02 9.99730174e-01 3.88343727e-06 -6.43588650e-02] [-1.69011677e-03 -4.31545083e-05 9.99998571e-01 -2.75263833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.06, Z:-0.27 [[ 9.99712159e-01 2.39319929e-02 1.69066326e-03 3.25057908e+00] [-2.39320336e-02 9.99713588e-01 3.84230646e-06 -6.13570849e-02] [-1.69008708e-03 -4.43022103e-05 9.99998571e-01 -2.74349386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.495769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:-0.27 [[ 9.99704748e-01 2.42396256e-02 1.69066382e-03 3.28151498e+00] [-2.42396662e-02 9.99706176e-01 3.57697810e-06 -5.37033800e-02] [-1.69008036e-03 -4.45570487e-05 9.99998571e-01 -2.68945558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.05, Z:-0.27 [[ 9.99703932e-01 2.42732501e-02 1.69066390e-03 3.31215619e+00] [-2.42732908e-02 9.99705360e-01 3.53626349e-06 -5.07431907e-02] [-1.69007993e-03 -4.45731930e-05 9.99998571e-01 -2.67002185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.555769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.05, Z:-0.27 [[ 9.99746144e-01 2.24675000e-02 1.69066395e-03 3.34362402e+00] [-2.24675380e-02 9.99747573e-01 3.51606404e-06 -4.59703219e-02] [-1.69015818e-03 -4.15002280e-05 9.99998571e-01 -2.65825831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5857692310000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.04, Z:-0.27 [[ 9.99792510e-01 2.02997390e-02 1.69066403e-03 3.37355636e+00] [-2.02997739e-02 9.99793938e-01 3.47577134e-06 -4.27627433e-02] [-1.69024509e-03 -3.77951477e-05 9.99998571e-01 -2.67575084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.615769231000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.04, Z:-0.27 [[ 9.99836700e-01 1.79921084e-02 1.69066407e-03 3.40487494e+00] [-1.79921399e-02 9.99838128e-01 3.45570013e-06 -3.91331319e-02] [-1.69032822e-03 -3.38738003e-05 9.99998571e-01 -2.69828906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645769231000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.03, Z:-0.27 [[ 9.99915188e-01 1.29134704e-02 1.69066415e-03 3.43503173e+00] [-1.29134946e-02 9.99916617e-01 3.41534529e-06 -3.34802855e-02] [-1.69047907e-03 -2.52474380e-05 9.99998571e-01 -2.74553616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.675769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.03, Z:-0.27 [[ 9.99974112e-01 6.99408751e-03 1.69066419e-03 3.46677270e+00] [-6.99410325e-03 9.99975541e-01 3.39524888e-06 -3.00992516e-02] [-1.69059909e-03 -1.52198409e-05 9.99998571e-01 -2.67255073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7057692310000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.03, Z:-0.26 [[ 9.99991148e-01 3.85308207e-03 1.69066427e-03 3.49832501e+00] [-3.85309325e-03 9.99992577e-01 3.35597927e-06 -2.82976947e-02] [-1.69063879e-03 -9.87023665e-06 9.99998571e-01 -2.64888910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.735769231000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.03, Z:-0.26 [[ 9.99998484e-01 4.16828170e-04 1.69066435e-03 3.52922870e+00] [-4.16834372e-04 9.99999913e-01 3.31592785e-06 -2.62847303e-02] [-1.69066282e-03 -4.02064983e-06 9.99998571e-01 -2.64680919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.02, Z:-0.27 [[ 9.99975247e-01 -6.82990214e-03 1.69066442e-03 3.55974644e+00] [ 6.82990636e-03 9.99976676e-01 3.27605683e-06 -2.42380985e-02] [-1.69064737e-03 8.27110397e-06 9.99998571e-01 -2.67855263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.02, Z:-0.27 [[ 9.99949115e-01 -9.94525905e-03 1.69066446e-03 3.59140443e+00] [ 9.94526776e-03 9.99950545e-01 3.25626727e-06 -2.43589556e-02] [-1.69061323e-03 1.35580092e-05 9.99998571e-01 -2.69242992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.02, Z:-0.27 [[ 9.99914234e-01 -1.29871350e-02 1.69066454e-03 3.62150097e+00] [ 1.29871482e-02 9.99915663e-01 3.21711260e-06 -2.32390463e-02] [-1.69056373e-03 1.87400741e-05 9.99998571e-01 -2.68747263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855769231000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.02, Z:-0.27 [[ 9.99910362e-01 -1.32819165e-02 1.69066457e-03 3.65305022e+00] [ 1.32819301e-02 9.99911791e-01 3.19762999e-06 -2.22564857e-02] [-1.69055791e-03 1.92579453e-05 9.99998571e-01 -2.67485839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.02, Z:-0.27 [[ 9.99911164e-01 -1.32213917e-02 1.69066465e-03 3.68374882e+00] [ 1.32214052e-02 9.99912593e-01 3.15788009e-06 -2.13186374e-02] [-1.69055862e-03 1.91953629e-05 9.99998571e-01 -2.67397566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9157692310000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.02, Z:-0.27 [[ 9.99911869e-01 -1.31679855e-02 1.69066469e-03 3.71398081e+00] [ 1.31679990e-02 9.99913298e-01 3.13813674e-06 -1.91673833e-02] [-1.69055942e-03 1.91248107e-05 9.99998571e-01 -2.68023792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945769231000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.02, Z:-0.27 [[ 9.99921910e-01 -1.23820682e-02 1.69066472e-03 3.74488107e+00] [ 1.23820806e-02 9.99923339e-01 3.11896953e-06 -1.83311164e-02] [-1.69057373e-03 1.78152209e-05 9.99998571e-01 -2.69019658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.02, Z:-0.27 [[ 9.99941238e-01 -1.07080501e-02 1.69066479e-03 3.77477739e+00] [ 1.07080602e-02 9.99942667e-01 3.07974802e-06 -1.72455936e-02] [-1.69060084e-03 1.50241733e-05 9.99998571e-01 -2.70561309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.02, Z:-0.27 [[ 9.99934548e-01 -1.13155199e-02 1.69066483e-03 3.80556853e+00] [ 1.13155309e-02 9.99935977e-01 3.06016729e-06 -1.67757989e-02] [-1.69059121e-03 1.60708030e-05 9.99998571e-01 -2.70718525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.02, Z:-0.27 [[ 9.99919079e-01 -1.26086205e-02 1.69066486e-03 3.83677886e+00] [ 1.26086334e-02 9.99920508e-01 3.04128817e-06 -1.73653141e-02] [-1.69056881e-03 1.82759313e-05 9.99998571e-01 -2.71639878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.02, Z:-0.27 [[ 9.99847128e-01 -1.74029254e-02 1.69066493e-03 3.86821453e+00] [ 1.74029452e-02 9.99848557e-01 3.00380191e-06 -1.99499451e-02] [-1.69046116e-03 2.64192064e-05 9.99998571e-01 -2.74232995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.095769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.02, Z:-0.27 [[ 9.99802947e-01 -1.97790245e-02 1.69066499e-03 3.89979194e+00] [ 1.97790478e-02 9.99804375e-01 2.96631566e-06 -2.09796957e-02] [-1.69039293e-03 3.04740125e-05 9.99998571e-01 -2.73739753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.02, Z:-0.27 [[ 9.99755622e-01 -2.20417496e-02 1.69066506e-03 3.93147274e+00] [ 2.20417761e-02 9.99757051e-01 2.92774113e-06 -2.24114383e-02] [-1.69031885e-03 3.43382351e-05 9.99998571e-01 -2.69142612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.02, Z:-0.27 [[ 9.99752902e-01 -2.21647421e-02 1.69066513e-03 3.96050254e+00] [ 2.21647689e-02 9.99754331e-01 2.88730113e-06 -2.37162919e-02] [-1.69031378e-03 3.45866142e-05 9.99998571e-01 -2.67329692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.02, Z:-0.27 [[ 9.99750668e-01 -2.22653151e-02 1.69066509e-03 3.99091721e+00] [ 2.22653420e-02 9.99752097e-01 2.90741820e-06 -2.46545219e-02] [-1.69031071e-03 3.47365433e-05 9.99998571e-01 -2.65699958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215769231000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.02, Z:-0.27 [[ 9.99755876e-01 -2.20301852e-02 1.69066509e-03 4.02160798e+00] [ 2.20302117e-02 9.99757305e-01 2.90741820e-06 -2.48156296e-02] [-1.69031883e-03 3.43390016e-05 9.99998571e-01 -2.65530992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.02, Z:-0.27 [[ 9.99758805e-01 -2.18968820e-02 1.69066509e-03 4.05125284e+00] [ 2.18969084e-02 9.99760234e-01 2.90741820e-06 -2.45032491e-02] [-1.69032339e-03 3.41136218e-05 9.99998571e-01 -2.66116438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.02, Z:-0.27 [[ 9.99756467e-01 -2.20033763e-02 1.69066506e-03 4.08180152e+00] [ 2.20034028e-02 9.99757896e-01 2.92710574e-06 -2.41900719e-02] [-1.69032015e-03 3.42739914e-05 9.99998571e-01 -2.65248490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305769231000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.02, Z:-0.26 [[ 9.99744836e-01 -2.25256556e-02 1.69066506e-03 4.11277215e+00] [ 2.25256829e-02 9.99746265e-01 2.92710574e-06 -2.35985003e-02] [-1.69030201e-03 3.51570262e-05 9.99998571e-01 -2.64981339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.02, Z:-0.27 [[ 9.99737283e-01 -2.28584067e-02 1.69066506e-03 4.14228306e+00] [ 2.28584345e-02 9.99738712e-01 2.92710574e-06 -2.29852673e-02] [-1.69029022e-03 3.57196197e-05 9.99998571e-01 -2.65867678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.02, Z:-0.27 [[ 9.99737206e-01 -2.28617805e-02 1.69066503e-03 4.17266113e+00] [ 2.28618082e-02 9.99738635e-01 2.94669409e-06 -2.15649452e-02] [-1.69029051e-03 3.57057399e-05 9.99998571e-01 -2.65043072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.02, Z:-0.26 [[ 9.99722710e-01 -2.34871168e-02 1.69066503e-03 4.20283101e+00] [ 2.34871454e-02 9.99724139e-01 2.94669409e-06 -2.07081827e-02] [-1.69026785e-03 3.67630183e-05 9.99998571e-01 -2.64213657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425769231 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.02, Z:-0.26 [[ 9.99679772e-01 -2.52486688e-02 1.69066503e-03 4.23323146e+00] [ 2.52486999e-02 9.99681201e-01 2.94669409e-06 -2.09673090e-02] [-1.69020044e-03 3.97413434e-05 9.99998571e-01 -2.63498154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455769231000001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.02, Z:-0.26 [[ 9.99640354e-01 -2.67638720e-02 1.69066503e-03 4.26289617e+00] [ 2.67639053e-02 9.99641783e-01 2.94669409e-06 -2.19362627e-02] [-1.69013827e-03 4.23031643e-05 9.99998571e-01 -2.64182547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.02, Z:-0.26 [[ 9.99639804e-01 -2.67844112e-02 1.69066499e-03 4.29306029e+00] [ 2.67844444e-02 9.99641232e-01 2.96731595e-06 -2.18356169e-02] [-1.69013791e-03 4.23172754e-05 9.99998571e-01 -2.64233545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.515769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.02, Z:-0.26 [[ 9.99600415e-01 -2.82161618e-02 1.69066493e-03 4.32403650e+00] [ 2.82161971e-02 9.99601844e-01 3.00205330e-06 -2.28319995e-02] [-1.69007649e-03 4.47032811e-05 9.99998571e-01 -2.64314380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545769231000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.02, Z:-0.27 [[ 9.99588146e-01 -2.86475008e-02 1.69066493e-03 4.35333679e+00] [ 2.86475367e-02 9.99589575e-01 3.00205330e-06 -2.47977545e-02] [-1.69005704e-03 4.54325687e-05 9.99998571e-01 -2.66843895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.03, Z:-0.26 [[ 9.99612093e-01 -2.77993826e-02 1.69066494e-03 4.38279454e+00] [ 2.77994172e-02 9.99613522e-01 2.99663424e-06 -2.58754259e-02] [-1.69009484e-03 4.40040282e-05 9.99998571e-01 -2.64817069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.03, Z:-0.26 [[ 9.99688478e-01 -2.49015687e-02 1.69066487e-03 4.41191256e+00] [ 2.49015992e-02 9.99689907e-01 3.03603949e-06 -2.83882963e-02] [-1.69021621e-03 3.90651652e-05 9.99998571e-01 -2.61786398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635769231000001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.03, Z:-0.26 [[ 9.99734380e-01 -2.29850309e-02 1.69066483e-03 4.44141953e+00] [ 2.29850585e-02 9.99735809e-01 3.05559856e-06 -2.82214202e-02] [-1.69028841e-03 3.58052432e-05 9.99998571e-01 -2.61691406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.03, Z:-0.26 [[ 9.99819196e-01 -1.89398134e-02 1.69066476e-03 4.47162906e+00] [ 1.89398352e-02 9.99820625e-01 3.09476229e-06 -2.77069764e-02] [-1.69042011e-03 2.89267092e-05 9.99998571e-01 -2.64955522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.03, Z:-0.27 [[ 9.99859877e-01 -1.66543936e-02 1.69066476e-03 4.50115154e+00] [ 1.66544122e-02 9.99861306e-01 3.09476229e-06 -2.83892512e-02] [-1.69048182e-03 2.50626991e-05 9.99998571e-01 -2.67773165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.03, Z:-0.27 [[ 9.99892911e-01 -1.45364651e-02 1.69066472e-03 4.53192009e+00] [ 1.45364806e-02 9.99894340e-01 3.11487936e-06 -2.88675504e-02] [-1.69053137e-03 2.14617691e-05 9.99998571e-01 -2.68827443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.03, Z:-0.27 [[ 9.99943052e-01 -1.05372541e-02 1.69066472e-03 4.56167427e+00] [ 1.05372639e-02 9.99944481e-01 3.11487936e-06 -2.88408415e-02] [-1.69060368e-03 1.47002784e-05 9.99998571e-01 -2.69527754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785769231000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.03, Z:-0.27 [[ 9.99955956e-01 -9.23185076e-03 1.69066469e-03 4.59324296e+00] [ 9.23185866e-03 9.99957385e-01 3.13478487e-06 -2.83514223e-02] [-1.69062158e-03 1.24733306e-05 9.99998571e-01 -2.68062025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.03, Z:-0.27 [[ 9.99973557e-01 -7.07299600e-03 1.69066476e-03 4.62414923e+00] [ 7.07300087e-03 9.99974986e-01 3.09521267e-06 -2.83439464e-02] [-1.69064436e-03 8.86294249e-06 9.99998571e-01 -2.65687020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.03, Z:-0.27 [[ 9.99980123e-01 -6.07411354e-03 1.69066483e-03 4.65535547e+00] [ 6.07411706e-03 9.99981552e-01 3.05564879e-06 -2.76821674e-02] [-1.69065220e-03 7.21370803e-06 9.99998571e-01 -2.65506371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.03, Z:-0.27 [[ 9.99987345e-01 -4.73835927e-03 1.69066490e-03 4.68576822e+00] [ 4.73836094e-03 9.99988774e-01 3.01625272e-06 -2.68875175e-02] [-1.69066021e-03 4.99476598e-06 9.99998571e-01 -2.65082941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.03, Z:-0.27 [[ 9.99994529e-01 -2.84303756e-03 1.69066494e-03 4.71708269e+00] [ 2.84303656e-03 9.99995959e-01 2.99661449e-06 -2.58230945e-02] [-1.69066662e-03 1.81002412e-06 9.99998571e-01 -2.68738456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.935769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.03, Z:-0.27 [[ 9.99995671e-01 -2.40827347e-03 1.69066501e-03 4.74779627e+00] [ 2.40827191e-03 9.99997100e-01 2.95683726e-06 -2.57743802e-02] [-1.69066722e-03 1.11475659e-06 9.99998571e-01 -2.71834708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.02, Z:-0.27 [[ 9.99996003e-01 -2.26601906e-03 1.69066504e-03 4.77932317e+00] [ 2.26601733e-03 9.99997433e-01 2.93708302e-06 -2.44483881e-02] [-1.69066735e-03 8.94004994e-07 9.99998571e-01 -2.70254723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.02, Z:-0.27 [[ 9.99995913e-01 -2.30569445e-03 1.69066511e-03 4.81069772e+00] [ 2.30569285e-03 9.99997342e-01 2.89773278e-06 -2.33154244e-02] [-1.69066729e-03 1.00043351e-06 9.99998571e-01 -2.67425771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.02, Z:-0.27 [[ 9.99995245e-01 -2.57923140e-03 1.69066517e-03 4.84083937e+00] [ 2.57923025e-03 9.99996674e-01 2.85770371e-06 -2.25432371e-02] [-1.69066692e-03 1.50292465e-06 9.99998571e-01 -2.65872164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.02, Z:-0.27 [[ 9.99992563e-01 -3.46634165e-03 1.69066521e-03 4.87074860e+00] [ 3.46634180e-03 9.99993992e-01 2.83780054e-06 -2.23522604e-02] [-1.69066489e-03 3.02264406e-06 9.99998571e-01 -2.66620879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.02, Z:-0.27 [[ 9.99987933e-01 -4.61260498e-03 1.69066524e-03 4.90165009e+00] [ 4.61260681e-03 9.99989362e-01 2.81863845e-06 -2.24385372e-02] [-1.69066026e-03 4.97976956e-06 9.99998571e-01 -2.67697908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.02, Z:-0.27 [[ 9.99966832e-01 -7.96715734e-03 1.69066531e-03 4.93212255e+00] [ 7.96716403e-03 9.99968262e-01 2.77893520e-06 -2.26691635e-02] [-1.69063379e-03 1.06909648e-05 9.99998571e-01 -2.65541044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.02, Z:-0.26 [[ 9.99957088e-01 -9.10839717e-03 1.69066534e-03 4.96272554e+00] [ 9.10840552e-03 9.99958518e-01 2.75922701e-06 -2.21276834e-02] [-1.69062034e-03 1.26401569e-05 9.99998571e-01 -2.63554483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.02, Z:-0.26 [[ 9.99947825e-01 -1.00741786e-02 1.69066544e-03 4.99396034e+00] [ 1.00741885e-02 9.99949254e-01 2.69580708e-06 -2.17770705e-02] [-1.69060680e-03 1.43364159e-05 9.99998571e-01 -2.62614332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.02, Z:-0.27 [[ 9.99922527e-01 -1.23321569e-02 1.69066550e-03 5.02537052e+00] [ 1.23321700e-02 9.99923956e-01 2.65682483e-06 -2.35767320e-02] [-1.69056970e-03 1.81929553e-05 9.99998571e-01 -2.66589875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.03, Z:-0.27 [[ 9.99894989e-01 -1.43927801e-02 1.69066556e-03 5.05582443e+00] [ 1.43927963e-02 9.99896418e-01 2.61574392e-06 -2.58191294e-02] [-1.69052809e-03 2.17179358e-05 9.99998571e-01 -2.68639807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.03, Z:-0.27 [[ 9.99843907e-01 -1.75870113e-02 1.69066566e-03 5.08743529e+00] [ 1.75870321e-02 9.99845336e-01 2.54973019e-06 -2.83551617e-02] [-1.69044902e-03 2.71844591e-05 9.99998571e-01 -2.69679362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.03, Z:-0.27 [[ 9.99725042e-01 -2.33876574e-02 1.69066572e-03 5.11754826e+00] [ 2.33876866e-02 9.99726471e-01 2.50948270e-06 -3.45360047e-02] [-1.69026197e-03 3.70319674e-05 9.99998571e-01 -2.68591145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.04, Z:-0.27 [[ 9.99687333e-01 -2.49475057e-02 1.69066575e-03 5.14691977e+00] [ 2.49475372e-02 9.99688762e-01 2.48942966e-06 -3.75730680e-02] [-1.69020166e-03 3.96892954e-05 9.99998571e-01 -2.66656883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.04, Z:-0.26 [[ 9.99689703e-01 -2.48523609e-02 1.69066572e-03 5.17720033e+00] [ 2.48523921e-02 9.99691132e-01 2.50911051e-06 -3.98308839e-02] [-1.69020589e-03 3.95087556e-05 9.99998571e-01 -2.63867778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.04, Z:-0.26 [[ 9.99800223e-01 -1.99162026e-02 1.69066572e-03 5.20624091e+00] [ 1.99162269e-02 9.99801652e-01 2.50911051e-06 -4.11839359e-02] [-1.69038036e-03 3.11630728e-05 9.99998571e-01 -2.64321586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.04, Z:-0.27 [[ 9.99865613e-01 -1.63063551e-02 1.69066573e-03 5.23625723e+00] [ 1.63063741e-02 9.99867042e-01 2.50476192e-06 -4.06838461e-02] [-1.69048179e-03 2.50642026e-05 9.99998571e-01 -2.66885390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.04, Z:-0.27 [[ 9.99920973e-01 -1.24575273e-02 1.69066567e-03 5.26569174e+00] [ 1.24575408e-02 9.99922402e-01 2.54440597e-06 -4.03873834e-02] [-1.69056617e-03 1.85173317e-05 9.99998571e-01 -2.69426913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.04, Z:-0.27 [[ 9.99970241e-01 -7.52715784e-03 1.69066564e-03 5.29644148e+00] [ 7.52716426e-03 9.99971670e-01 2.56419240e-06 -4.06701033e-02] [-1.69063705e-03 1.01618019e-05 9.99998571e-01 -2.67645349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.04, Z:-0.27 [[ 9.99977607e-01 -6.47511583e-03 1.69066564e-03 5.32748817e+00] [ 6.47512075e-03 9.99979036e-01 2.56419240e-06 -4.13194683e-02] [-1.69064680e-03 8.38312919e-06 9.99998571e-01 -2.67069822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535769231000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.04, Z:-0.27 [[ 9.99965702e-01 -8.10784708e-03 1.69066570e-03 5.35746411e+00] [ 8.10785440e-03 9.99967131e-01 2.52418832e-06 -4.22846753e-02] [-1.69063059e-03 1.11835696e-05 9.99998571e-01 -2.68989900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.04, Z:-0.27 [[ 9.99944287e-01 -1.04194018e-02 1.69066573e-03 5.38904705e+00] [ 1.04194124e-02 9.99945716e-01 2.50430854e-06 -4.21998345e-02] [-1.69060005e-03 1.51115745e-05 9.99998571e-01 -2.68270518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.595769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.04, Z:-0.27 [[ 9.99918435e-01 -1.26595505e-02 1.69066579e-03 5.41946534e+00] [ 1.26595645e-02 9.99919864e-01 2.46436552e-06 -4.28208373e-02] [-1.69056150e-03 1.89389280e-05 9.99998571e-01 -2.66588232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625769231000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.05, Z:-0.26 [[ 9.99876090e-01 -1.56507365e-02 1.69066582e-03 5.44957511e+00] [ 1.56507547e-02 9.99877519e-01 2.44448574e-06 -4.60052866e-02] [-1.69049700e-03 2.40160132e-05 9.99998571e-01 -2.62412697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.05, Z:-0.26 [[ 9.99871812e-01 -1.59217151e-02 1.69066582e-03 5.47962637e+00] [ 1.59217337e-02 9.99873241e-01 2.44448574e-06 -4.74397992e-02] [-1.69049043e-03 2.44741585e-05 9.99998571e-01 -2.61675669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.05, Z:-0.26 [[ 9.99874766e-01 -1.57350989e-02 1.69066591e-03 5.51039653e+00] [ 1.57351173e-02 9.99876195e-01 2.37790205e-06 -4.98856797e-02] [-1.69049401e-03 2.42252222e-05 9.99998571e-01 -2.63778979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715769231000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.05, Z:-0.27 [[ 9.99870668e-01 -1.59934234e-02 1.69066594e-03 5.54090164e+00] [ 1.59934423e-02 9.99872097e-01 2.35805243e-06 -5.17882385e-02] [-1.69048741e-03 2.46818207e-05 9.99998571e-01 -2.66171430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745769231 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.06, Z:-0.27 [[ 9.99848852e-01 -1.73036096e-02 1.69066594e-03 5.57181710e+00] [ 1.73036304e-02 9.99850281e-01 2.35805243e-06 -5.77523089e-02] [-1.69045362e-03 2.68969625e-05 9.99998571e-01 -2.66947760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.775769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.06, Z:-0.27 [[ 9.99848335e-01 -1.73334649e-02 1.69066594e-03 5.60189330e+00] [ 1.73334857e-02 9.99849764e-01 2.35805243e-06 -5.99881940e-02] [-1.69045281e-03 2.69474390e-05 9.99998571e-01 -2.67363498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.06, Z:-0.27 [[ 9.99857463e-01 -1.67986530e-02 1.69066597e-03 5.63275660e+00] [ 1.67986730e-02 9.99858892e-01 2.33744493e-06 -6.12009268e-02] [-1.69046667e-03 2.60638330e-05 9.99998571e-01 -2.66598691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.06, Z:-0.27 [[ 9.99880020e-01 -1.53976188e-02 1.69066597e-03 5.66179303e+00] [ 1.53976368e-02 9.99881449e-01 2.33744493e-06 -6.26335415e-02] [-1.69050153e-03 2.36950961e-05 9.99998571e-01 -2.66088187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865769231000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.06, Z:-0.26 [[ 9.99893675e-01 -1.44838171e-02 1.69066594e-03 5.69250147e+00] [ 1.44838338e-02 9.99895104e-01 2.35751292e-06 -6.42365100e-02] [-1.69052274e-03 2.21300622e-05 9.99998571e-01 -2.64870116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895769231000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.07, Z:-0.26 [[ 9.99918324e-01 -1.26683134e-02 1.69066597e-03 5.72275489e+00] [ 1.26683275e-02 9.99919754e-01 2.33759182e-06 -6.69366504e-02] [-1.69055991e-03 1.90805093e-05 9.99998571e-01 -2.62917035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.07, Z:-0.26 [[ 9.99921431e-01 -1.24206751e-02 1.69066597e-03 5.75299537e+00] [ 1.24206889e-02 9.99922860e-01 2.33759182e-06 -6.79444195e-02] [-1.69056458e-03 1.86618278e-05 9.99998571e-01 -2.64178283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955769231000001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.07, Z:-0.27 [[ 9.99917223e-01 -1.27549378e-02 1.69066597e-03 5.78305775e+00] [ 1.27549521e-02 9.99918652e-01 2.33759182e-06 -6.92923227e-02] [-1.69055825e-03 1.92269650e-05 9.99998571e-01 -2.65790594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.07, Z:-0.27 [[ 9.99903975e-01 -1.37543760e-02 1.69066597e-03 5.81399015e+00] [ 1.37543917e-02 9.99905404e-01 2.33759182e-06 -7.46182303e-02] [-1.69053819e-03 2.09167145e-05 9.99998571e-01 -2.69100592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.08, Z:-0.27 [[ 9.99896698e-01 -1.42735521e-02 1.69066597e-03 5.84442384e+00] [ 1.42735685e-02 9.99898127e-01 2.33759182e-06 -7.84369302e-02] [-1.69052710e-03 2.17944861e-05 9.99998571e-01 -2.70491004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045769231000001 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.08, Z:-0.27 [[ 9.99878400e-01 -1.55024622e-02 1.69066597e-03 5.87399710e+00] [ 1.55024804e-02 9.99879829e-01 2.33759182e-06 -8.44173777e-02] [-1.69049904e-03 2.38722085e-05 9.99998571e-01 -2.68098041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.09, Z:-0.27 [[ 9.99881874e-01 -1.52767679e-02 1.69066594e-03 5.90315417e+00] [ 1.52767858e-02 9.99883303e-01 2.35731446e-06 -8.66938219e-02] [-1.69050465e-03 2.34709053e-05 9.99998571e-01 -2.66826708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.09, Z:-0.27 [[ 9.99899086e-01 -1.41052936e-02 1.69066591e-03 5.93384791e+00] [ 1.41053098e-02 9.99900515e-01 2.37674273e-06 -8.95224874e-02] [-1.69053124e-03 2.14708635e-05 9.99998571e-01 -2.66222616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135769231000001 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.10, Z:-0.27 [[ 9.99945882e-01 -1.02652314e-02 1.69066591e-03 5.96416026e+00] [ 1.02652420e-02 9.99947311e-01 2.37674273e-06 -9.69305353e-02] [-1.69060123e-03 1.49784807e-05 9.99998571e-01 -2.68963116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.10, Z:-0.27 [[ 9.99966554e-01 -8.00201682e-03 1.69066591e-03 5.99494950e+00] [ 8.00202423e-03 9.99967983e-01 2.37674273e-06 -1.00254405e-01] [-1.69063080e-03 1.11520863e-05 9.99998571e-01 -2.70030399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.11, Z:-0.27 [[ 9.99995131e-01 -2.62301408e-03 1.69066591e-03 6.02432465e+00] [ 2.62301381e-03 9.99996560e-01 2.37674273e-06 -1.05858239e-01] [-1.69066633e-03 2.05790888e-06 9.99998571e-01 -2.69311856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225769231000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.11, Z:-0.27 [[ 9.99998522e-01 -3.12846246e-04 1.69066588e-03 6.05590995e+00] [ 3.12842642e-04 9.99999951e-01 2.39610177e-06 -1.07951446e-01] [-1.69066655e-03 -1.86718585e-06 9.99998571e-01 -2.68635621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.11, Z:-0.27 [[ 9.99996757e-01 1.90438792e-03 1.69066594e-03 6.08738536e+00] [-1.90439462e-03 9.99998187e-01 2.35743902e-06 -1.09620508e-01] [-1.69065838e-03 -5.57712650e-06 9.99998571e-01 -2.68471357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285769231000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.11, Z:-0.27 [[ 9.99975793e-01 6.74944523e-03 1.69066599e-03 6.11822813e+00] [-6.74945880e-03 9.99977222e-01 2.31903430e-06 -1.11642496e-01] [-1.69061183e-03 -1.37300586e-05 9.99998571e-01 -2.66253611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.11, Z:-0.27 [[ 9.99959945e-01 8.78923546e-03 1.69066602e-03 6.14995327e+00] [-8.78925191e-03 9.99961374e-01 2.29904121e-06 -1.12467565e-01] [-1.69058051e-03 -1.71586386e-05 9.99998571e-01 -2.66207222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.11, Z:-0.27 [[ 9.99941689e-01 1.06658203e-02 1.69066607e-03 6.18159181e+00] [-1.06658393e-02 9.99943118e-01 2.25926395e-06 -1.13042698e-01] [-1.69054581e-03 -2.02915049e-05 9.99998571e-01 -2.67929264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375769231000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.11, Z:-0.27 [[ 9.99920876e-01 1.24652732e-02 1.69066638e-03 6.21387024e+00] [-1.24652944e-02 9.99922305e-01 2.00154156e-06 -1.12961692e-01] [-1.69051007e-03 -2.30760374e-05 9.99998571e-01 -2.70596411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.11, Z:-0.27 [[ 9.99918838e-01 1.26277220e-02 1.69066666e-03 6.24653854e+00] [-1.26277429e-02 9.99920267e-01 1.72610019e-06 -1.13077924e-01] [-1.69051006e-03 -2.30752640e-05 9.99998571e-01 -2.70651665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.435769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.11, Z:-0.27 [[ 9.99918329e-01 1.26679873e-02 1.69066689e-03 6.27875093e+00] [-1.26680079e-02 9.99919758e-01 1.45143188e-06 -1.13406287e-01] [-1.69051284e-03 -2.28686948e-05 9.99998571e-01 -2.71703582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465769231000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.11, Z:-0.28 [[ 9.99941809e-01 1.06545422e-02 1.69066708e-03 6.30990124e+00] [-1.06545594e-02 9.99943239e-01 1.17651981e-06 -1.11402299e-01] [-1.69055858e-03 -1.91897642e-05 9.99998571e-01 -2.75744571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.11, Z:-0.27 [[ 9.99953054e-01 9.54102443e-03 1.69066722e-03 6.34237423e+00] [-9.54103962e-03 9.99954483e-01 9.22474006e-07 -1.09656200e-01] [-1.69058147e-03 -1.70531537e-05 9.99998571e-01 -2.74575332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.11, Z:-0.27 [[ 9.99959727e-01 8.81401692e-03 1.69066732e-03 6.37386280e+00] [-8.81403064e-03 9.99961156e-01 6.63531805e-07 -1.08360738e-01] [-1.69059580e-03 -1.55650987e-05 9.99998571e-01 -2.70126237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555769231000001 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.11, Z:-0.26 [[ 9.99975022e-01 6.86267784e-03 1.69066734e-03 6.40500335e+00] [-6.86268870e-03 9.99976451e-01 6.24856098e-07 -1.09519338e-01] [-1.69062324e-03 -1.22273641e-05 9.99998571e-01 -2.64539588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.11, Z:-0.27 [[ 9.99986800e-01 4.85203493e-03 1.69066739e-03 6.43597366e+00] [-4.85204250e-03 9.99988229e-01 3.75036073e-07 -1.10762126e-01] [-1.69064567e-03 -8.57822117e-06 9.99998571e-01 -2.65920749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615769231000002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.11, Z:-0.27 [[ 9.99995555e-01 2.45609710e-03 1.69066740e-03 6.46714640e+00] [-2.45610118e-03 9.99996984e-01 3.36705663e-07 -1.12751132e-01] [-1.69066147e-03 -4.48915436e-06 9.99998571e-01 -2.73153777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645769231000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.11, Z:-0.27 [[ 9.99996180e-01 2.18661890e-03 1.69066741e-03 6.49802678e+00] [-2.18662218e-03 9.99997609e-01 8.85760551e-08 -1.13682808e-01] [-1.69066318e-03 -3.78542658e-06 9.99998571e-01 -2.73167449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.11, Z:-0.27 [[ 9.99997172e-01 1.67263467e-03 1.69066742e-03 6.52909906e+00] [-1.67263715e-03 9.99998601e-01 5.06097593e-08 -1.14623590e-01] [-1.69066497e-03 -2.87848274e-06 9.99998571e-01 -2.72443481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.12, Z:-0.27 [[ 9.99997066e-01 1.73461358e-03 1.69066742e-03 6.56005935e+00] [-1.73461608e-03 9.99998496e-01 1.28354998e-08 -1.15049578e-01] [-1.69066485e-03 -2.94549435e-06 9.99998571e-01 -2.70203793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.11, Z:-0.27 [[ 9.99992004e-01 3.62411807e-03 1.69066741e-03 6.59079091e+00] [-3.62412321e-03 9.99993433e-01 -2.49363842e-08 -1.12643953e-01] [-1.69065640e-03 -6.10225083e-06 9.99998571e-01 -2.66488605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.11, Z:-0.27 [[ 9.99984525e-01 5.30007840e-03 1.69066741e-03 6.62191292e+00] [-5.30008590e-03 9.99985954e-01 -4.37353468e-08 -1.12173036e-01] [-1.69064390e-03 -8.91694786e-06 9.99998571e-01 -2.67045068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.11, Z:-0.27 [[ 9.99968862e-01 7.70817475e-03 1.69066737e-03 6.65270667e+00] [-7.70818528e-03 9.99970291e-01 -2.86627466e-07 -1.12543525e-01] [-1.69061936e-03 -1.27453588e-05 9.99998571e-01 -2.70008808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.11, Z:-0.27 [[ 9.99966310e-01 8.03245366e-03 1.69066734e-03 6.68389889e+00] [-8.03246440e-03 9.99967739e-01 -4.34229418e-07 -1.12138165e-01] [-1.69061628e-03 -1.31460104e-05 9.99998571e-01 -2.70715280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.855769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.11, Z:-0.27 [[ 9.99968713e-01 7.72757379e-03 1.69066733e-03 6.71559677e+00] [-7.72758404e-03 9.99970142e-01 -4.70976066e-07 -1.10867004e-01] [-1.69062048e-03 -1.25938125e-05 9.99998571e-01 -2.71154757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885769231000001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.11, Z:-0.27 [[ 9.99969838e-01 7.58049069e-03 1.69066731e-03 6.74675635e+00] [-7.58050066e-03 9.99971268e-01 -5.10632800e-07 -1.09440285e-01] [-1.69062261e-03 -1.23054873e-05 9.99998571e-01 -2.73211837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.11, Z:-0.27 [[ 9.99972918e-01 7.16272409e-03 1.69066720e-03 6.77775520e+00] [-7.16273303e-03 9.99974347e-01 -7.67787504e-07 -1.09041079e-01] [-1.69062933e-03 -1.13420311e-05 9.99998571e-01 -2.71355054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945769231000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.11, Z:-0.27 [[ 9.99964735e-01 8.22618295e-03 1.69066718e-03 6.80878412e+00] [-8.22619335e-03 9.99966164e-01 -8.04084327e-07 -1.06561358e-01] [-1.69061659e-03 -1.31036991e-05 9.99998571e-01 -2.65856684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.11, Z:-0.27 [[ 9.99946573e-01 1.01976461e-02 1.69066716e-03 6.84015305e+00] [-1.01976592e-02 9.99948003e-01 -8.43670117e-07 -1.05285950e-01] [-1.69058785e-03 -1.63972225e-05 9.99998571e-01 -2.65925602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.10, Z:-0.27 [[ 9.99924157e-01 1.21992548e-02 1.69066699e-03 6.87108260e+00] [-1.21992704e-02 9.99925586e-01 -1.09990859e-06 -1.03750482e-01] [-1.69055460e-03 -1.95250786e-05 9.99998571e-01 -2.66726978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035769231000002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.10, Z:-0.27 [[ 9.99869150e-01 1.60880107e-02 1.69066697e-03 6.90217579e+00] [-1.60880318e-02 9.99870579e-01 -1.13841357e-06 -1.00013772e-01] [-1.69046647e-03 -2.60612393e-05 9.99998571e-01 -2.67352168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.10, Z:-0.27 [[ 9.99861116e-01 1.65798094e-02 1.69066694e-03 6.93316878e+00] [-1.65798311e-02 9.99862545e-01 -1.17793956e-06 -9.81041116e-02] [-1.69045408e-03 -2.68531963e-05 9.99998571e-01 -2.67457870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.095769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.10, Z:-0.27 [[ 9.99901568e-01 1.39282347e-02 1.69066672e-03 6.96484697e+00] [-1.39282522e-02 9.99902997e-01 -1.43198529e-06 -9.58565256e-02] [-1.69052267e-03 -2.21161881e-05 9.99998571e-01 -2.68052925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125769231000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.09, Z:-0.27 [[ 9.99924285e-01 1.21887693e-02 1.69066645e-03 6.99678332e+00] [-1.21887839e-02 9.99925714e-01 -1.70360290e-06 -9.49887749e-02] [-1.69056162e-03 -1.89036941e-05 9.99998571e-01 -2.67594953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.09, Z:-0.27 [[ 9.99937136e-01 1.10844528e-02 1.69066612e-03 7.02814029e+00] [-1.10844653e-02 9.99938565e-01 -1.98251580e-06 -9.32288232e-02] [-1.69058423e-03 -1.67577388e-05 9.99998571e-01 -2.66772982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.09, Z:-0.27 [[ 9.99918578e-01 1.26482983e-02 1.69066608e-03 7.05931668e+00] [-1.26483130e-02 9.99920007e-01 -2.02262866e-06 -8.87015663e-02] [-1.69055642e-03 -1.93616097e-05 9.99998571e-01 -2.65075448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.09, Z:-0.26 [[ 9.99893242e-01 1.45136879e-02 1.69066572e-03 7.09086520e+00] [-1.45137048e-02 9.99894671e-01 -2.28264426e-06 -8.60658960e-02] [-1.69052078e-03 -2.22554227e-05 9.99998571e-01 -2.64881579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.08, Z:-0.27 [[ 9.99861424e-01 1.65612202e-02 1.69066550e-03 7.12260096e+00] [-1.65612397e-02 9.99862853e-01 -2.43700234e-06 -8.25678766e-02] [-1.69047399e-03 -2.55628521e-05 9.99998571e-01 -2.65188714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.275769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.07, Z:-0.27 [[ 9.99794651e-01 2.01939838e-02 1.69066544e-03 7.15415529e+00] [-2.01940084e-02 9.99796080e-01 -2.47651741e-06 -7.49784642e-02] [-1.69037069e-03 -3.16653034e-05 9.99998571e-01 -2.66529555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305769231000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.07, Z:-0.27 [[ 9.99777739e-01 2.10146428e-02 1.69066503e-03 7.18491752e+00] [-2.10146682e-02 9.99779167e-01 -2.73240566e-06 -7.15114118e-02] [-1.69034910e-03 -3.27969662e-05 9.99998571e-01 -2.65953343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.07, Z:-0.27 [[ 9.99760506e-01 2.18190934e-02 1.69066458e-03 7.21632189e+00] [-2.18191195e-02 9.99761935e-01 -2.98593393e-06 -6.73088553e-02] [-1.69032724e-03 -3.39035937e-05 9.99998571e-01 -2.65245727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365769231000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.07, Z:-0.27 [[ 9.99777718e-01 2.10156259e-02 1.69066451e-03 7.24746598e+00] [-2.10156508e-02 9.99779147e-01 -3.02401065e-06 -6.63504945e-02] [-1.69035468e-03 -3.25070766e-05 9.99998571e-01 -2.66823681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.06, Z:-0.27 [[ 9.99857619e-01 1.67893834e-02 1.69066444e-03 7.27865323e+00] [-1.67894022e-02 9.99859048e-01 -3.06358283e-06 -6.30493207e-02] [-1.69047758e-03 -2.53220987e-05 9.99998571e-01 -2.69154493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.06, Z:-0.27 [[ 9.99901797e-01 1.39117983e-02 1.69066394e-03 7.31022317e+00] [-1.39118126e-02 9.99903226e-01 -3.31891115e-06 -6.12687789e-02] [-1.69054650e-03 -2.02016147e-05 9.99998571e-01 -2.68047406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.06, Z:-0.27 [[ 9.99935962e-01 1.11899256e-02 1.69066386e-03 7.34136912e+00] [-1.11899359e-02 9.99937391e-01 -3.35872150e-06 -6.12705456e-02] [-1.69059559e-03 -1.55599138e-05 9.99998571e-01 -2.67371713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.06, Z:-0.27 [[ 9.99963398e-01 8.38718688e-03 1.69066331e-03 7.37301808e+00] [-8.38719275e-03 9.99964827e-01 -3.61621275e-06 -6.20992686e-02] [-1.69063418e-03 -1.05638387e-05 9.99998571e-01 -2.67455049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.515769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.06, Z:-0.27 [[ 9.99997284e-01 1.60452563e-03 1.69066272e-03 7.40424281e+00] [-1.60452137e-03 9.99998713e-01 -3.87267901e-06 -6.40174887e-02] [-1.69066676e-03 1.15996401e-06 9.99998571e-01 -2.69668102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.07, Z:-0.27 [[ 9.99997457e-01 -1.49276587e-03 1.69066264e-03 7.43526771e+00] [ 1.49277462e-03 9.99998886e-01 -3.91069028e-06 -6.53828658e-02] [-1.69065491e-03 6.43445861e-06 9.99998571e-01 -2.68884290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.07, Z:-0.27 [[ 9.99991048e-01 -3.87887337e-03 1.69066254e-03 7.46582040e+00] [ 3.87888559e-03 9.99992477e-01 -3.94983420e-06 -6.77945751e-02] [-1.69063451e-03 1.05076854e-05 9.99998571e-01 -2.67310437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.07, Z:-0.27 [[ 9.99992244e-01 -3.55716546e-03 1.69066250e-03 7.49700775e+00] [ 3.55717726e-03 9.99993673e-01 -3.96930495e-06 -6.81303799e-02] [-1.69063768e-03 9.98326036e-06 9.99998571e-01 -2.66251445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.07, Z:-0.26 [[ 9.99994643e-01 -2.80281664e-03 1.69066241e-03 7.52834207e+00] [ 2.80282742e-03 9.99996072e-01 -4.00741198e-06 -6.82892771e-02] [-1.69064454e-03 8.74602547e-06 9.99998571e-01 -2.64959811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.07, Z:-0.26 [[ 9.99998567e-01 8.84711500e-05 1.69066232e-03 7.55916648e+00] [-8.84644354e-05 9.99999996e-01 -4.04635986e-06 -7.03658683e-02] [-1.69066267e-03 3.89679057e-06 9.99998571e-01 -2.62970946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.07, Z:-0.26 [[ 9.99997445e-01 1.50030277e-03 1.69066227e-03 7.59002081e+00] [-1.50029804e-03 9.99998875e-01 -4.06570619e-06 -7.20909003e-02] [-1.69066647e-03 1.52919851e-06 9.99998571e-01 -2.62776511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.07, Z:-0.26 [[ 9.99995691e-01 2.40012053e-03 1.69066217e-03 7.62068964e+00] [-2.40011702e-03 9.99997120e-01 -4.10628571e-06 -7.33961742e-02] [-1.69066716e-03 4.84809708e-08 9.99998571e-01 -2.63890514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.07, Z:-0.27 [[ 9.99996243e-01 2.15767493e-03 1.69066212e-03 7.65207949e+00] [-2.15767104e-03 9.99997672e-01 -4.12650930e-06 -7.45307401e-02] [-1.69066709e-03 4.78601106e-07 9.99998571e-01 -2.65292323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785769231000002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.08, Z:-0.27 [[ 9.99997441e-01 1.50354440e-03 1.69066203e-03 7.68241530e+00] [-1.50353951e-03 9.99998870e-01 -4.16543349e-06 -7.56675468e-02] [-1.69066638e-03 1.62344568e-06 9.99998571e-01 -2.65423175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.08, Z:-0.27 [[ 9.99998454e-01 -4.83221687e-04 1.69066198e-03 7.71326937e+00] [ 4.83229453e-04 9.99999883e-01 -4.18478504e-06 -7.99783051e-02] [-1.69065976e-03 5.00175623e-06 9.99998571e-01 -2.67050206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.08, Z:-0.27 [[ 9.99998115e-01 -9.54390911e-04 1.69066188e-03 7.74401529e+00] [ 9.54399415e-04 9.99999545e-01 -4.22294763e-06 -8.22648006e-02] [-1.69065708e-03 5.83650639e-06 9.99998571e-01 -2.70688958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.08, Z:-0.27 [[ 9.99998075e-01 -9.96194411e-04 1.69066183e-03 7.77540912e+00] [ 9.96203007e-04 9.99999504e-01 -4.24199930e-06 -8.42968651e-02] [-1.69065677e-03 5.92623353e-06 9.99998571e-01 -2.72258316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.09, Z:-0.28 [[ 9.99998354e-01 6.59117979e-04 1.69066173e-03 7.80562201e+00] [-6.59111680e-04 9.99999783e-01 -4.28306834e-06 -8.77252344e-02] [-1.69066419e-03 3.16872639e-06 9.99998571e-01 -2.75121414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.935769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.09, Z:-0.27 [[ 9.99996220e-01 2.16850832e-03 1.69066154e-03 7.83614488e+00] [-2.16850406e-03 9.99997649e-01 -4.35537930e-06 -8.95618569e-02] [-1.69066701e-03 6.89156419e-07 9.99998571e-01 -2.74104778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965769231000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.09, Z:-0.27 [[ 9.99990856e-01 3.92795682e-03 1.69066149e-03 7.86746693e+00] [-3.92795504e-03 9.99992286e-01 -4.37443723e-06 -9.10687294e-02] [-1.69066563e-03 -2.26644510e-06 9.99998571e-01 -2.72112978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.09, Z:-0.27 [[ 9.99971499e-01 7.35813114e-03 1.69066139e-03 7.89921765e+00] [-7.35813420e-03 9.99972929e-01 -4.41286736e-06 -9.20737866e-02] [-1.69064810e-03 -8.02737183e-06 9.99998571e-01 -2.69866988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.09, Z:-0.27 [[ 9.99961490e-01 8.61160193e-03 1.69066129e-03 7.93010477e+00] [-8.61160671e-03 9.99962919e-01 -4.45412782e-06 -9.26228872e-02] [-1.69063695e-03 -1.01053538e-05 9.99998571e-01 -2.71780450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055769231000001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.09, Z:-0.27 [[ 9.99957175e-01 9.09894226e-03 1.69066085e-03 7.96154773e+00] [-9.09894746e-03 9.99958604e-01 -4.61443818e-06 -9.38525683e-02] [-1.69063285e-03 -1.07689937e-05 9.99998571e-01 -2.72980450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.10, Z:-0.27 [[ 9.99962578e-01 8.48432839e-03 1.69066075e-03 7.99260787e+00] [-8.48433265e-03 9.99964007e-01 -4.65159758e-06 -9.74081325e-02] [-1.69063936e-03 -9.69270466e-06 9.99998571e-01 -2.74398802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115769231000002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.10, Z:-0.27 [[ 9.99970103e-01 7.54554697e-03 1.69066005e-03 8.02443595e+00] [-7.54554948e-03 9.99971532e-01 -4.89199016e-06 -9.86486032e-02] [-1.69064883e-03 -7.86511517e-06 9.99998571e-01 -2.74633285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.10, Z:-0.27 [[ 9.99979075e-01 6.24426085e-03 1.69065994e-03 8.05572200e+00] [-6.24426144e-03 9.99980504e-01 -4.92804117e-06 -1.00024154e-01] [-1.69065776e-03 -5.62898466e-06 9.99998571e-01 -2.73957554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.10, Z:-0.27 [[ 9.99988006e-01 4.59674052e-03 1.69065977e-03 8.08732502e+00] [-4.59673866e-03 9.99989435e-01 -4.98733978e-06 -1.02559661e-01] [-1.69066483e-03 -2.78424116e-06 9.99998571e-01 -2.70662043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.10, Z:-0.27 [[ 9.99987990e-01 4.60021993e-03 1.69065965e-03 8.11831193e+00] [-4.60021800e-03 9.99989419e-01 -5.02711689e-06 -1.03258751e-01] [-1.69066489e-03 -2.75034646e-06 9.99998571e-01 -2.69539120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.10, Z:-0.27 [[ 9.99985017e-01 5.20650336e-03 1.69065885e-03 8.14985658e+00] [-5.20650187e-03 9.99986446e-01 -5.28361799e-06 -1.03653635e-01] [-1.69066344e-03 -3.51887964e-06 9.99998571e-01 -2.69674983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.10, Z:-0.27 [[ 9.99984895e-01 5.22991734e-03 1.69065873e-03 8.18169001e+00] [-5.22991582e-03 9.99986324e-01 -5.32319265e-06 -1.03799964e-01] [-1.69066344e-03 -3.51889056e-06 9.99998571e-01 -2.69728806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.10, Z:-0.27 [[ 9.99966921e-01 7.95599617e-03 1.69065860e-03 8.21293521e+00] [-7.95599847e-03 9.99968351e-01 -5.36277824e-06 -1.02520564e-01] [-1.69064776e-03 -8.08827639e-06 9.99998571e-01 -2.70799356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.10, Z:-0.27 [[ 9.99947905e-01 1.00662748e-02 1.69065847e-03 8.24429545e+00] [-1.00662800e-02 9.99949334e-01 -5.40289092e-06 -1.02115775e-01] [-1.69062720e-03 -1.16160321e-05 9.99998571e-01 -2.70527951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355769231000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.10, Z:-0.27 [[ 9.99897821e-01 1.41946749e-02 1.69065760e-03 8.27554286e+00] [-1.41946856e-02 9.99899250e-01 -5.66212975e-06 -1.00957276e-01] [-1.69056764e-03 -1.83368020e-05 9.99998571e-01 -2.71315648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.10, Z:-0.27 [[ 9.99866189e-01 1.62710309e-02 1.69065747e-03 8.30665404e+00] [-1.62710446e-02 9.99867618e-01 -5.70190417e-06 -9.99831361e-02] [-1.69052643e-03 -2.18076218e-05 9.99998571e-01 -2.71467898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.09, Z:-0.27 [[ 9.99768590e-01 2.14454528e-02 1.69065734e-03 8.33742026e+00] [-2.14454737e-02 9.99770019e-01 -5.74144084e-06 -9.40130632e-02] [-1.69039164e-03 -3.05168352e-05 9.99998571e-01 -2.71638611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.09, Z:-0.27 [[ 9.99715286e-01 2.38010233e-02 1.69065679e-03 8.36859394e+00] [-2.38010474e-02 9.99716715e-01 -5.89882914e-06 -8.98153612e-02] [-1.69031825e-03 -3.43422526e-05 9.99998571e-01 -2.73720311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.09, Z:-0.28 [[ 9.99661027e-01 2.59802255e-02 1.69065665e-03 8.39975120e+00] [-2.59802526e-02 9.99662456e-01 -5.93770594e-06 -8.53032955e-02] [-1.69024024e-03 -3.79879936e-05 9.99998571e-01 -2.75657494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.08, Z:-0.28 [[ 9.99613197e-01 2.77596429e-02 1.69065651e-03 8.43045210e+00] [-2.77596725e-02 9.99614626e-01 -5.97722079e-06 -8.12645242e-02] [-1.69017090e-03 -4.09571622e-05 9.99998571e-01 -2.77863299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.07, Z:-0.28 [[ 9.99617165e-01 2.76163902e-02 1.69065557e-03 8.46205172e+00] [-2.76164191e-02 9.99618594e-01 -6.23265320e-06 -7.09446969e-02] [-1.69018287e-03 -4.04595856e-05 9.99998571e-01 -2.76631437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.07, Z:-0.27 [[ 9.99660056e-01 2.60175793e-02 1.69065542e-03 8.49306117e+00] [-2.60176059e-02 9.99661485e-01 -6.27253775e-06 -6.58335813e-02] [-1.69024630e-03 -3.77164010e-05 9.99998571e-01 -2.74832511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.595769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.06, Z:-0.27 [[ 9.99774734e-01 2.11571052e-02 1.69065527e-03 8.52335121e+00] [-2.11571248e-02 9.99776163e-01 -6.31245827e-06 -5.72176318e-02] [-1.69041039e-03 -2.94583682e-05 9.99998571e-01 -2.73645953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.05, Z:-0.28 [[ 9.99835576e-01 1.80544130e-02 1.69065520e-03 8.55454177e+00] [-1.80544281e-02 9.99837006e-01 -6.33228449e-06 -5.32255908e-02] [-1.69049396e-03 -2.41925694e-05 9.99998571e-01 -2.75707199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.05, Z:-0.28 [[ 9.99886605e-01 1.49639186e-02 1.69065505e-03 8.58636879e+00] [-1.49639292e-02 9.99888034e-01 -6.37162370e-06 -4.85334147e-02] [-1.69056110e-03 -1.89279413e-05 9.99998571e-01 -2.76687331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.04, Z:-0.28 [[ 9.99954953e-01 9.33989573e-03 1.69065490e-03 8.61680781e+00] [-9.33989824e-03 9.99956382e-01 -6.41097370e-06 -3.81675596e-02] [-1.69064103e-03 -9.37985982e-06 9.99998571e-01 -2.76977845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.03, Z:-0.28 [[ 9.99972610e-01 7.20565034e-03 1.69065455e-03 8.64825292e+00] [-7.20564965e-03 9.99974039e-01 -6.50090096e-06 -3.49269229e-02] [-1.69065751e-03 -5.68154149e-06 9.99998571e-01 -2.75845406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.03, Z:-0.28 [[ 9.99986577e-01 4.89772424e-03 1.69065440e-03 8.67936765e+00] [-4.89772018e-03 9.99988006e-01 -6.54001823e-06 -3.31771485e-02] [-1.69066616e-03 -1.74042174e-06 9.99998571e-01 -2.75559119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.03, Z:-0.27 [[ 9.99998444e-01 -5.03756351e-04 1.69065425e-03 8.70994317e+00] [ 5.03768194e-04 9.99999873e-01 -6.57896339e-06 -3.05944537e-02] [-1.69065072e-03 7.43065099e-06 9.99998571e-01 -2.72697890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805769231000001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.03, Z:-0.27 [[ 9.99992911e-01 -3.36448711e-03 1.69065418e-03 8.74020194e+00] [ 3.36450307e-03 9.99994340e-01 -6.59833702e-06 -2.96813280e-02] [-1.69062241e-03 1.22865014e-05 9.99998571e-01 -2.71554534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.03, Z:-0.27 [[ 9.99967495e-01 -7.88362263e-03 1.69065410e-03 8.77137666e+00] [ 7.88364509e-03 9.99968924e-01 -6.61736211e-06 -3.07614452e-02] [-1.69054939e-03 1.99456639e-05 9.99998571e-01 -2.74136459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.03, Z:-0.28 [[ 9.99948934e-01 -9.96344534e-03 1.69065395e-03 8.80130325e+00] [ 9.96347083e-03 9.99950363e-01 -6.65526307e-06 -3.22394128e-02] [-1.69050372e-03 2.34997045e-05 9.99998571e-01 -2.77519877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.03, Z:-0.28 [[ 9.99930716e-01 -1.16492725e-02 1.69065388e-03 8.83235616e+00] [ 1.16493004e-02 9.99932145e-01 -6.67407175e-06 -3.32312263e-02] [-1.69046141e-03 2.63685443e-05 9.99998571e-01 -2.79566576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.03, Z:-0.28 [[ 9.99922916e-01 -1.23005877e-02 1.69065373e-03 8.86335623e+00] [ 1.23006166e-02 9.99924345e-01 -6.71148227e-06 -3.39351531e-02] [-1.69044327e-03 2.75070483e-05 9.99998571e-01 -2.79430355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.04, Z:-0.27 [[ 9.99940378e-01 -1.07880811e-02 1.69065365e-03 8.89433368e+00] [ 1.07881079e-02 9.99941807e-01 -6.73027197e-06 -3.62423938e-02] [-1.69048266e-03 2.49688247e-05 9.99998571e-01 -2.73682576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.04, Z:-0.27 [[ 9.99957920e-01 -9.01664302e-03 1.69065350e-03 8.92581957e+00] [ 9.01666735e-03 9.99959349e-01 -6.76814050e-06 -3.64323824e-02] [-1.69052375e-03 2.20119159e-05 9.99998571e-01 -2.71063513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.04, Z:-0.27 [[ 9.99978734e-01 -6.29865912e-03 1.69065335e-03 8.95745917e+00] [ 6.29867963e-03 9.99980163e-01 -6.80596667e-06 -3.59284244e-02] [-1.69057694e-03 1.74547057e-05 9.99998571e-01 -2.70970355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045769231000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.03, Z:-0.28 [[ 9.99998501e-01 -3.74066012e-04 1.69065319e-03 8.98678134e+00] [ 3.74078120e-04 9.99999930e-01 -6.84549494e-06 -3.36440987e-02] [-1.69065051e-03 7.47792105e-06 9.99998571e-01 -2.77998100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.03, Z:-0.28 [[ 9.99997639e-01 1.36551372e-03 1.69065327e-03 9.01694036e+00] [-1.36550413e-03 9.99999068e-01 -6.82574942e-06 -3.39659022e-02] [-1.69066101e-03 4.51713928e-06 9.99998571e-01 -2.80993251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.03, Z:-0.28 [[ 9.99997854e-01 1.19731869e-03 1.69065319e-03 9.04815638e+00] [-1.19730883e-03 9.99999283e-01 -6.84523191e-06 -3.48473141e-02] [-1.69066017e-03 4.82098323e-06 9.99998571e-01 -2.81336359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.04, Z:-0.28 [[ 9.99998571e-01 1.27867057e-06 1.69065303e-03 9.07869386e+00] [-1.26703142e-06 1.00000000e+00 -6.88547910e-06 -3.51540499e-02] [-1.69065304e-03 6.88332715e-06 9.99998571e-01 -2.81538491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.04, Z:-0.28 [[ 9.99997543e-01 -1.43409972e-03 1.69065294e-03 9.11014813e+00] [ 1.43411345e-03 9.99998972e-01 -6.90557537e-06 -3.51844522e-02] [-1.69064130e-03 9.33014652e-06 9.99998571e-01 -2.81829552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.04, Z:-0.28 [[ 9.99996202e-01 -2.17658502e-03 1.69065278e-03 9.14095461e+00] [ 2.17659987e-03 9.99997631e-01 -6.94511193e-06 -3.61977850e-02] [-1.69063366e-03 1.06249602e-05 9.99998571e-01 -2.84985617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.04, Z:-0.28 [[ 9.99996836e-01 -1.86268356e-03 1.69065248e-03 9.17204998e+00] [ 1.86269809e-03 9.99998265e-01 -7.01794977e-06 -3.67575599e-02] [-1.69063647e-03 1.01671027e-05 9.99998571e-01 -2.84320271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.04, Z:-0.28 [[ 9.99997378e-01 -1.54484793e-03 1.69065232e-03 9.20344641e+00] [ 1.54486207e-03 9.99998807e-01 -7.05589563e-06 -3.59356913e-02] [-1.69063940e-03 9.66770176e-06 9.99998571e-01 -2.83257179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.03, Z:-0.28 [[ 9.99998398e-01 -5.87988700e-04 1.69065216e-03 9.23353845e+00] [ 5.88001536e-04 9.99999827e-01 -7.09531566e-06 -3.44728161e-02] [-1.69064769e-03 8.08941036e-06 9.99998571e-01 -2.84203307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.03, Z:-0.28 [[ 9.99996526e-01 2.02248800e-03 1.69065207e-03 9.26474681e+00] [-2.02247887e-03 9.99997955e-01 -7.11489496e-06 -3.22372862e-02] [-1.69066301e-03 3.69556215e-06 9.99998571e-01 -2.84790280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.03, Z:-0.29 [[ 9.99994650e-01 2.80044525e-03 1.69065191e-03 9.29509926e+00] [-2.80043716e-03 9.99996079e-01 -7.15423409e-06 -3.29843603e-02] [-1.69066531e-03 2.41963139e-06 9.99998571e-01 -2.85083979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.03, Z:-0.28 [[ 9.99996706e-01 1.93111058e-03 1.69065182e-03 9.32552636e+00] [-1.93110121e-03 9.99998135e-01 -7.17382538e-06 -3.47360418e-02] [-1.69066253e-03 3.90898197e-06 9.99998571e-01 -2.81237086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.04, Z:-0.28 [[ 9.99998441e-01 5.10144942e-04 1.69065174e-03 9.35646159e+00] [-5.10133510e-04 9.99999870e-01 -7.19326833e-06 -3.51434004e-02] [-1.69065519e-03 6.33079901e-06 9.99998571e-01 -2.78567423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.04, Z:-0.28 [[ 9.99990564e-01 -4.00161593e-03 1.69065158e-03 9.38644764e+00] [ 4.00163388e-03 9.99991993e-01 -7.23149662e-06 -3.68440535e-02] [-1.69060910e-03 1.39967970e-05 9.99998571e-01 -2.80057052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.04, Z:-0.28 [[ 9.99975882e-01 -6.73621203e-03 1.69065150e-03 9.41656128e+00] [ 6.73623392e-03 9.99977311e-01 -7.25051542e-06 -3.83761259e-02] [-1.69056430e-03 1.86389645e-05 9.99998571e-01 -2.82679001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.04, Z:-0.28 [[ 9.99959993e-01 -8.78370138e-03 1.69065141e-03 9.44703368e+00] [ 8.78372622e-03 9.99961422e-01 -7.26946405e-06 -3.97356750e-02] [-1.69052234e-03 2.21193924e-05 9.99998571e-01 -2.84492847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.04, Z:-0.28 [[ 9.99948754e-01 -9.98153054e-03 1.69065133e-03 9.47877580e+00] [ 9.98155713e-03 9.99950183e-01 -7.28819310e-06 -4.03230781e-02] [-1.69049436e-03 2.41631525e-05 9.99998571e-01 -2.84415692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.04, Z:-0.28 [[ 9.99944405e-01 -1.04081122e-02 1.69065117e-03 9.51002635e+00] [ 1.04081394e-02 9.99945834e-01 -7.32555248e-06 -4.05821966e-02] [-1.69048335e-03 2.49216784e-05 9.99998571e-01 -2.82777505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.04, Z:-0.28 [[ 9.99946344e-01 -1.02200844e-02 1.69065101e-03 9.54096019e+00] [ 1.02201115e-02 9.99947773e-01 -7.36304589e-06 -4.28571329e-02] [-1.69048746e-03 2.46412926e-05 9.99998571e-01 -2.78263293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.04, Z:-0.28 [[ 9.99943642e-01 -1.04811521e-02 1.69065084e-03 9.57140123e+00] [ 1.04811796e-02 9.99945071e-01 -7.40261776e-06 -4.49176809e-02] [-1.69048038e-03 2.51222156e-05 9.99998571e-01 -2.76575270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.05, Z:-0.27 [[ 9.99893816e-01 -1.44740850e-02 1.69065075e-03 9.60245832e+00] [ 1.44741182e-02 9.99895244e-01 -7.42238948e-06 -4.99411144e-02] [-1.69036621e-03 3.18922801e-05 9.99998571e-01 -2.74176417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.05, Z:-0.27 [[ 9.99855746e-01 -1.69005595e-02 1.69065058e-03 9.63254187e+00] [ 1.69005963e-02 9.99857175e-01 -7.46145082e-06 -5.29477974e-02] [-1.69028301e-03 3.60333773e-05 9.99998571e-01 -2.74014071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.06, Z:-0.27 [[ 9.99821082e-01 -1.88399860e-02 1.69065058e-03 9.66305190e+00] [ 1.88400256e-02 9.99822511e-01 -7.46145082e-06 -5.62851976e-02] [-1.69020993e-03 3.93120159e-05 9.99998571e-01 -2.74182587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.06, Z:-0.28 [[ 9.99755539e-01 -2.20454889e-02 1.69065058e-03 9.69356637e+00] [ 2.20455330e-02 9.99756968e-01 -7.46145082e-06 -6.27360216e-02] [-1.69007520e-03 4.47309199e-05 9.99998571e-01 -2.76742198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.07, Z:-0.28 [[ 9.99732287e-01 -2.30758539e-02 1.69065049e-03 9.72370171e+00] [ 2.30758995e-02 9.99733716e-01 -7.48115212e-06 -6.62799361e-02] [-1.69002766e-03 4.64924301e-05 9.99998571e-01 -2.78631768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.07, Z:-0.28 [[ 9.99730190e-01 -2.31665335e-02 1.69065058e-03 9.75353194e+00] [ 2.31665792e-02 9.99731619e-01 -7.46156312e-06 -7.38148798e-02] [-1.69002398e-03 4.66261404e-05 9.99998571e-01 -2.80813880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.08, Z:-0.28 [[ 9.99761050e-01 -2.17941319e-02 1.69065066e-03 9.78311233e+00] [ 2.17941756e-02 9.99762479e-01 -7.44214154e-06 -7.77735172e-02] [-1.69008690e-03 4.42867007e-05 9.99998571e-01 -2.80200702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.08, Z:-0.28 [[ 9.99804603e-01 -1.96951154e-02 1.69065083e-03 9.81203563e+00] [ 1.96951560e-02 9.99806032e-01 -7.40342603e-06 -8.11176196e-02] [-1.69017709e-03 4.06996113e-05 9.99998571e-01 -2.80139416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.09, Z:-0.28 [[ 9.99891049e-01 -1.46639911e-02 1.69065333e-03 9.84101207e+00] [ 1.46640236e-02 9.99892477e-01 -6.81573345e-06 -8.68001452e-02] [-1.69037160e-03 3.16067712e-05 9.99998571e-01 -2.81897209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.09, Z:-0.28 [[ 9.99922759e-01 -1.23133452e-02 1.69065213e-03 9.87099435e+00] [ 1.23133748e-02 9.99924188e-01 -7.10233765e-06 -8.94493018e-02] [-1.69043650e-03 2.79194224e-05 9.99998571e-01 -2.78738767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.09, Z:-0.28 [[ 9.99955176e-01 -9.31597001e-03 1.69065221e-03 9.90126586e+00] [ 9.31599530e-03 9.99956605e-01 -7.08169672e-06 -9.28129327e-02] [-1.69051288e-03 2.28314874e-05 9.99998571e-01 -2.77980841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.09, Z:-0.28 [[ 9.99962951e-01 -8.44033730e-03 1.69065213e-03 9.93182144e+00] [ 8.44036137e-03 9.99964379e-01 -7.10232326e-06 -9.45681186e-02] [-1.69053196e-03 2.13717750e-05 9.99998571e-01 -2.79309834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.10, Z:-0.28 [[ 9.99969440e-01 -7.63293351e-03 1.69065204e-03 9.96208622e+00] [ 7.63295646e-03 9.99970869e-01 -7.12231619e-06 -9.68399052e-02] [-1.69054843e-03 2.00267720e-05 9.99998571e-01 -2.79194587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.10, Z:-0.28 [[ 9.99975485e-01 -6.79496125e-03 1.69065204e-03 9.99212552e+00] [ 6.79498301e-03 9.99976914e-01 -7.12231619e-06 -9.88342703e-02] [-1.69056462e-03 1.86100935e-05 9.99998571e-01 -2.79659162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.10, Z:-0.28 [[ 9.99990165e-01 -4.10007561e-03 1.69065204e-03 1.00224063e+01] [ 4.10009351e-03 9.99991595e-01 -7.12231619e-06 -1.00830513e-01] [-1.69060863e-03 1.40540776e-05 9.99998571e-01 -2.80370574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.10, Z:-0.28 [[ 9.99994968e-01 -2.68441787e-03 1.69065196e-03 1.00523799e+01] [ 2.68443378e-03 9.99996397e-01 -7.14219580e-06 -1.01368427e-01] [-1.69062670e-03 1.16806031e-05 9.99998571e-01 -2.79073217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.10, Z:-0.28 [[ 9.99997621e-01 -1.37824507e-03 1.69065169e-03 1.00827175e+01] [ 1.37825922e-03 9.99999050e-01 -7.20519751e-06 -1.02601731e-01] [-1.69064015e-03 9.53533664e-06 9.99998571e-01 -2.78591558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.11, Z:-0.28 [[ 9.99998569e-01 -6.68581776e-05 1.69065161e-03 1.01130831e+01] [ 6.68704875e-05 9.99999998e-01 -7.22465629e-06 -1.07712045e-01] [-1.69065112e-03 7.33770065e-06 9.99998571e-01 -2.80071711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.11, Z:-0.28 [[ 9.99998557e-01 1.65010053e-04 1.69065153e-03 1.01431540e+01] [-1.64998043e-04 9.99999986e-01 -7.24353408e-06 -1.09860157e-01] [-1.69065270e-03 6.96456943e-06 9.99998571e-01 -2.82416305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.11, Z:-0.28 [[ 9.99998553e-01 1.87126317e-04 1.69065145e-03 1.01749866e+01] [-1.87114306e-04 9.99999982e-01 -7.26228998e-06 -1.10044332e-01] [-1.69065278e-03 6.94593440e-06 9.99998571e-01 -2.82470125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.11, Z:-0.28 [[ 9.99998156e-01 9.10406390e-04 1.69065128e-03 1.02064071e+01] [-9.10395350e-04 9.99999586e-01 -7.29968093e-06 -1.12649849e-01] [-1.69065723e-03 5.76050640e-06 9.99998571e-01 -2.84769009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.11, Z:-0.28 [[ 9.99997484e-01 1.47465857e-03 1.69065112e-03 1.02366773e+01] [-1.47464827e-03 9.99998913e-01 -7.33791164e-06 -1.14386306e-01] [-1.69066010e-03 4.84477742e-06 9.99998571e-01 -2.83840344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.12, Z:-0.28 [[ 9.99996895e-01 1.83073481e-03 1.69065104e-03 1.02678836e+01] [-1.83072499e-03 9.99998324e-01 -7.35696318e-06 -1.17211479e-01] [-1.69066167e-03 4.26182324e-06 9.99998571e-01 -2.81232744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.12, Z:-0.28 [[ 9.99997442e-01 1.50247096e-03 1.69065086e-03 1.02985392e+01] [-1.50246060e-03 9.99998871e-01 -7.39649140e-06 -1.24325449e-01] [-1.69066007e-03 4.85633617e-06 9.99998571e-01 -2.79731655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.13, Z:-0.28 [[ 9.99997019e-01 1.76164975e-03 1.69064989e-03 1.03297974e+01] [-1.76163940e-03 9.99998448e-01 -7.61329899e-06 -1.27136321e-01] [-1.69066068e-03 4.63496085e-06 9.99998571e-01 -2.78056326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.13, Z:-0.28 [[ 9.99994670e-01 2.79327889e-03 1.69064970e-03 1.03613462e+01] [-2.79326994e-03 9.99996099e-01 -7.65351812e-06 -1.28831372e-01] [-1.69066449e-03 2.93103633e-06 9.99998571e-01 -2.78033585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.13, Z:-0.28 [[ 9.99977329e-01 6.51784749e-03 1.69064952e-03 1.03930368e+01] [-6.51784379e-03 9.99978759e-01 -7.69394906e-06 -1.29843575e-01] [-1.69066376e-03 -3.32561485e-06 9.99998571e-01 -2.77649192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.13, Z:-0.28 [[ 9.99959264e-01 8.86630543e-03 1.69064934e-03 1.04245145e+01] [-8.86630503e-03 9.99960694e-01 -7.73413437e-06 -1.29729881e-01] [-1.69065146e-03 -7.25599341e-06 9.99998571e-01 -2.77545980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.13, Z:-0.28 [[ 9.99921604e-01 1.24067339e-02 1.69064861e-03 1.04554488e+01] [-1.24067383e-02 9.99923033e-01 -7.88958428e-06 -1.28801479e-01] [-1.69061637e-03 -1.30864691e-05 9.99998571e-01 -2.78347971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.13, Z:-0.28 [[ 9.99907105e-01 1.35249087e-02 1.69064739e-03 1.04875629e+01] [-1.35249143e-02 9.99908534e-01 -8.14310998e-06 -1.28952971e-01] [-1.69060289e-03 -1.47235075e-05 9.99998571e-01 -2.76875409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.13, Z:-0.27 [[ 9.99902722e-01 1.38451279e-02 1.69064601e-03 1.05199839e+01] [-1.38451334e-02 9.99904152e-01 -8.42010730e-06 -1.28834631e-01] [-1.69060054e-03 -1.49879314e-05 9.99998571e-01 -2.74486948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.13, Z:-0.27 [[ 9.99906598e-01 1.35623093e-02 1.69064458e-03 1.05517630e+01] [-1.35623140e-02 9.99908028e-01 -8.69801588e-06 -1.27377796e-01] [-1.69060705e-03 -1.42318492e-05 9.99998571e-01 -2.71850361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.12, Z:-0.27 [[ 9.99939351e-01 1.08828051e-02 1.69064311e-03 1.05829286e+01] [-1.08828055e-02 9.99940780e-01 -8.97567514e-06 -1.21531454e-01] [-1.69064067e-03 -9.42380936e-06 9.99998571e-01 -2.70744788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.12, Z:-0.27 [[ 9.99957339e-01 9.08085454e-03 1.69064171e-03 1.06137640e+01] [-9.08085191e-03 9.99958768e-01 -9.23220906e-06 -1.19614854e-01] [-1.69065583e-03 -6.12065175e-06 9.99998571e-01 -2.72544549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.12, Z:-0.28 [[ 9.99981919e-01 5.77090382e-03 1.69064029e-03 1.06455877e+01] [-5.77089604e-03 9.99983348e-01 -9.48402706e-06 -1.18347662e-01] [-1.69066687e-03 -2.72653788e-07 9.99998571e-01 -2.75793519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.12, Z:-0.28 [[ 9.99985477e-01 5.11729856e-03 1.69063987e-03 1.06768851e+01] [-5.11728972e-03 9.99986907e-01 -9.55865693e-06 -1.17099618e-01] [-1.69066665e-03 9.07024091e-07 9.99998571e-01 -2.78335342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.11, Z:-0.28 [[ 9.99986047e-01 5.00473560e-03 1.69063837e-03 1.07081626e+01] [-5.00472615e-03 9.99987476e-01 -9.81800142e-06 -1.14334306e-01] [-1.69066633e-03 1.35668239e-06 9.99998571e-01 -2.80166535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.11, Z:-0.28 [[ 9.99987226e-01 4.76332229e-03 1.69063813e-03 1.07397963e+01] [-4.76331243e-03 9.99988655e-01 -9.85793000e-06 -1.09938727e-01] [-1.69066591e-03 1.80476645e-06 9.99998571e-01 -2.84343554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.11, Z:-0.28 [[ 9.99985307e-01 5.15055814e-03 1.69063658e-03 1.07708822e+01] [-5.15054840e-03 9.99986736e-01 -1.01171656e-05 -1.09467512e-01] [-1.69066627e-03 1.40931141e-06 9.99998571e-01 -2.84574029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.11, Z:-0.28 [[ 9.99978786e-01 6.29041188e-03 1.69063506e-03 1.08022264e+01] [-6.29040335e-03 9.99980215e-01 -1.03659008e-05 -1.09908928e-01] [-1.69066681e-03 -2.69095477e-07 9.99998571e-01 -2.80964637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.11, Z:-0.28 [[ 9.99974544e-01 6.93196362e-03 1.69063482e-03 1.08335664e+01] [-6.93195593e-03 9.99975974e-01 -1.04046880e-05 -1.09741519e-01] [-1.69066632e-03 -1.31498295e-06 9.99998571e-01 -2.77942215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.11, Z:-0.28 [[ 9.99972682e-01 7.19561254e-03 1.69063457e-03 1.08646234e+01] [-7.19560516e-03 9.99974111e-01 -1.04442839e-05 -1.09233460e-01] [-1.69066596e-03 -1.72114026e-06 9.99998571e-01 -2.75031795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.11, Z:-0.27 [[ 9.99973558e-01 7.07288770e-03 1.69063433e-03 1.08963268e+01] [-7.07288008e-03 9.99974987e-01 -1.04840578e-05 -1.09233531e-01] [-1.69066619e-03 -1.47387328e-06 9.99998571e-01 -2.74229642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.11, Z:-0.28 [[ 9.99978035e-01 6.40867084e-03 1.69063408e-03 1.09276590e+01] [-6.40866221e-03 9.99979464e-01 -1.05236074e-05 -1.13056390e-01] [-1.69066680e-03 -3.11326452e-07 9.99998571e-01 -2.78363540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.12, Z:-0.28 [[ 9.99975944e-01 6.72709319e-03 1.69063244e-03 1.09592146e+01] [-6.72708458e-03 9.99977373e-01 -1.07801400e-05 -1.17676660e-01] [-1.69066671e-03 -5.93146813e-07 9.99998571e-01 -2.80351059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.12, Z:-0.28 [[ 9.99973187e-01 7.12504150e-03 1.69063219e-03 1.09904407e+01] [-7.12503339e-03 9.99974617e-01 -1.08199248e-05 -1.19584126e-01] [-1.69066637e-03 -1.22617608e-06 9.99998571e-01 -2.80136558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.12, Z:-0.28 [[ 9.99971757e-01 7.32306387e-03 1.69063051e-03 1.10219598e+01] [-7.32305561e-03 9.99973186e-01 -1.10769510e-05 -1.21811767e-01] [-1.69066629e-03 -1.30394310e-06 9.99998571e-01 -2.78936088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055769231000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.13, Z:-0.28 [[ 9.99968405e-01 7.76732937e-03 1.69063025e-03 1.10531340e+01] [-7.76732168e-03 9.99969834e-01 -1.11163948e-05 -1.25520561e-01] [-1.69066559e-03 -2.01562541e-06 9.99998571e-01 -2.76858389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.13, Z:-0.27 [[ 9.99964724e-01 8.22750117e-03 1.69062999e-03 1.10847933e+01] [-8.22749406e-03 9.99966154e-01 -1.11558955e-05 -1.32432145e-01] [-1.69066455e-03 -2.75414619e-06 9.99998571e-01 -2.73846216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.14, Z:-0.27 [[ 9.99957975e-01 9.01050506e-03 1.69062973e-03 1.11163471e+01] [-9.01049902e-03 9.99959405e-01 -1.11951402e-05 -1.35040412e-01] [-1.69066197e-03 -4.03874770e-06 9.99998571e-01 -2.73743824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.14, Z:-0.27 [[ 9.99919563e-01 1.25701381e-02 1.69062800e-03 1.11472142e+01] [-1.25701367e-02 9.99920993e-01 -1.14495599e-05 -1.39074880e-01] [-1.69063835e-03 -9.80278619e-06 9.99998571e-01 -2.71939059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.14, Z:-0.27 [[ 9.99879927e-01 1.54036763e-02 1.69062626e-03 1.11792551e+01] [-1.54036785e-02 9.99881356e-01 -1.17013758e-05 -1.41045427e-01] [-1.69060592e-03 -1.43418926e-05 9.99998571e-01 -2.70038335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.14, Z:-0.27 [[ 9.99817309e-01 1.90391907e-02 1.69062432e-03 1.12100773e+01] [-1.90391976e-02 9.99818738e-01 -1.19758746e-05 -1.42180552e-01] [-1.69054588e-03 -2.02144438e-05 9.99998571e-01 -2.68815163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.14, Z:-0.27 [[ 9.99721899e-01 2.35215972e-02 1.69062248e-03 1.12424639e+01] [-2.35216102e-02 9.99723329e-01 -1.22296202e-05 -1.42409528e-01] [-1.69044239e-03 -2.75399438e-05 9.99998571e-01 -2.68898956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.14, Z:-0.27 [[ 9.99454948e-01 3.29688950e-02 1.69062039e-03 1.12731531e+01] [-3.29689210e-02 9.99456377e-01 -1.25119137e-05 -1.39813543e-01] [-1.69011383e-03 -4.32328360e-05 9.99998571e-01 -2.70466781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295769231000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.14, Z:-0.27 [[ 9.99323970e-01 3.67252534e-02 1.69061842e-03 1.13048017e+01] [-3.67252843e-02 9.99325399e-01 -1.27723563e-05 -1.38094266e-01] [-1.68994700e-03 -4.93247203e-05 9.99998571e-01 -2.70576764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.13, Z:-0.27 [[ 9.99146467e-01 4.12732281e-02 1.69061690e-03 1.13370574e+01] [-4.12732651e-02 9.99147896e-01 -1.29706951e-05 -1.32796707e-01] [-1.68971166e-03 -5.68176554e-05 9.99998571e-01 -2.71625925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.13, Z:-0.27 [[ 9.99097603e-01 4.24396182e-02 1.69061483e-03 1.13689940e+01] [-4.24396565e-02 9.99099032e-01 -1.32347802e-05 -1.30521294e-01] [-1.68965332e-03 -5.85262756e-05 9.99998571e-01 -2.72295359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.13, Z:-0.27 [[ 9.99067625e-01 4.31395797e-02 1.69061263e-03 1.14006802e+01] [-4.31396185e-02 9.99069053e-01 -1.35111140e-05 -1.28153006e-01] [-1.68962162e-03 -5.94338672e-05 9.99998571e-01 -2.73793626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.12, Z:-0.27 [[ 9.99081325e-01 4.28211209e-02 1.69061038e-03 1.14333201e+01] [-4.28211588e-02 9.99082753e-01 -1.37860573e-05 -1.21387914e-01] [-1.68965001e-03 -5.86205033e-05 9.99998571e-01 -2.72177708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445769231000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.12, Z:-0.27 [[ 9.99086158e-01 4.27081983e-02 1.69060818e-03 1.14660117e+01] [-4.27082356e-02 9.99087587e-01 -1.40506299e-05 -1.17341010e-01] [-1.68966573e-03 -5.81651029e-05 9.99998571e-01 -2.70637139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.11, Z:-0.27 [[ 9.99097102e-01 4.24514187e-02 1.69060584e-03 1.14977094e+01] [-4.24514552e-02 9.99098531e-01 -1.43271262e-05 -1.09004428e-01] [-1.68969002e-03 -5.74544879e-05 9.99998571e-01 -2.72870867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.11, Z:-0.27 [[ 9.99113056e-01 4.20742604e-02 1.69060363e-03 1.15288159e+01] [-4.20742959e-02 9.99114485e-01 -1.45831270e-05 -1.05650278e-01] [-1.68972015e-03 -5.65607650e-05 9.99998571e-01 -2.74991316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.10, Z:-0.28 [[ 9.99140228e-01 4.14239912e-02 1.69060230e-03 1.15609842e+01] [-4.14240255e-02 9.99141657e-01 -1.47359612e-05 -1.02399195e-01] [-1.68976161e-03 -5.53082612e-05 9.99998571e-01 -2.75780153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.10, Z:-0.28 [[ 9.99259343e-01 3.84435655e-02 1.69059993e-03 1.15936139e+01] [-3.84435951e-02 9.99260772e-01 -1.50027732e-05 -9.62794442e-02] [-1.68992695e-03 -5.00010780e-05 9.99998571e-01 -2.76655455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.09, Z:-0.28 [[ 9.99310225e-01 3.70973786e-02 1.69059904e-03 1.16240148e+01] [-3.70974061e-02 9.99311654e-01 -1.51023346e-05 -9.36212395e-02] [-1.68999558e-03 -4.76249218e-05 9.99998571e-01 -2.76995428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.09, Z:-0.27 [[ 9.99421123e-01 3.39788220e-02 1.69059887e-03 1.16558915e+01] [-3.39788450e-02 9.99422552e-01 -1.51222247e-05 -8.74925171e-02] [-1.69013647e-03 -4.23311261e-05 9.99998571e-01 -2.73846086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.08, Z:-0.27 [[ 9.99444582e-01 3.32816593e-02 1.69059633e-03 1.16858072e+01] [-3.32816808e-02 9.99446011e-01 -1.54003748e-05 -8.41349391e-02] [-1.69017231e-03 -4.08740663e-05 9.99998571e-01 -2.73094388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.08, Z:-0.27 [[ 9.99456220e-01 3.29303367e-02 1.69059615e-03 1.17175577e+01] [-3.29303577e-02 9.99457649e-01 -1.54201581e-05 -8.06724932e-02] [-1.69018705e-03 -4.02601631e-05 9.99998571e-01 -2.74053459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715769231000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.08, Z:-0.28 [[ 9.99466759e-01 3.26088745e-02 1.69059579e-03 1.17491469e+01] [-3.26088950e-02 9.99468188e-01 -1.54595443e-05 -7.79837236e-02] [-1.69020083e-03 -3.96771600e-05 9.99998571e-01 -2.76794648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.08, Z:-0.28 [[ 9.99540600e-01 3.02610468e-02 1.69059543e-03 1.17802822e+01] [-3.02610639e-02 9.99542029e-01 -1.54988124e-05 -7.52165918e-02] [-1.69029020e-03 -3.56675241e-05 9.99998571e-01 -2.77427856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.08, Z:-0.28 [[ 9.99619544e-01 2.75301625e-02 1.69059507e-03 1.18108365e+01] [-2.75301756e-02 9.99620973e-01 -1.55384920e-05 -7.56384687e-02] [-1.69038206e-03 -3.10097988e-05 9.99998571e-01 -2.75308677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805769231000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.08, Z:-0.27 [[ 9.99789219e-01 2.04611698e-02 1.69059423e-03 1.18422981e+01] [-2.04611727e-02 9.99790648e-01 -1.56292032e-05 -7.61456700e-02] [-1.69056009e-03 -1.89656316e-05 9.99998571e-01 -2.73304444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.08, Z:-0.27 [[ 9.99857169e-01 1.68161580e-02 1.69059386e-03 1.18726688e+01] [-1.68161555e-02 9.99858598e-01 -1.56692029e-05 -7.66652696e-02] [-1.69061830e-03 -1.27623244e-05 9.99998571e-01 -2.73666910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.08, Z:-0.28 [[ 9.99956729e-01 9.14777842e-03 1.69059367e-03 1.19039962e+01] [-9.14776497e-03 9.99958158e-01 -1.56891355e-05 -7.90020140e-02] [-1.69066646e-03 2.23303071e-07 9.99998571e-01 -2.75682934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.08, Z:-0.28 [[ 9.99984609e-01 5.28430310e-03 1.69059330e-03 1.19345346e+01] [-5.28428406e-03 9.99986038e-01 -1.57293926e-05 -8.04548515e-02] [-1.69065281e-03 6.79557529e-06 9.99998571e-01 -2.77586927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.08, Z:-0.28 [[ 9.99996217e-01 2.16973065e-03 1.69059311e-03 1.19656067e+01] [-2.16970712e-03 9.99997646e-01 -1.57493904e-05 -8.18584997e-02] [-1.69062330e-03 1.20812389e-05 9.99998571e-01 -2.78523904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955769231000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.08, Z:-0.28 [[ 9.99997929e-01 -1.13297159e-03 1.69059275e-03 1.19966170e+01] [ 1.13299990e-03 9.99999358e-01 -1.57884956e-05 -8.42434066e-02] [-1.69057377e-03 1.77039043e-05 9.99998571e-01 -2.78561124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.09, Z:-0.28 [[ 9.99998044e-01 -1.02680537e-03 1.69059238e-03 1.20280157e+01] [ 1.02683359e-03 9.99999473e-01 -1.58278683e-05 -8.59184576e-02] [-1.69057523e-03 1.75637944e-05 9.99998571e-01 -2.78615665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.09, Z:-0.28 [[ 9.99996934e-01 1.80919746e-03 1.69059200e-03 1.20586681e+01] [-1.80917322e-03 9.99998363e-01 -1.58677514e-05 -8.89286217e-02] [-1.69061794e-03 1.28091290e-05 9.99998571e-01 -2.79333589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.09, Z:-0.28 [[ 9.99990562e-01 4.00219540e-03 1.69059182e-03 1.20895941e+01] [-4.00217426e-03 9.99991991e-01 -1.58876001e-05 -9.04470775e-02] [-1.69064186e-03 9.12140713e-06 9.99998571e-01 -2.79643408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.09, Z:-0.28 [[ 9.99978951e-01 6.26410152e-03 1.69059145e-03 1.21211998e+01] [-6.26408354e-03 9.99980380e-01 -1.59268788e-05 -9.15239027e-02] [-1.69065805e-03 5.33653751e-06 9.99998571e-01 -2.79418453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.09, Z:-0.28 [[ 9.99978805e-01 6.28739677e-03 1.69059108e-03 1.21530324e+01] [-6.28737877e-03 9.99980234e-01 -1.59660557e-05 -9.18708944e-02] [-1.69065805e-03 5.33633089e-06 9.99998571e-01 -2.79472275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.09, Z:-0.28 [[ 9.99962111e-01 8.53926190e-03 1.69059070e-03 1.21848585e+01] [-8.53924704e-03 9.99963540e-01 -1.60054393e-05 -9.24711719e-02] [-1.69066574e-03 1.56846115e-06 9.99998571e-01 -2.77854290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.09, Z:-0.28 [[ 9.99898562e-01 1.41423827e-02 1.69059031e-03 1.22158980e+01] [-1.41423758e-02 9.99899991e-01 -1.60467484e-05 -9.20938271e-02] [-1.69064818e-03 -7.86384284e-06 9.99998571e-01 -2.77442582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.09, Z:-0.28 [[ 9.99845268e-01 1.75094597e-02 1.69058992e-03 1.22461159e+01] [-1.75094575e-02 9.99846698e-01 -1.60877017e-05 -9.15865221e-02] [-1.69061244e-03 -1.35161000e-05 9.99998571e-01 -2.77838292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.09, Z:-0.27 [[ 9.99676410e-01 2.53814436e-02 1.69058973e-03 1.22778427e+01] [-2.53814526e-02 9.99677839e-01 -1.61080921e-05 -8.97132370e-02] [-1.69045393e-03 -2.68067434e-05 9.99998571e-01 -2.74333883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.09, Z:-0.27 [[ 9.99581275e-01 2.88862663e-02 1.69058935e-03 1.23088156e+01] [-2.88862803e-02 9.99582704e-01 -1.61479255e-05 -8.83556213e-02] [-1.69035032e-03 -3.26936738e-05 9.99998571e-01 -2.74622473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.09, Z:-0.28 [[ 9.99491074e-01 3.18549092e-02 1.69058896e-03 1.23389847e+01] [-3.18549274e-02 9.99492503e-01 -1.61879166e-05 -8.66503898e-02] [-1.69024666e-03 -3.76739106e-05 9.99998571e-01 -2.76514454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.08, Z:-0.28 [[ 9.99384370e-01 3.50431716e-02 1.69058807e-03 1.23696792e+01] [-3.50431942e-02 9.99385799e-01 -1.62812234e-05 -8.22168631e-02] [-1.69012025e-03 -4.29724056e-05 9.99998571e-01 -2.80605025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.08, Z:-0.28 [[ 9.99356664e-01 3.58245679e-02 1.69058788e-03 1.24008555e+01] [-3.58245915e-02 9.99358093e-01 -1.63008487e-05 -8.04693030e-02] [-1.69008665e-03 -4.42742583e-05 9.99998571e-01 -2.80054270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.08, Z:-0.28 [[ 9.99325247e-01 3.66904900e-02 1.69058749e-03 1.24326791e+01] [-3.66905148e-02 9.99326676e-01 -1.63406241e-05 -7.63062636e-02] [-1.69004872e-03 -4.56989272e-05 9.99998571e-01 -2.77888952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.07, Z:-0.28 [[ 9.99363230e-01 3.56409360e-02 1.69058710e-03 1.24631666e+01] [-3.56409592e-02 9.99364659e-01 -1.63806988e-05 -7.41423068e-02] [-1.69009683e-03 -4.38838779e-05 9.99998571e-01 -2.77664963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.07, Z:-0.28 [[ 9.99434743e-01 3.35758253e-02 1.69058691e-03 1.24931990e+01] [-3.35758456e-02 9.99436172e-01 -1.64006245e-05 -7.21120038e-02] [-1.69018438e-03 -4.03715311e-05 9.99998571e-01 -2.79244179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.07, Z:-0.28 [[ 9.99622499e-01 2.74226533e-02 1.69058672e-03 1.25249297e+01] [-2.74226647e-02 9.99623928e-01 -1.64203791e-05 -7.02558335e-02] [-1.69040123e-03 -2.99462123e-05 9.99998571e-01 -2.81854902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.07, Z:-0.28 [[ 9.99732723e-01 2.30569903e-02 1.69058633e-03 1.25564637e+01] [-2.30569955e-02 9.99734152e-01 -1.64602124e-05 -7.02458293e-02] [-1.69051641e-03 -2.25240283e-05 9.99998571e-01 -2.81066433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.07, Z:-0.28 [[ 9.99830723e-01 1.83212153e-02 1.69058594e-03 1.25880260e+01] [-1.83212136e-02 9.99832152e-01 -1.64999028e-05 -7.07454826e-02] [-1.69060448e-03 -1.44764765e-05 9.99998571e-01 -2.79696019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.07, Z:-0.28 [[ 9.99965672e-01 8.11150167e-03 1.69058555e-03 1.26187291e+01] [-8.11148530e-03 9.99967101e-01 -1.65401118e-05 -7.40056558e-02] [-1.69066410e-03 2.82638422e-06 9.99998571e-01 -2.77087203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.08, Z:-0.28 [[ 9.99992767e-01 3.40705647e-03 1.69058464e-03 1.26493619e+01] [-3.40703322e-03 9.99994196e-01 -1.66321567e-05 -7.63181421e-02] [-1.69063150e-03 1.08721584e-05 9.99998571e-01 -2.77887219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.08, Z:-0.28 [[ 9.99992477e-01 -3.49114174e-03 1.69058445e-03 1.26792244e+01] [ 3.49117488e-03 9.99993906e-01 -1.66520164e-05 -7.78904822e-02] [-1.69051601e-03 2.25540171e-05 9.99998571e-01 -2.80370833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.08, Z:-0.28 [[ 9.99982724e-01 -5.62973262e-03 1.69058426e-03 1.27102648e+01] [ 5.62976885e-03 9.99984153e-01 -1.66715723e-05 -7.86171060e-02] [-1.69046361e-03 2.61888829e-05 9.99998571e-01 -2.80685976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.08, Z:-0.28 [[ 9.99974608e-01 -6.92282097e-03 1.69058387e-03 1.27417803e+01] [ 6.92285911e-03 9.99976037e-01 -1.67105421e-05 -8.03390435e-02] [-1.69042767e-03 2.84137917e-05 9.99998571e-01 -2.79822491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.08, Z:-0.28 [[ 9.99964310e-01 -8.27767850e-03 1.69058349e-03 1.27732541e+01] [ 8.27771865e-03 9.99965739e-01 -1.67494172e-05 -8.41858035e-02] [-1.69038692e-03 3.07429938e-05 9.99998571e-01 -2.75609622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.735769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.09, Z:-0.27 [[ 9.99965079e-01 -8.18435448e-03 1.69058309e-03 1.28032113e+01] [ 8.18439456e-03 9.99966507e-01 -1.67891321e-05 -8.53088879e-02] [-1.69038906e-03 3.06249449e-05 9.99998571e-01 -2.74580873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.09, Z:-0.27 [[ 9.99970126e-01 -7.54252940e-03 1.69058290e-03 1.28344563e+01] [ 7.54256859e-03 9.99971554e-01 -1.68088569e-05 -8.57404057e-02] [-1.69040802e-03 2.95596922e-05 9.99998571e-01 -2.72774080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.09, Z:-0.27 [[ 9.99989044e-01 -4.36508338e-03 1.69058250e-03 1.28646623e+01] [ 4.36511810e-03 9.99990473e-01 -1.68482052e-05 -8.78625055e-02] [-1.69049285e-03 2.42276129e-05 9.99998571e-01 -2.72105752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.09, Z:-0.27 [[ 9.99994726e-01 -2.77317116e-03 1.69058231e-03 1.28962831e+01] [ 2.77320364e-03 9.99996155e-01 -1.68677730e-05 -8.91335985e-02] [-1.69052903e-03 2.15560131e-05 9.99998571e-01 -2.72649247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.09, Z:-0.27 [[ 9.99998557e-01 -1.66158716e-04 1.69058191e-03 1.29263614e+01] [ 1.66187538e-04 9.99999986e-01 -1.69079203e-05 -8.93542803e-02] [-1.69057907e-03 1.71888495e-05 9.99998571e-01 -2.73679720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.09, Z:-0.28 [[ 9.99997167e-01 1.67591502e-03 1.69058171e-03 1.29577412e+01] [-1.67588880e-03 9.99998596e-01 -1.69279486e-05 -8.99343267e-02] [-1.69060770e-03 1.40946737e-05 9.99998571e-01 -2.75216008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.09, Z:-0.28 [[ 9.99993177e-01 3.28455844e-03 1.69058131e-03 1.29892580e+01] [-3.28453445e-03 9.99994606e-01 -1.69677707e-05 -9.05745944e-02] [-1.69062792e-03 1.14148824e-05 9.99998571e-01 -2.76101591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.09, Z:-0.28 [[ 9.99985962e-01 5.02176903e-03 1.69058090e-03 1.30198249e+01] [-5.02174746e-03 9.99987391e-01 -1.70076508e-05 -9.10642915e-02] [-1.69064500e-03 8.51774170e-06 9.99998571e-01 -2.77735619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.09, Z:-0.28 [[ 9.99968280e-01 7.78339079e-03 1.69058071e-03 1.30516481e+01] [-7.78337313e-03 9.99969709e-01 -1.70274994e-05 -9.14966806e-02] [-1.69066203e-03 3.86853889e-06 9.99998571e-01 -2.78713503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.09, Z:-0.28 [[ 9.99963567e-01 8.36699282e-03 1.69058033e-03 1.30827017e+01] [-8.36697592e-03 9.99964996e-01 -1.70649595e-05 -9.20854339e-02] [-1.69066393e-03 2.91929293e-06 9.99998571e-01 -2.77412034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.09, Z:-0.28 [[ 9.99972704e-01 7.19253129e-03 1.69057993e-03 1.31143315e+01] [-7.19251265e-03 9.99974133e-01 -1.71044022e-05 -9.34491400e-02] [-1.69065922e-03 4.94441779e-06 9.99998571e-01 -2.75888076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.09, Z:-0.28 [[ 9.99984650e-01 5.27661458e-03 1.69057953e-03 1.31456300e+01] [-5.27659313e-03 9.99986079e-01 -1.71440459e-05 -9.49441435e-02] [-1.69064645e-03 8.22328240e-06 9.99998571e-01 -2.76914565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.095769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.10, Z:-0.28 [[ 9.99998364e-01 6.43829092e-04 1.69057913e-03 1.31772839e+01] [-6.43800962e-04 9.99999793e-01 -1.71834534e-05 -9.94035012e-02] [-1.69058984e-03 1.60950288e-05 9.99998571e-01 -2.79940673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.10, Z:-0.28 [[ 9.99998267e-01 -7.80021538e-04 1.69057873e-03 1.32080016e+01] [ 7.80051769e-04 9.99999696e-01 -1.72226168e-05 -1.01496510e-01] [-1.69056478e-03 1.85413258e-05 9.99998571e-01 -2.81702429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.10, Z:-0.28 [[ 9.99996818e-01 -1.87255765e-03 1.69057853e-03 1.32392277e+01] [ 1.87258947e-03 9.99998247e-01 -1.72420865e-05 -1.03130113e-01] [-1.69054328e-03 2.04077912e-05 9.99998571e-01 -2.82848071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.10, Z:-0.28 [[ 9.99994359e-01 -2.90234779e-03 1.69057813e-03 1.32697745e+01] [ 2.90238115e-03 9.99995788e-01 -1.72809615e-05 -1.04292286e-01] [-1.69052085e-03 2.21875661e-05 9.99998571e-01 -2.82457039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.11, Z:-0.28 [[ 9.99994401e-01 -2.88801742e-03 1.69057793e-03 1.33009607e+01] [ 2.88805080e-03 9.99995829e-01 -1.73002952e-05 -1.05438882e-01] [-1.69052092e-03 2.21826733e-05 9.99998571e-01 -2.80580136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.11, Z:-0.28 [[ 9.99998196e-01 -8.65759343e-04 1.69057754e-03 1.33319852e+01] [ 8.65789892e-04 9.99999625e-01 -1.73382619e-05 -1.05889979e-01] [-1.69056190e-03 1.88019156e-05 9.99998571e-01 -2.80704236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.11, Z:-0.28 [[ 9.99981772e-01 5.79639560e-03 1.69057715e-03 1.33628977e+01] [-5.79637451e-03 9.99983201e-01 -1.73764023e-05 -1.05171922e-01] [-1.69064947e-03 7.57686721e-06 9.99998571e-01 -2.83687130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.10, Z:-0.28 [[ 9.99966528e-01 8.00533178e-03 1.69057676e-03 1.33938461e+01] [-8.00531378e-03 9.99967957e-01 -1.74142915e-05 -1.04300179e-01] [-1.69066200e-03 3.88011114e-06 9.99998571e-01 -2.84262643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.10, Z:-0.28 [[ 9.99959572e-01 8.83160613e-03 1.69057637e-03 1.34248232e+01] [-8.83158925e-03 9.99961001e-01 -1.74520960e-05 -1.03833369e-01] [-1.69066457e-03 2.52091431e-06 9.99998571e-01 -2.83811107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.10, Z:-0.28 [[ 9.99961629e-01 8.59553128e-03 1.69057598e-03 1.34562975e+01] [-8.59551399e-03 9.99963058e-01 -1.74899328e-05 -1.03650803e-01] [-1.69066386e-03 2.95789217e-06 9.99998571e-01 -2.80247264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.10, Z:-0.28 [[ 9.99967789e-01 7.84622483e-03 1.69057559e-03 1.34863312e+01] [-7.84620641e-03 9.99969218e-01 -1.75276406e-05 -1.03865233e-01] [-1.69066107e-03 4.26247101e-06 9.99998571e-01 -2.84970110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.10, Z:-0.29 [[ 9.99974411e-01 6.95127551e-03 1.69057539e-03 1.35165811e+01] [-6.95125578e-03 9.99975840e-01 -1.75464275e-05 -1.03009112e-01] [-1.69065652e-03 5.79435653e-06 9.99998571e-01 -2.87008607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.10, Z:-0.29 [[ 9.99977655e-01 6.46774966e-03 1.69057520e-03 1.35480532e+01] [-6.46772921e-03 9.99979084e-01 -1.75650142e-05 -1.03378435e-01] [-1.69065345e-03 6.63043905e-06 9.99998571e-01 -2.86388235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.10, Z:-0.28 [[ 9.99990621e-01 3.98751061e-03 1.69057481e-03 1.35786827e+01] [-3.98748655e-03 9.99992050e-01 -1.76020282e-05 -1.04643353e-01] [-1.69063156e-03 1.08607187e-05 9.99998571e-01 -2.80942905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.11, Z:-0.28 [[ 9.99996704e-01 1.93208622e-03 1.69057462e-03 1.36097089e+01] [-1.93205919e-03 9.99998133e-01 -1.76204552e-05 -1.05323024e-01] [-1.69060551e-03 1.43541069e-05 9.99998571e-01 -2.77509839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.11, Z:-0.28 [[ 9.99998566e-01 -9.95133884e-05 1.69057424e-03 1.36407091e+01] [ 9.95433808e-05 9.99999995e-01 -1.76568097e-05 -1.07163751e-01] [-1.69057248e-03 1.78250698e-05 9.99998571e-01 -2.76233619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.11, Z:-0.28 [[ 9.99982753e-01 -5.62461440e-03 1.69057386e-03 1.36721513e+01] [ 5.62465234e-03 9.99984181e-01 -1.76930154e-05 -1.13748121e-01] [-1.69044761e-03 2.72016005e-05 9.99998571e-01 -2.80348011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.12, Z:-0.28 [[ 9.99960466e-01 -8.72969529e-03 1.69057345e-03 1.37022563e+01] [ 8.72973775e-03 9.99961895e-01 -1.77326945e-05 -1.18091583e-01] [-1.69035423e-03 3.24902563e-05 9.99998571e-01 -2.83442721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.13, Z:-0.29 [[ 9.99902008e-01 -1.38966310e-02 1.69057324e-03 1.37321962e+01] [ 1.38966808e-02 9.99903436e-01 -1.77524071e-05 -1.26664681e-01] [-1.69016329e-03 4.12440242e-05 9.99998571e-01 -2.85233823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.13, Z:-0.29 [[ 9.99871025e-01 -1.59710516e-02 1.69057233e-03 1.37624354e+01] [ 1.59711046e-02 9.99872454e-01 -1.78385383e-05 -1.32100079e-01] [-1.69007181e-03 4.48365451e-05 9.99998571e-01 -2.85423346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.14, Z:-0.29 [[ 9.99848199e-01 -1.73413322e-02 1.69057233e-03 1.37913888e+01] [ 1.73413871e-02 9.99849627e-01 -1.78385383e-05 -1.38322839e-01] [-1.69000877e-03 4.71526997e-05 9.99998571e-01 -2.86981819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.15, Z:-0.29 [[ 9.99834334e-01 -1.81230998e-02 1.69057252e-03 1.38205806e+01] [ 1.81231558e-02 9.99835762e-01 -1.78202661e-05 -1.48117907e-01] [-1.68997191e-03 4.84558232e-05 9.99998571e-01 -2.86402064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.15, Z:-0.29 [[ 9.99851268e-01 -1.71634248e-02 1.69057294e-03 1.38487672e+01] [ 1.71634794e-02 9.99852696e-01 -1.77810377e-05 -1.51785865e-01] [-1.69001873e-03 4.67945068e-05 9.99998571e-01 -2.86669564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.16, Z:-0.29 [[ 9.99909543e-01 -1.33434678e-02 1.69057335e-03 1.38784716e+01] [ 1.33435169e-02 9.99910971e-01 -1.77420273e-05 -1.59388126e-01] [-1.69018610e-03 4.02986165e-05 9.99998571e-01 -2.86173263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.815769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.16, Z:-0.29 [[ 9.99937443e-01 -1.10567666e-02 1.69057373e-03 1.39085149e+01] [ 1.10568123e-02 9.99938871e-01 -1.77051924e-05 -1.64146948e-01] [-1.69027463e-03 3.63964413e-05 9.99998571e-01 -2.85313458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.17, Z:-0.29 [[ 9.99960708e-01 -8.70192797e-03 1.69057373e-03 1.39377130e+01] [ 8.70197033e-03 9.99962137e-01 -1.77051924e-05 -1.68837596e-01] [-1.69035565e-03 3.24158192e-05 9.99998571e-01 -2.86527712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.18, Z:-0.29 [[ 9.99981437e-01 -5.85384278e-03 1.69057394e-03 1.39670060e+01] [ 5.85388104e-03 9.99982866e-01 -1.76854722e-05 -1.76168942e-01] [-1.69044144e-03 2.75815626e-05 9.99998571e-01 -2.87419581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.18, Z:-0.29 [[ 9.99987519e-01 -4.70149735e-03 1.69057413e-03 1.39978389e+01] [ 4.70153394e-03 9.99988948e-01 -1.76670996e-05 -1.79223784e-01] [-1.69047238e-03 2.56151707e-05 9.99998571e-01 -2.87290218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.18, Z:-0.28 [[ 9.99994982e-01 -2.67918928e-03 1.69057413e-03 1.40283984e+01] [ 2.67922298e-03 9.99996411e-01 -1.76670996e-05 -1.84692490e-01] [-1.69052073e-03 2.21964360e-05 9.99998571e-01 -2.81971559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.19, Z:-0.28 [[ 9.99997877e-01 -1.17788647e-03 1.69057413e-03 1.40589088e+01] [ 1.17791802e-03 9.99999306e-01 -1.76670996e-05 -1.87697444e-01] [-1.69055215e-03 1.96584198e-05 9.99998571e-01 -2.79749181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.19, Z:-0.28 [[ 9.99998443e-01 5.04962943e-04 1.69057348e-03 1.40902158e+01] [-5.04933692e-04 9.99999872e-01 -1.77291189e-05 -1.91062961e-01] [-1.69058222e-03 1.68754638e-05 9.99998571e-01 -2.78698929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.19, Z:-0.28 [[ 9.99998431e-01 5.28398202e-04 1.69057306e-03 1.41220465e+01] [-5.28368918e-04 9.99999860e-01 -1.77686807e-05 -1.91443489e-01] [-1.69058222e-03 1.68754065e-05 9.99998571e-01 -2.78752752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.20, Z:-0.28 [[ 9.99995869e-01 2.32481217e-03 1.69057265e-03 1.41526629e+01] [-2.32478538e-03 9.99997298e-01 -1.78082997e-05 -1.95354932e-01] [-1.69060948e-03 1.38780075e-05 9.99998571e-01 -2.78316152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.20, Z:-0.28 [[ 9.99987089e-01 4.79196184e-03 1.69057244e-03 1.41837732e+01] [-4.79193854e-03 9.99988518e-01 -1.78280068e-05 -2.00437162e-01] [-1.69063846e-03 9.72665738e-06 9.99998571e-01 -2.78713865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.20, Z:-0.28 [[ 9.99979053e-01 6.24778751e-03 1.69057182e-03 1.42153844e+01] [-6.24776620e-03 9.99980482e-01 -1.78869350e-05 -2.01525119e-01] [-1.69065057e-03 7.32426290e-06 9.99998571e-01 -2.79233909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.20, Z:-0.28 [[ 9.99929786e-01 1.17288411e-02 1.69057140e-03 1.42465459e+01] [-1.17288275e-02 9.99931215e-01 -1.79259945e-05 -2.01430894e-01] [-1.69066537e-03 -1.90368456e-06 9.99998571e-01 -2.83257065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.20, Z:-0.28 [[ 9.99880380e-01 1.53742702e-02 1.69057078e-03 1.42790979e+01] [-1.53742617e-02 9.99881809e-01 -1.79845946e-05 -2.01257783e-01] [-1.69064747e-03 -8.00883432e-06 9.99998571e-01 -2.83364366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.20, Z:-0.28 [[ 9.99739465e-01 2.27627771e-02 1.69056777e-03 1.43102999e+01] [-2.27627788e-02 9.99740894e-01 -1.82634080e-05 -1.97990267e-01] [-1.69054546e-03 -2.02233702e-05 9.99998571e-01 -2.84110705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.20, Z:-0.28 [[ 9.99658644e-01 2.60717820e-02 1.69056608e-03 1.43432221e+01] [-2.60717882e-02 9.99660073e-01 -1.84179852e-05 -1.95946833e-01] [-1.69047160e-03 -2.56643826e-05 9.99998571e-01 -2.80432422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.19, Z:-0.28 [[ 9.99589626e-01 2.85958397e-02 1.69056256e-03 1.43757895e+01] [-2.85958489e-02 9.99591055e-01 -1.87355159e-05 -1.93999340e-01] [-1.69040697e-03 -2.96152443e-05 9.99998571e-01 -2.78221272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.19, Z:-0.28 [[ 9.99518947e-01 3.09680067e-02 1.69055899e-03 1.44068643e+01] [-3.09680187e-02 9.99520376e-01 -1.90527614e-05 -1.90501704e-01] [-1.69033818e-03 -3.33096664e-05 9.99998571e-01 -2.79671385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.19, Z:-0.28 [[ 9.99530657e-01 3.05877204e-02 1.69057423e-03 1.44397056e+01] [-3.05877342e-02 9.99532086e-01 -1.77157275e-05 -1.87885609e-01] [-1.69032507e-03 -3.40034224e-05 9.99998571e-01 -2.83850746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.18, Z:-0.29 [[ 9.99568107e-01 2.93383803e-02 1.69055175e-03 1.44713333e+01] [-2.93383890e-02 9.99569537e-01 -1.96500605e-05 -1.81829315e-01] [-1.69040053e-03 -2.99564910e-05 9.99998571e-01 -2.87620395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.18, Z:-0.29 [[ 9.99586934e-01 2.86897762e-02 1.69054995e-03 1.45038782e+01] [-2.86897838e-02 9.99588363e-01 -1.98037460e-05 -1.79589478e-01] [-1.69042222e-03 -2.87059467e-05 9.99998571e-01 -2.87355927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.18, Z:-0.29 [[ 9.99609167e-01 2.79043812e-02 1.69054622e-03 1.45359176e+01] [-2.79043871e-02 9.99610597e-01 -2.01168324e-05 -1.78161044e-01] [-1.69044926e-03 -2.70646861e-05 9.99998571e-01 -2.86605588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.17, Z:-0.28 [[ 9.99651093e-01 2.63597029e-02 1.69054268e-03 1.45680144e+01] [-2.63597061e-02 9.99652522e-01 -2.04100037e-05 -1.74682011e-01] [-1.69049326e-03 -2.41593256e-05 9.99998571e-01 -2.84682494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.475769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.17, Z:-0.28 [[ 9.99665042e-01 2.58252916e-02 1.69054033e-03 1.46001238e+01] [-2.58252937e-02 9.99666471e-01 -2.06031403e-05 -1.72578694e-01] [-1.69050857e-03 -2.30624614e-05 9.99998571e-01 -2.83147938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.17, Z:-0.28 [[ 9.99684119e-01 2.50759718e-02 1.69053702e-03 1.46319270e+01] [-2.50759724e-02 9.99685548e-01 -2.08713283e-05 -1.70368897e-01] [-1.69052879e-03 -2.15271241e-05 9.99998571e-01 -2.80306482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.17, Z:-0.28 [[ 9.99695419e-01 2.46213593e-02 1.69053343e-03 1.46642574e+01] [-2.46213587e-02 9.99696848e-01 -2.11577126e-05 -1.71048001e-01] [-1.69054188e-03 -2.04719617e-05 9.99998571e-01 -2.79239614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.17, Z:-0.28 [[ 9.99737435e-01 2.28517441e-02 1.69053007e-03 1.46966982e+01] [-2.28517406e-02 9.99738865e-01 -2.14230279e-05 -1.72074575e-01] [-1.69057817e-03 -1.72141517e-05 9.99998571e-01 -2.78892895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.17, Z:-0.28 [[ 9.99847073e-01 1.74060897e-02 1.69052665e-03 1.47286641e+01] [-1.74060779e-02 9.99848503e-01 -2.16898284e-05 -1.72785404e-01] [-1.69064807e-03 -7.73892715e-06 9.99998571e-01 -2.78947690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.17, Z:-0.28 [[ 9.99880716e-01 1.53523903e-02 1.69052418e-03 1.47612973e+01] [-1.53523753e-02 9.99882145e-01 -2.18804672e-05 -1.73911910e-01] [-1.69066086e-03 -4.07570441e-06 9.99998571e-01 -2.80114896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.18, Z:-0.28 [[ 9.99915592e-01 1.28822294e-02 1.69052071e-03 1.47938309e+01] [-1.28822103e-02 9.99917021e-01 -2.21454411e-05 -1.78439519e-01] [-1.69066571e-03 3.65928472e-07 9.99998571e-01 -2.84013655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.18, Z:-0.28 [[ 9.99914676e-01 1.29530777e-02 1.69051720e-03 1.48258813e+01] [-1.29530583e-02 9.99916105e-01 -2.24099619e-05 -1.80204584e-01] [-1.69066566e-03 5.10681892e-07 9.99998571e-01 -2.84184202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.18, Z:-0.28 [[ 9.99905897e-01 1.36139338e-02 1.69051358e-03 1.48567987e+01] [-1.36139149e-02 9.99907326e-01 -2.26797813e-05 -1.80110483e-01] [-1.69066568e-03 -3.36860962e-07 9.99998571e-01 -2.83974405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.18, Z:-0.28 [[ 9.99872676e-01 1.58674121e-02 1.69051156e-03 1.48893947e+01] [-1.58673962e-02 9.99874105e-01 -2.28291875e-05 -1.77466356e-01] [-1.69066098e-03 -3.99773604e-06 9.99998571e-01 -2.81329243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.18, Z:-0.28 [[ 9.99848227e-01 1.73396920e-02 1.69050772e-03 1.49209488e+01] [-1.73396777e-02 9.99849656e-01 -2.31100974e-05 -1.77378999e-01] [-1.69065429e-03 -6.20626909e-06 9.99998571e-01 -2.82296080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.18, Z:-0.28 [[ 9.99817294e-01 1.90399762e-02 1.69050414e-03 1.49528211e+01] [-1.90399639e-02 9.99818723e-01 -2.33695465e-05 -1.77836306e-01] [-1.69064264e-03 -8.82186097e-06 9.99998571e-01 -2.84982908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.18, Z:-0.29 [[ 9.99748580e-01 2.23588852e-02 1.69050025e-03 1.49836053e+01] [-2.23588772e-02 9.99750009e-01 -2.36477223e-05 -1.75711437e-01] [-1.69060637e-03 -1.41559107e-05 9.99998571e-01 -2.93037510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.17, Z:-0.30 [[ 9.99712943e-01 2.38992289e-02 1.69049662e-03 1.50148425e+01] [-2.38992227e-02 9.99714373e-01 -2.39043922e-05 -1.74389701e-01] [-1.69058506e-03 -1.65040248e-05 9.99998571e-01 -2.95157939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.17, Z:-0.29 [[ 9.99690875e-01 2.48051783e-02 1.69049297e-03 1.50471621e+01] [-2.48051729e-02 9.99692304e-01 -2.41597298e-05 -1.73959874e-01] [-1.69057210e-03 -1.77807090e-05 9.99998571e-01 -2.88296366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.17, Z:-0.29 [[ 9.99700380e-01 2.44190988e-02 1.69048901e-03 1.50788214e+01] [-2.44190924e-02 9.99701809e-01 -2.44332773e-05 -1.74562210e-01] [-1.69058156e-03 -1.68542509e-05 9.99998571e-01 -2.85890571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.17, Z:-0.28 [[ 9.99730995e-01 2.31317890e-02 1.69048474e-03 1.51112395e+01] [-2.31317802e-02 9.99732424e-01 -2.47253165e-05 -1.74029983e-01] [-1.69060435e-03 -1.43852563e-05 9.99998571e-01 -2.84714696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.17, Z:-0.29 [[ 9.99773368e-01 2.12215897e-02 1.69048333e-03 1.51428738e+01] [-2.12215781e-02 9.99774797e-01 -2.48218573e-05 -1.72517754e-01] [-1.69062938e-03 -1.10584921e-05 9.99998571e-01 -2.87540492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.17, Z:-0.29 [[ 9.99791694e-01 2.03398729e-02 1.69047961e-03 1.51751287e+01] [-2.03398596e-02 9.99793123e-01 -2.50725879e-05 -1.73465770e-01] [-1.69063986e-03 -9.31675271e-06 9.99998571e-01 -2.88585351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.17, Z:-0.28 [[ 9.99843818e-01 1.75920738e-02 1.69047556e-03 1.52076548e+01] [-1.75920561e-02 9.99845247e-01 -2.53422833e-05 -1.74769655e-01] [-1.69065978e-03 -4.40061562e-06 9.99998571e-01 -2.83291609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.17, Z:-0.28 [[ 9.99870394e-01 1.60105732e-02 1.69047150e-03 1.52397679e+01] [-1.60105528e-02 9.99871823e-01 -2.56107704e-05 -1.74626718e-01] [-1.69066486e-03 -1.45793208e-06 9.99998571e-01 -2.79052795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.17, Z:-0.28 [[ 9.99882119e-01 1.52607719e-02 1.69046725e-03 1.52708386e+01] [-1.52607500e-02 9.99883548e-01 -2.58882346e-05 -1.73775207e-01] [-1.69066546e-03 8.73848873e-08 9.99998571e-01 -2.77045001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135769231000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.17, Z:-0.28 [[ 9.99893611e-01 1.44882491e-02 1.69046327e-03 1.53032641e+01] [-1.44882256e-02 9.99895040e-01 -2.61451998e-05 -1.72075078e-01] [-1.69066464e-03 1.65060501e-06 9.99998571e-01 -2.81337047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.17, Z:-0.28 [[ 9.99899933e-01 1.40451497e-02 1.69045895e-03 1.53346813e+01] [-1.40451251e-02 9.99901362e-01 -2.64219191e-05 -1.71654866e-01] [-1.69066330e-03 2.67656775e-06 9.99998571e-01 -2.84687304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.17, Z:-0.29 [[ 9.99910189e-01 1.32949990e-02 1.69045490e-03 1.53663030e+01] [-1.32949729e-02 9.99911618e-01 -2.66781961e-05 -1.70529651e-01] [-1.69066018e-03 4.20124801e-06 9.99998571e-01 -2.85677921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.17, Z:-0.29 [[ 9.99922435e-01 1.23395945e-02 1.69045428e-03 1.53972699e+01] [-1.23395669e-02 9.99923864e-01 -2.67177905e-05 -1.67746170e-01] [-1.69065526e-03 5.85624442e-06 9.99998571e-01 -2.85576543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.17, Z:-0.28 [[ 9.99922493e-01 1.23349496e-02 1.69045177e-03 1.54283761e+01] [-1.23349218e-02 9.99923922e-01 -2.68754400e-05 -1.67381233e-01] [-1.69065467e-03 6.02176662e-06 9.99998571e-01 -2.84900195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.17, Z:-0.28 [[ 9.99926025e-01 1.20451927e-02 1.69045115e-03 1.54595621e+01] [-1.20451644e-02 9.99927454e-01 -2.69144279e-05 -1.66933487e-01] [-1.69065270e-03 6.55067484e-06 9.99998571e-01 -2.84327605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.17, Z:-0.29 [[ 9.99936953e-01 1.11010447e-02 1.69044710e-03 1.54909254e+01] [-1.11010146e-02 9.99938381e-01 -2.71666587e-05 -1.67375100e-01] [-1.69064451e-03 8.39926795e-06 9.99998571e-01 -2.85708439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.17, Z:-0.29 [[ 9.99951621e-01 9.69009674e-03 1.69044302e-03 1.55220224e+01] [-9.69006423e-03 9.99953050e-01 -2.74182612e-05 -1.67830411e-01] [-1.69062933e-03 1.10364333e-05 9.99998571e-01 -2.85386058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.17, Z:-0.28 [[ 9.99971699e-01 7.33105862e-03 1.69044240e-03 1.55537528e+01] [-7.33102268e-03 9.99973127e-01 -2.74564290e-05 -1.68300792e-01] [-1.69059825e-03 1.50629804e-05 9.99998571e-01 -2.82763072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.17, Z:-0.28 [[ 9.99976358e-01 6.66520816e-03 1.69044174e-03 1.55845913e+01] [-6.66517120e-03 9.99977787e-01 -2.74966571e-05 -1.68478570e-01] [-1.69058746e-03 1.62289235e-05 9.99998571e-01 -2.82995255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.17, Z:-0.29 [[ 9.99984293e-01 5.34375435e-03 1.69043747e-03 1.56160507e+01] [-5.34371506e-03 9.99985722e-01 -2.77569093e-05 -1.69970097e-01] [-1.69056166e-03 1.87232572e-05 9.99998571e-01 -2.85203533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.17, Z:-0.29 [[ 9.99987049e-01 4.80041938e-03 1.69043681e-03 1.56470470e+01] [-4.80037925e-03 9.99988478e-01 -2.77966922e-05 -1.72069957e-01] [-1.69055077e-03 1.96815944e-05 9.99998571e-01 -2.87078671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.17, Z:-0.29 [[ 9.99990734e-01 3.95912498e-03 1.69043255e-03 1.56780381e+01] [-3.95908321e-03 9.99992162e-01 -2.80538468e-05 -1.73678358e-01] [-1.69053037e-03 2.13610238e-05 9.99998571e-01 -2.87892784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.17, Z:-0.29 [[ 9.99994681e-01 2.78948390e-03 1.69043189e-03 1.57090591e+01] [-2.78944039e-03 9.99996109e-01 -2.80934271e-05 -1.74373397e-01] [-1.69050368e-03 2.33779187e-05 9.99998571e-01 -2.89354084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.18, Z:-0.29 [[ 9.99997597e-01 1.39593525e-03 1.69043123e-03 1.57392963e+01] [-1.39588969e-03 9.99999025e-01 -2.81329149e-05 -1.75682604e-01] [-1.69046886e-03 2.57731918e-05 9.99998571e-01 -2.90655790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.18, Z:-0.29 [[ 9.99998172e-01 8.93293146e-04 1.69043090e-03 1.57692989e+01] [-8.93246832e-04 9.99999601e-01 -2.81526380e-05 -1.77732529e-01] [-1.69045538e-03 2.66426144e-05 9.99998571e-01 -2.90523379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.18, Z:-0.29 [[ 9.99996726e-01 1.92105579e-03 1.69042940e-03 1.57999170e+01] [-1.92101079e-03 9.99998154e-01 -2.82426839e-05 -1.80126543e-01] [-1.69048053e-03 2.49952583e-05 9.99998571e-01 -2.85816338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.18, Z:-0.28 [[ 9.99994253e-01 2.93876060e-03 1.69042713e-03 1.58307959e+01] [-2.93871683e-03 9.99995682e-01 -2.83779482e-05 -1.80849914e-01] [-1.69050322e-03 2.34100984e-05 9.99998571e-01 -2.83980641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.18, Z:-0.28 [[ 9.99992434e-01 3.50356354e-03 1.69042647e-03 1.58619362e+01] [-3.50352051e-03 9.99993862e-01 -2.84167986e-05 -1.82246877e-01] [-1.69051566e-03 2.24941398e-05 9.99998571e-01 -2.84412096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.19, Z:-0.28 [[ 9.99994719e-01 2.77577441e-03 1.69042582e-03 1.58933336e+01] [-2.77573027e-03 9.99996147e-01 -2.84555679e-05 -1.87312213e-01] [-1.69049830e-03 2.37632515e-05 9.99998571e-01 -2.84628640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.19, Z:-0.29 [[ 9.99995318e-01 2.55094982e-03 1.69042514e-03 1.59236655e+01] [-2.55090530e-03 9.99996746e-01 -2.84959539e-05 -1.89849735e-01] [-1.69049233e-03 2.41837060e-05 9.99998571e-01 -2.85107686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.19, Z:-0.28 [[ 9.99995727e-01 2.38491818e-03 1.69042480e-03 1.59548010e+01] [-2.38487339e-03 9.99997156e-01 -2.85159441e-05 -1.91345407e-01] [-1.69048800e-03 2.44843732e-05 9.99998571e-01 -2.83243773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.20, Z:-0.28 [[ 9.99997167e-01 1.67583543e-03 1.69042416e-03 1.59863446e+01] [-1.67578956e-03 9.99998595e-01 -2.85542334e-05 -1.95335634e-01] [-1.69046964e-03 2.57213574e-05 9.99998571e-01 -2.81410574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.20, Z:-0.28 [[ 9.99997555e-01 -1.42574499e-03 1.69042351e-03 1.60179713e+01] [ 1.42579535e-03 9.99998983e-01 -2.85922821e-05 -2.04007633e-01] [-1.69038103e-03 3.10024102e-05 9.99998571e-01 -2.84135089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.21, Z:-0.28 [[ 9.99989445e-01 -4.27224462e-03 1.69042287e-03 1.60485514e+01] [ 4.27229912e-03 9.99990873e-01 -2.86303105e-05 -2.09376480e-01] [-1.69028513e-03 3.58520005e-05 9.99998571e-01 -2.84645604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.21, Z:-0.28 [[ 9.99974922e-01 -6.87728844e-03 1.69042255e-03 1.60789936e+01] [ 6.87734670e-03 9.99976350e-01 -2.86492130e-05 -2.14556469e-01] [-1.69018554e-03 4.02741165e-05 9.99998571e-01 -2.84902494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.22, Z:-0.28 [[ 9.99974922e-01 -6.87728844e-03 1.69042255e-03 1.61099891e+01] [ 6.87734670e-03 9.99976350e-01 -2.86492130e-05 -2.15081779e-01] [-1.69018554e-03 4.02741165e-05 9.99998571e-01 -2.84954904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.23, Z:-0.29 [[ 9.99946929e-01 -1.01627552e-02 1.69042255e-03 1.61404720e+01] [ 1.01628182e-02 9.99948357e-01 -2.86492130e-05 -2.25485615e-01] [-1.69004410e-03 4.58271496e-05 9.99998571e-01 -2.85440113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.23, Z:-0.29 [[ 9.99951398e-01 -9.71307413e-03 1.69042255e-03 1.61701529e+01] [ 9.71313643e-03 9.99952826e-01 -2.86492130e-05 -2.31211541e-01] [-1.69006453e-03 4.50671255e-05 9.99998571e-01 -2.86195104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.24, Z:-0.29 [[ 9.99979803e-01 -6.12673573e-03 1.69042288e-03 1.62004914e+01] [ 6.12679287e-03 9.99981231e-01 -2.86295054e-05 -2.40209545e-01] [-1.69021575e-03 3.89857980e-05 9.99998571e-01 -2.85871196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.24, Z:-0.29 [[ 9.99991788e-01 -3.68332447e-03 1.69042288e-03 1.62308219e+01] [ 3.68337812e-03 9.99993216e-01 -2.86295054e-05 -2.44028240e-01] [-1.69030596e-03 3.48557369e-05 9.99998571e-01 -2.87045736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.25, Z:-0.29 [[ 9.99997492e-01 -1.46939444e-03 1.69042178e-03 1.62616388e+01] [ 1.46944504e-03 9.99998920e-01 -2.86942356e-05 -2.48053170e-01] [-1.69037780e-03 3.11781456e-05 9.99998571e-01 -2.87413642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.26, Z:-0.29 [[ 9.99998361e-01 6.48959782e-04 1.69042178e-03 1.62926916e+01] [-6.48912204e-04 9.99999789e-01 -2.86942356e-05 -2.57800570e-01] [-1.69044005e-03 2.75972533e-05 9.99998571e-01 -2.88418400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.26, Z:-0.29 [[ 9.99998475e-01 4.38385658e-04 1.69042109e-03 1.63236839e+01] [-4.38337711e-04 9.99999904e-01 -2.87347837e-05 -2.62850766e-01] [-1.69043353e-03 2.79937646e-05 9.99998571e-01 -2.88356626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.27, Z:-0.29 [[ 9.99998503e-01 3.69398338e-04 1.69042040e-03 1.63539624e+01] [-3.69350223e-04 9.99999931e-01 -2.87753175e-05 -2.69939485e-01] [-1.69043092e-03 2.81509173e-05 9.99998571e-01 -2.88226742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.27, Z:-0.29 [[ 9.99997034e-01 1.75329314e-03 1.69042006e-03 1.63848699e+01] [-1.75324697e-03 9.99998463e-01 -2.87955013e-05 -2.73339313e-01] [-1.69046795e-03 2.58316921e-05 9.99998571e-01 -2.86911342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.28, Z:-0.29 [[ 9.99992236e-01 3.55953578e-03 1.69041938e-03 1.64165914e+01] [-3.55949212e-03 9.99993665e-01 -2.88354996e-05 -2.76327658e-01] [-1.69051131e-03 2.28182412e-05 9.99998571e-01 -2.85986941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.28, Z:-0.29 [[ 9.99965374e-01 8.14820622e-03 1.69041868e-03 1.64477972e+01] [-8.14816905e-03 9.99966803e-01 -2.88762573e-05 -2.81080969e-01] [-1.69059785e-03 1.51014403e-05 9.99998571e-01 -2.88867426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.28, Z:-0.29 [[ 9.99935081e-01 1.12683492e-02 1.69041629e-03 1.64795435e+01] [-1.12683162e-02 9.99936510e-01 -2.90157331e-05 -2.83772815e-01] [-1.69063592e-03 9.96570417e-06 9.99998571e-01 -2.90804249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.29, Z:-0.29 [[ 9.99821292e-01 1.88288519e-02 1.69041144e-03 1.65102636e+01] [-1.88288293e-02 9.99822721e-01 -2.92953592e-05 -2.87880149e-01] [-1.69066337e-03 -2.53834464e-06 9.99998571e-01 -2.92162411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.29, Z:-0.29 [[ 9.99731479e-01 2.31108617e-02 1.69041041e-03 1.65432061e+01] [-2.31108451e-02 9.99732908e-01 -2.93549162e-05 -2.89742066e-01] [-1.69063733e-03 -9.71977933e-06 9.99998571e-01 -2.90520434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.29, Z:-0.29 [[ 9.99644678e-01 2.66018783e-02 1.69040500e-03 1.65758161e+01] [-2.66018662e-02 9.99646107e-01 -2.96630222e-05 -2.90675024e-01] [-1.69059587e-03 -1.53154454e-05 9.99998571e-01 -2.89264025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.29, Z:-0.29 [[ 9.99464224e-01 3.26865177e-02 1.69039947e-03 1.66089660e+01] [-3.26865137e-02 9.99465653e-01 -2.99750788e-05 -2.92128144e-01] [-1.69047599e-03 -2.52942466e-05 9.99998571e-01 -2.86667364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.29, Z:-0.28 [[ 9.99365606e-01 3.55742542e-02 1.69039385e-03 1.66405135e+01] [-3.55742538e-02 9.99367035e-01 -3.02885668e-05 -2.92881229e-01] [-1.69040138e-03 -2.98651481e-05 9.99998571e-01 -2.84615786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.29, Z:-0.28 [[ 9.99250868e-01 3.86632283e-02 1.69038856e-03 1.66726490e+01] [-3.86632319e-02 9.99252297e-01 -3.05811041e-05 -2.93132676e-01] [-1.69030701e-03 -3.47976900e-05 9.99998571e-01 -2.81447240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.29, Z:-0.28 [[ 9.98947865e-01 4.58290821e-02 1.69038327e-03 1.67059699e+01] [-4.58290954e-02 9.98949295e-01 -3.08706672e-05 -2.89912744e-01] [-1.69002195e-03 -4.66305491e-05 9.99998571e-01 -2.79293467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.29, Z:-0.28 [[ 9.98781751e-01 4.93168989e-02 1.69037737e-03 1.67375665e+01] [-4.93169167e-02 9.98783180e-01 -3.11905636e-05 -2.88297367e-01] [-1.68985870e-03 -5.22116341e-05 9.99998571e-01 -2.81409637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.28, Z:-0.29 [[ 9.98497209e-01 5.47765035e-02 1.69037184e-03 1.67706083e+01] [-5.47765286e-02 9.98498638e-01 -3.14871568e-05 -2.83200905e-01] [-1.68955874e-03 -6.11528633e-05 9.99998571e-01 -2.85242877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.28, Z:-0.29 [[ 9.98372098e-01 5.70113691e-02 1.69036593e-03 1.68039212e+01] [-5.70113969e-02 9.98373527e-01 -3.18016002e-05 -2.80597633e-01] [-1.68942965e-03 -6.46202925e-05 9.99998571e-01 -2.86015476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.28, Z:-0.29 [[ 9.98282731e-01 5.85553742e-02 1.69035996e-03 1.68372395e+01] [-5.85554036e-02 9.98284160e-01 -3.21155359e-05 -2.77961463e-01] [-1.68934011e-03 -6.69193251e-05 9.99998571e-01 -2.86793471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.28, Z:-0.29 [[ 9.98259275e-01 5.89539014e-02 1.69035396e-03 1.68688958e+01] [-5.89539309e-02 9.98260704e-01 -3.24286374e-05 -2.76106700e-01] [-1.68932572e-03 -6.72808222e-05 9.99998571e-01 -2.87812940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.27, Z:-0.29 [[ 9.98393940e-01 5.66275831e-02 1.69035019e-03 1.69022843e+01] [-5.66276089e-02 9.98395369e-01 -3.26237964e-05 -2.73655036e-01] [-1.68948521e-03 -6.31490889e-05 9.99998571e-01 -2.88541330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.27, Z:-0.29 [[ 9.98479825e-01 5.50924884e-02 1.69034416e-03 1.69352201e+01] [-5.50925115e-02 9.98481254e-01 -3.29330171e-05 -2.72369943e-01] [-1.68959132e-03 -6.02423522e-05 9.99998571e-01 -2.88067521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.27, Z:-0.28 [[ 9.98486496e-01 5.49714550e-02 1.69033807e-03 1.69671565e+01] [-5.49714774e-02 9.98487925e-01 -3.32429993e-05 -2.66718426e-01] [-1.68960957e-03 -5.97276951e-05 9.99998571e-01 -2.84103625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.26, Z:-0.28 [[ 9.98408441e-01 5.63713438e-02 1.69033231e-03 1.70005681e+01] [-5.63713677e-02 9.98409870e-01 -3.35330976e-05 -2.64032281e-01] [-1.68953477e-03 -6.18066167e-05 9.99998571e-01 -2.82793196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.26, Z:-0.28 [[ 9.98344214e-01 5.74975927e-02 1.69032619e-03 1.70336430e+01] [-5.74976177e-02 9.98345643e-01 -3.38391074e-05 -2.60795637e-01] [-1.68947545e-03 -6.34066519e-05 9.99998571e-01 -2.82283889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.25, Z:-0.29 [[ 9.98302621e-01 5.82152946e-02 1.69031992e-03 1.70660375e+01] [-5.82153201e-02 9.98304050e-01 -3.41495077e-05 -2.53674809e-01] [-1.68944124e-03 -6.43109720e-05 9.99998571e-01 -2.85574563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.25, Z:-0.29 [[ 9.98288346e-01 5.84595737e-02 1.69031402e-03 1.70976771e+01] [-5.84595991e-02 9.98289775e-01 -3.44388506e-05 -2.51210165e-01] [-1.68943648e-03 -6.44351768e-05 9.99998571e-01 -2.86389935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.25, Z:-0.28 [[ 9.98238116e-01 5.93110977e-02 1.69030821e-03 1.71288894e+01] [-5.93111238e-02 9.98239545e-01 -3.47217368e-05 -2.49130865e-01] [-1.68939188e-03 -6.55935184e-05 9.99998571e-01 -2.84167058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.25, Z:-0.29 [[ 9.98282143e-01 5.85653995e-02 1.69038530e-03 1.71632427e+01] [-5.85654309e-02 9.98283572e-01 -3.09723005e-05 -2.47656450e-01] [-1.68929778e-03 -6.80790488e-05 9.99998571e-01 -2.85810831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.935769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.24, Z:-0.29 [[ 9.98232721e-01 5.94018378e-02 1.69029873e-03 1.71954246e+01] [-5.94018634e-02 9.98234150e-01 -3.51365324e-05 -2.39189829e-01] [-1.68940109e-03 -6.53324581e-05 9.99998571e-01 -2.89040822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.23, Z:-0.29 [[ 9.98169902e-01 6.04482387e-02 1.69029306e-03 1.72278245e+01] [-6.04482652e-02 9.98171331e-01 -3.54071802e-05 -2.34666333e-01] [-1.68934238e-03 -6.68329019e-05 9.99998571e-01 -2.89667621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.23, Z:-0.29 [[ 9.98102906e-01 6.15445518e-02 1.69028696e-03 1.72588681e+01] [-6.15445794e-02 9.98104335e-01 -3.56962224e-05 -2.31850221e-01] [-1.68927965e-03 -6.83994967e-05 9.99998571e-01 -2.86853235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.23, Z:-0.28 [[ 9.98044890e-01 6.24783133e-02 1.69028394e-03 1.72919544e+01] [-6.24783420e-02 9.98046319e-01 -3.58386891e-05 -2.30554258e-01] [-1.68922081e-03 -6.98375176e-05 9.99998571e-01 -2.82613954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.23, Z:-0.28 [[ 9.98030381e-01 6.27096628e-02 1.69027741e-03 1.73241880e+01] [-6.27096913e-02 9.98031810e-01 -3.61441136e-05 -2.27339948e-01] [-1.68921721e-03 -6.99238511e-05 9.99998571e-01 -2.80783428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.23, Z:-0.28 [[ 9.98032920e-01 6.26692456e-02 1.69027128e-03 1.73565658e+01] [-6.26692736e-02 9.98034349e-01 -3.64286062e-05 -2.25261288e-01] [-1.68923175e-03 -6.95711250e-05 9.99998571e-01 -2.83209132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.22, Z:-0.29 [[ 9.98111244e-01 6.14091819e-02 1.69026539e-03 1.73896631e+01] [-6.14092076e-02 9.98112673e-01 -3.66999217e-05 -2.20710241e-01] [-1.68932901e-03 -6.71672535e-05 9.99998571e-01 -2.86711650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.22, Z:-0.29 [[ 9.98165332e-01 6.05236538e-02 1.69025904e-03 1.74212463e+01] [-6.05236778e-02 9.98166761e-01 -3.69900086e-05 -2.19685808e-01] [-1.68939916e-03 -6.53785493e-05 9.99998571e-01 -2.87412996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.22, Z:-0.28 [[ 9.98211369e-01 5.97595699e-02 1.69025308e-03 1.74544645e+01] [-5.97595924e-02 9.98212798e-01 -3.72603992e-05 -2.18676199e-01] [-1.68945892e-03 -6.38150808e-05 9.99998571e-01 -2.84546063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.21, Z:-0.28 [[ 9.98213495e-01 5.97240474e-02 1.69024584e-03 1.74863537e+01] [-5.97240692e-02 9.98214924e-01 -3.75860481e-05 -2.13493908e-01] [-1.68947341e-03 -6.34294588e-05 9.99998571e-01 -2.83093448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.235769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.21, Z:-0.28 [[ 9.98166197e-01 6.05093976e-02 1.69023902e-03 1.75178548e+01] [-6.05094201e-02 9.98167626e-01 -3.78899510e-05 -2.11007048e-01] [-1.68943457e-03 -6.44549149e-05 9.99998571e-01 -2.84163899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.21, Z:-0.29 [[ 9.98132187e-01 6.10678375e-02 1.69023380e-03 1.75499794e+01] [-6.10678604e-02 9.98133616e-01 -3.81214734e-05 -2.09303155e-01] [-1.68940717e-03 -6.51686922e-05 9.99998571e-01 -2.85836082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.21, Z:-0.28 [[ 9.98127718e-01 6.11408417e-02 1.69022816e-03 1.75823174e+01] [-6.11408643e-02 9.98129147e-01 -3.83698646e-05 -2.06077618e-01] [-1.68941196e-03 -6.50439854e-05 9.99998571e-01 -2.83813864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.20, Z:-0.28 [[ 9.98165934e-01 6.05137346e-02 1.69022178e-03 1.76130956e+01] [-6.05137558e-02 9.98167363e-01 -3.86488720e-05 -2.04124646e-01] [-1.68946301e-03 -6.37036808e-05 9.99998571e-01 -2.82312839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.20, Z:-0.28 [[ 9.98356354e-01 5.72864250e-02 1.69021823e-03 1.76446641e+01] [-5.72864413e-02 9.98357783e-01 -3.88037388e-05 -2.00350530e-01] [-1.68966545e-03 -5.80866281e-05 9.99998571e-01 -2.82204810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.20, Z:-0.28 [[ 9.98448251e-01 5.56617759e-02 1.69021262e-03 1.76757798e+01] [-5.56617894e-02 9.98449680e-01 -3.90465338e-05 -1.99383935e-01] [-1.68976565e-03 -5.50943155e-05 9.99998571e-01 -2.83173345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.415769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.20, Z:-0.28 [[ 9.98550494e-01 5.37964193e-02 1.69020700e-03 1.77068498e+01] [-5.37964298e-02 9.98551923e-01 -3.92882760e-05 -1.97813785e-01] [-1.68987302e-03 -5.16957748e-05 9.99998571e-01 -2.83913749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.19, Z:-0.28 [[ 9.98732242e-01 5.03095648e-02 1.69020619e-03 1.77378930e+01] [-5.03095702e-02 9.98733671e-01 -3.93230703e-05 -1.92469084e-01] [-1.69004416e-03 -4.57603289e-05 9.99998571e-01 -2.84850363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.475769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.19, Z:-0.29 [[ 9.98813818e-01 4.86631354e-02 1.69020533e-03 1.77693928e+01] [-4.86631385e-02 9.98815247e-01 -3.93599528e-05 -1.90814557e-01] [-1.69011823e-03 -4.29374313e-05 9.99998571e-01 -2.85990933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505769231000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.19, Z:-0.29 [[ 9.98908253e-01 4.66845232e-02 1.69020445e-03 1.78008144e+01] [-4.66845234e-02 9.98909682e-01 -3.93979538e-05 -1.88521390e-01] [-1.69020086e-03 -3.95514477e-05 9.99998571e-01 -2.86835775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.19, Z:-0.29 [[ 9.98958477e-01 4.55971874e-02 1.69019868e-03 1.78318012e+01] [-4.55971855e-02 9.98959907e-01 -3.96438933e-05 -1.87105322e-01] [-1.69024836e-03 -3.74656993e-05 9.99998571e-01 -2.85015354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.19, Z:-0.28 [[ 9.98980212e-01 4.51185062e-02 1.69019772e-03 1.78629878e+01] [-4.51185036e-02 9.98981641e-01 -3.96846574e-05 -1.86332923e-01] [-1.69026700e-03 -3.66150045e-05 9.99998571e-01 -2.84486852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.19, Z:-0.28 [[ 9.99036565e-01 4.38529855e-02 1.69019147e-03 1.78947904e+01] [-4.38529807e-02 9.99037995e-01 -3.99488614e-05 -1.86603309e-01] [-1.69031738e-03 -3.42095609e-05 9.99998571e-01 -2.83695626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.19, Z:-0.28 [[ 9.99060408e-01 4.33064030e-02 1.69019054e-03 1.79260604e+01] [-4.33063973e-02 9.99061837e-01 -3.99885179e-05 -1.87674251e-01] [-1.69033662e-03 -3.32451179e-05 9.99998571e-01 -2.81778367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.655769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.19, Z:-0.28 [[ 9.99108152e-01 4.21905695e-02 1.69018442e-03 1.79568442e+01] [-4.21905618e-02 9.99109581e-01 -4.02455992e-05 -1.88079099e-01] [-1.69037743e-03 -3.11001238e-05 9.99998571e-01 -2.80435223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.19, Z:-0.28 [[ 9.99182065e-01 4.04022846e-02 1.69017832e-03 1.79879657e+01] [-4.04022739e-02 9.99183494e-01 -4.04999860e-05 -1.88081565e-01] [-1.69043457e-03 -2.78201877e-05 9.99998571e-01 -2.80232368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.19, Z:-0.28 [[ 9.99165870e-01 4.08008281e-02 1.69017741e-03 1.80189764e+01] [-4.08008179e-02 9.99167299e-01 -4.05377469e-05 -1.88914833e-01] [-1.69042398e-03 -2.84566877e-05 9.99998571e-01 -2.81381318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.19, Z:-0.28 [[ 9.99053191e-01 4.34725651e-02 1.69017650e-03 1.80503671e+01] [-4.34725586e-02 9.99054621e-01 -4.05759339e-05 -1.88624687e-01] [-1.69034258e-03 -3.29387806e-05 9.99998571e-01 -2.82963670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.19, Z:-0.28 [[ 9.98988303e-01 4.49390048e-02 1.69017554e-03 1.80816794e+01] [-4.49390003e-02 9.98989732e-01 -4.06158156e-05 -1.87703407e-01] [-1.69029324e-03 -3.53800744e-05 9.99998571e-01 -2.82415561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.19, Z:-0.28 [[ 9.98939917e-01 4.60020200e-02 1.69017458e-03 1.81118578e+01] [-4.60020170e-02 9.98941346e-01 -4.06557831e-05 -1.87085362e-01] [-1.69025552e-03 -3.71387551e-05 9.99998571e-01 -2.81987068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.19, Z:-0.28 [[ 9.98938850e-01 4.60251816e-02 1.69017410e-03 1.81436825e+01] [-4.60251786e-02 9.98940279e-01 -4.06756024e-05 -1.87896451e-01] [-1.69025509e-03 -3.71581254e-05 9.99998571e-01 -2.82040891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.19, Z:-0.28 [[ 9.98885608e-01 4.71665739e-02 1.69017316e-03 1.81748661e+01] [-4.71665725e-02 9.98887037e-01 -4.07147910e-05 -1.88195175e-01] [-1.69021243e-03 -3.90502560e-05 9.99998571e-01 -2.81332744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.19, Z:-0.28 [[ 9.98884706e-01 4.71856705e-02 1.69017221e-03 1.82059042e+01] [-4.71856691e-02 9.98886135e-01 -4.07541406e-05 -1.88954064e-01] [-1.69021260e-03 -3.90432187e-05 9.99998571e-01 -2.82579810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.19, Z:-0.28 [[ 9.98889539e-01 4.70832381e-02 1.69017126e-03 1.82376907e+01] [-4.70832364e-02 9.98890969e-01 -4.07934228e-05 -1.89559816e-01] [-1.69021749e-03 -3.88306096e-05 9.99998571e-01 -2.84772935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.19, Z:-0.29 [[ 9.98946910e-01 4.58499141e-02 1.69017031e-03 1.82676946e+01] [-4.58499107e-02 9.98948339e-01 -4.08325289e-05 -1.90728866e-01] [-1.69026500e-03 -3.67046294e-05 9.99998571e-01 -2.88670577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.19, Z:-0.29 [[ 9.99011725e-01 4.44152800e-02 1.69016985e-03 1.82993448e+01] [-4.44152744e-02 9.99013154e-01 -4.08519492e-05 -1.92083112e-01] [-1.69031636e-03 -3.42577813e-05 9.99998571e-01 -2.87940918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.19, Z:-0.28 [[ 9.99150587e-01 4.11733975e-02 1.69016890e-03 1.83307119e+01] [-4.11733872e-02 9.99152016e-01 -4.08908727e-05 -1.93036702e-01] [-1.69041928e-03 -2.87338393e-05 9.99998571e-01 -2.84882511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.19, Z:-0.29 [[ 9.99195831e-01 4.00603941e-02 1.69016277e-03 1.83623341e+01] [-4.00603818e-02 9.99197260e-01 -4.11426537e-05 -1.92739355e-01] [-1.69045420e-03 -2.65989980e-05 9.99998571e-01 -2.85307829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.19, Z:-0.29 [[ 9.99226193e-01 3.92957727e-02 1.69016183e-03 1.83932826e+01] [-3.92957592e-02 9.99227623e-01 -4.11815900e-05 -1.92528254e-01] [-1.69047465e-03 -2.52664687e-05 9.99998571e-01 -2.85461206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.19, Z:-0.28 [[ 9.99238709e-01 3.89762249e-02 1.69015567e-03 1.84243520e+01] [-3.89762106e-02 9.99240138e-01 -4.14328618e-05 -1.93931241e-01] [-1.69048628e-03 -2.44745438e-05 9.99998571e-01 -2.79133497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.19, Z:-0.28 [[ 9.99235521e-01 3.90578597e-02 1.69015474e-03 1.84546224e+01] [-3.90578454e-02 9.99236950e-01 -4.14707640e-05 -1.94734542e-01] [-1.69048482e-03 -2.45747418e-05 9.99998571e-01 -2.77540296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.19, Z:-0.28 [[ 9.99246353e-01 3.87797538e-02 1.69015427e-03 1.84860425e+01] [-3.87797391e-02 9.99247782e-01 -4.14896152e-05 -1.94513606e-01] [-1.69049187e-03 -2.40853950e-05 9.99998571e-01 -2.79752103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.19, Z:-0.29 [[ 9.99298612e-01 3.74089224e-02 1.69015334e-03 1.85164400e+01] [-3.74089057e-02 9.99300041e-01 -4.15274849e-05 -1.92207737e-01] [-1.69052380e-03 -2.17284290e-05 9.99998571e-01 -2.86348180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.19, Z:-0.29 [[ 9.99347793e-01 3.60712021e-02 1.69015288e-03 1.85476318e+01] [-3.60711834e-02 9.99349222e-01 -4.15463040e-05 -1.93668849e-01] [-1.69055159e-03 -1.94466073e-05 9.99998571e-01 -2.86360420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.255769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.20, Z:-0.28 [[ 9.99454126e-01 3.29938342e-02 1.69015195e-03 1.85788803e+01] [-3.29938110e-02 9.99455555e-01 -4.15839482e-05 -1.97312253e-01] [-1.69060377e-03 -1.42033056e-05 9.99998571e-01 -2.82910721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.20, Z:-0.28 [[ 9.99487539e-01 3.19656469e-02 1.69014593e-03 1.86094423e+01] [-3.19656219e-02 9.99488968e-01 -4.18274139e-05 -1.98057760e-01] [-1.69061925e-03 -1.22205867e-05 9.99998571e-01 -2.83272199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.20, Z:-0.28 [[ 9.99505474e-01 3.13998458e-02 1.69014547e-03 1.86410148e+01] [-3.13998199e-02 9.99506903e-01 -4.18459181e-05 -1.98590406e-01] [-1.69062602e-03 -1.12450391e-05 9.99998571e-01 -2.84900696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.20, Z:-0.29 [[ 9.99527118e-01 3.07031625e-02 1.69014455e-03 1.86721583e+01] [-3.07031356e-02 9.99528547e-01 -4.18829632e-05 -2.00208730e-01] [-1.69063367e-03 -1.00295798e-05 9.99998571e-01 -2.86746955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.20, Z:-0.29 [[ 9.99533220e-01 3.05038489e-02 1.69014356e-03 1.87024644e+01] [-3.05038216e-02 9.99534649e-01 -4.19228220e-05 -2.01628153e-01] [-1.69063586e-03 -9.65258455e-06 9.99998571e-01 -2.87544282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.20, Z:-0.29 [[ 9.99504978e-01 3.14156468e-02 1.69014307e-03 1.87328350e+01] [-3.14156207e-02 9.99506407e-01 -4.19426068e-05 -2.02342568e-01] [-1.69062648e-03 -1.11750496e-05 9.99998571e-01 -2.85970903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.435769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.20, Z:-0.29 [[ 9.99454955e-01 3.29687157e-02 1.69014262e-03 1.87640095e+01] [-3.29686919e-02 9.99456384e-01 -4.19608422e-05 -2.02834311e-01] [-1.69060723e-03 -1.37838196e-05 9.99998571e-01 -2.85896739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.20, Z:-0.29 [[ 9.99408318e-01 3.43534054e-02 1.69014172e-03 1.87953175e+01] [-3.43533835e-02 9.99409747e-01 -4.19970478e-05 -2.03976130e-01] [-1.69058685e-03 -1.60898878e-05 9.99998571e-01 -2.85754233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.20, Z:-0.29 [[ 9.99333574e-01 3.64630113e-02 1.69014082e-03 1.88257680e+01] [-3.64629923e-02 9.99335003e-01 -4.20331150e-05 -2.04521487e-01] [-1.69054954e-03 -1.96224889e-05 9.99998571e-01 -2.85094904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.20, Z:-0.28 [[ 9.99321877e-01 3.67821979e-02 1.69014038e-03 1.88569932e+01] [-3.67821794e-02 9.99323306e-01 -4.20510827e-05 -2.03792089e-01] [-1.69054340e-03 -2.01444796e-05 9.99998571e-01 -2.84433493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.20, Z:-0.28 [[ 9.99316639e-01 3.69242194e-02 1.69013949e-03 1.88886174e+01] [-3.69242010e-02 9.99318068e-01 -4.20867738e-05 -2.02535772e-01] [-1.69054095e-03 -2.03490369e-05 9.99998571e-01 -2.82731178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.20, Z:-0.28 [[ 9.99313440e-01 3.70106914e-02 1.69013850e-03 1.89200442e+01] [-3.70106731e-02 9.99314869e-01 -4.21263962e-05 -2.00740124e-01] [-1.69053966e-03 -2.04556897e-05 9.99998571e-01 -2.78858305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.20, Z:-0.28 [[ 9.99317495e-01 3.69010419e-02 1.69013750e-03 1.89506110e+01] [-3.69010233e-02 9.99318924e-01 -4.21665441e-05 -2.01112157e-01] [-1.69054238e-03 -2.02300381e-05 9.99998571e-01 -2.76466747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.20, Z:-0.28 [[ 9.99309420e-01 3.71190866e-02 1.69013700e-03 1.89819543e+01] [-3.71190684e-02 9.99310849e-01 -4.21865004e-05 -2.02002623e-01] [-1.69053817e-03 -2.05789436e-05 9.99998571e-01 -2.77974931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.20, Z:-0.28 [[ 9.99338522e-01 3.63271535e-02 1.69013600e-03 1.90120688e+01] [-3.63271341e-02 9.99339951e-01 -4.22264559e-05 -2.02102928e-01] [-1.69055440e-03 -1.91992731e-05 9.99998571e-01 -2.82418253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.20, Z:-0.28 [[ 9.99346241e-01 3.61141766e-02 1.69013551e-03 1.90427512e+01] [-3.61141568e-02 9.99347670e-01 -4.22463349e-05 -2.02520468e-01] [-1.69055867e-03 -1.88191026e-05 9.99998571e-01 -2.83577318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.735769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.20, Z:-0.28 [[ 9.99317428e-01 3.69028735e-02 1.69013501e-03 1.90740907e+01] [-3.69028548e-02 9.99318857e-01 -4.22660194e-05 -2.00464270e-01] [-1.69054353e-03 -2.01336372e-05 9.99998571e-01 -2.83359894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.20, Z:-0.28 [[ 9.99285046e-01 3.77695813e-02 1.69013406e-03 1.91054108e+01] [-3.77695637e-02 9.99286475e-01 -4.23040490e-05 -1.98968808e-01] [-1.69052591e-03 -2.15618226e-05 9.99998571e-01 -2.83433976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.20, Z:-0.28 [[ 9.99244473e-01 3.88281555e-02 1.69013311e-03 1.91365529e+01] [-3.88281394e-02 9.99245903e-01 -4.23420460e-05 -1.97795251e-01] [-1.69050265e-03 -2.33146685e-05 9.99998571e-01 -2.83036147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.20, Z:-0.28 [[ 9.99125065e-01 4.17881402e-02 1.69013209e-03 1.91665663e+01] [-4.17881283e-02 9.99126494e-01 -4.23828837e-05 -1.95154262e-01] [-1.69042685e-03 -2.82816551e-05 9.99998571e-01 -2.81308456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.19, Z:-0.28 [[ 9.99074869e-01 4.29714941e-02 1.69012970e-03 1.91970817e+01] [-4.29714837e-02 9.99076298e-01 -4.24776378e-05 -1.93687137e-01] [-1.69039386e-03 -3.01890406e-05 9.99998571e-01 -2.79884276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.19, Z:-0.28 [[ 9.99057104e-01 4.33825703e-02 1.69012970e-03 1.92267141e+01] [-4.33825605e-02 9.99058533e-01 -4.24776378e-05 -1.91506904e-01] [-1.69038129e-03 -3.08845683e-05 9.99998571e-01 -2.79965595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.19, Z:-0.28 [[ 9.99125457e-01 4.17787638e-02 1.69012914e-03 1.92566621e+01] [-4.17787516e-02 9.99126886e-01 -4.25000023e-05 -1.88564636e-01] [-1.69042906e-03 -2.81486515e-05 9.99998571e-01 -2.82644277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.19, Z:-0.28 [[ 9.99201952e-01 3.99074349e-02 1.69012964e-03 1.92870731e+01] [-3.99074201e-02 9.99203381e-01 -4.24803385e-05 -1.88109962e-01] [-1.69047853e-03 -2.50022763e-05 9.99998571e-01 -2.83320687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.19, Z:-0.28 [[ 9.99378820e-01 3.52011016e-02 1.69012964e-03 1.93173575e+01] [-3.52010801e-02 9.99380249e-01 -4.24803385e-05 -1.85895801e-01] [-1.69057753e-03 -1.70404382e-05 9.99998571e-01 -2.81863826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.19, Z:-0.28 [[ 9.99438340e-01 3.34686181e-02 1.69012912e-03 1.93481874e+01] [-3.34685940e-02 9.99439769e-01 -4.25007435e-05 -1.85052896e-01] [-1.69060470e-03 -1.40893729e-05 9.99998571e-01 -2.79658980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.18, Z:-0.28 [[ 9.99488781e-01 3.19268081e-02 1.69012912e-03 1.93786688e+01] [-3.19267819e-02 9.99490209e-01 -4.25007435e-05 -1.84823191e-01] [-1.69062442e-03 -1.14813676e-05 9.99998571e-01 -2.76084186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.18, Z:-0.28 [[ 9.99494628e-01 3.17432220e-02 1.69012864e-03 1.94090548e+01] [-3.17431955e-02 9.99496057e-01 -4.25199764e-05 -1.84869595e-01] [-1.69062663e-03 -1.11515957e-05 9.99998571e-01 -2.77128164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.095769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.18, Z:-0.28 [[ 9.99486006e-01 3.20135375e-02 1.69012864e-03 1.94400126e+01] [-3.20135114e-02 9.99487435e-01 -4.25199764e-05 -1.84111562e-01] [-1.69062355e-03 -1.16088310e-05 9.99998571e-01 -2.79082637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.18, Z:-0.28 [[ 9.99463702e-01 3.27024697e-02 1.69012864e-03 1.94702221e+01] [-3.27024446e-02 9.99465131e-01 -4.25199764e-05 -1.82581336e-01] [-1.69061515e-03 -1.27741651e-05 9.99998571e-01 -2.80513721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.18, Z:-0.28 [[ 9.99404659e-01 3.44597083e-02 1.69012864e-03 1.94997597e+01] [-3.44596857e-02 9.99406088e-01 -4.25199764e-05 -1.80450985e-01] [-1.69059008e-03 -1.57466391e-05 9.99998571e-01 -2.81128918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.18, Z:-0.28 [[ 9.99391293e-01 3.48451736e-02 1.69012916e-03 1.95297109e+01] [-3.48451515e-02 9.99392722e-01 -4.24993345e-05 -1.80947973e-01] [-1.69058368e-03 -1.64193417e-05 9.99998571e-01 -2.80670919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.18, Z:-0.28 [[ 9.99397826e-01 3.46573099e-02 1.69012966e-03 1.95602597e+01] [-3.46572876e-02 9.99399255e-01 -4.24793870e-05 -1.81456208e-01] [-1.69058654e-03 -1.61215026e-05 9.99998571e-01 -2.80968944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.18, Z:-0.28 [[ 9.99469863e-01 3.25136453e-02 1.69012966e-03 1.95912320e+01] [-3.25136199e-02 9.99471292e-01 -4.24793870e-05 -1.81886031e-01] [-1.69061723e-03 -1.24953663e-05 9.99998571e-01 -2.81860477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.18, Z:-0.28 [[ 9.99513707e-01 3.11366894e-02 1.69012966e-03 1.96221119e+01] [-3.11366621e-02 9.99515136e-01 -4.24793870e-05 -1.83507340e-01] [-1.69063284e-03 -1.01662664e-05 9.99998571e-01 -2.80301881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.19, Z:-0.28 [[ 9.99537014e-01 3.03792734e-02 1.69012966e-03 1.96520255e+01] [-3.03792450e-02 9.99538443e-01 -4.24793870e-05 -1.85879307e-01] [-1.69064006e-03 -8.88514333e-06 9.99998571e-01 -2.77141683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.19, Z:-0.28 [[ 9.99507542e-01 3.13339725e-02 1.69012916e-03 1.96824113e+01] [-3.13339454e-02 9.99508970e-01 -4.24992949e-05 -1.85540890e-01] [-1.69063093e-03 -1.04800490e-05 9.99998571e-01 -2.78638205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.18, Z:-0.28 [[ 9.99423896e-01 3.38971955e-02 1.69012916e-03 1.97122680e+01] [-3.38971721e-02 9.99425325e-01 -4.24992949e-05 -1.84250362e-01] [-1.69059849e-03 -1.48157880e-05 9.99998571e-01 -2.80105295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.18, Z:-0.28 [[ 9.99301932e-01 3.73201204e-02 1.69012966e-03 1.97423429e+01] [-3.73201020e-02 9.99303361e-01 -4.24793363e-05 -1.82284744e-01] [-1.69053758e-03 -2.06261284e-05 9.99998571e-01 -2.81911658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.18, Z:-0.28 [[ 9.99076212e-01 4.29402653e-02 1.69012966e-03 1.97720723e+01] [-4.29402549e-02 9.99077641e-01 -4.24793363e-05 -1.76795321e-01] [-1.69039483e-03 -3.01345039e-05 9.99998571e-01 -2.82322838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.17, Z:-0.28 [[ 9.99007313e-01 4.45144135e-02 1.69013071e-03 1.98012696e+01] [-4.45144054e-02 9.99008742e-01 -4.24377054e-05 -1.73400276e-01] [-1.69034444e-03 -3.28395854e-05 9.99998571e-01 -2.81182887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.17, Z:-0.28 [[ 9.98962691e-01 4.55047753e-02 1.69013226e-03 1.98311722e+01] [-4.55047687e-02 9.98964121e-01 -4.23756639e-05 -1.67101905e-01] [-1.69030978e-03 -3.45773704e-05 9.99998571e-01 -2.80343625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.17, Z:-0.28 [[ 9.99010504e-01 4.44427334e-02 1.69013326e-03 1.98610509e+01] [-4.44427254e-02 9.99011933e-01 -4.23358182e-05 -1.65755867e-01] [-1.69034481e-03 -3.28202012e-05 9.99998571e-01 -2.83031564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.16, Z:-0.29 [[ 9.99094171e-01 4.25203508e-02 1.69013425e-03 1.98905630e+01] [-4.25203401e-02 9.99095600e-01 -4.22960824e-05 -1.64491585e-01] [-1.69040414e-03 -2.96073138e-05 9.99998571e-01 -2.85862871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.16, Z:-0.29 [[ 9.99330100e-01 3.65580972e-02 1.69013524e-03 1.99199296e+01] [-3.65580780e-02 9.99331529e-01 -4.22565352e-05 -1.59202669e-01] [-1.69055025e-03 -1.95598684e-05 9.99998571e-01 -2.88753655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.16, Z:-0.29 [[ 9.99452432e-01 3.30451277e-02 1.69013625e-03 1.99492028e+01] [-3.30451036e-02 9.99453861e-01 -4.22162541e-05 -1.57288708e-01] [-1.69060824e-03 -1.36575896e-05 9.99998571e-01 -2.87021309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.16, Z:-0.28 [[ 9.99562753e-01 2.95202599e-02 1.69013728e-03 1.99778803e+01] [-2.95202308e-02 9.99564182e-01 -4.21749845e-05 -1.56450026e-01] [-1.69064570e-03 -7.73669886e-06 9.99998571e-01 -2.84560901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.16, Z:-0.28 [[ 9.99720358e-01 2.35870758e-02 1.69013881e-03 2.00073772e+01] [-2.35870383e-02 9.99721786e-01 -4.21136135e-05 -1.56940478e-01] [-1.69066192e-03 2.23646793e-06 9.99998571e-01 -2.80376986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.16, Z:-0.28 [[ 9.99826907e-01 1.85283555e-02 1.69013930e-03 2.00374142e+01] [-1.85283108e-02 9.99828335e-01 -4.20940032e-05 -1.57858002e-01] [-1.69062909e-03 1.07712908e-05 9.99998571e-01 -2.78724458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.16, Z:-0.28 [[ 9.99827340e-01 1.85049881e-02 1.69013930e-03 2.00675689e+01] [-1.85049434e-02 9.99828768e-01 -4.20940032e-05 -1.58564747e-01] [-1.69062884e-03 1.08108033e-05 9.99998571e-01 -2.78775454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.16, Z:-0.28 [[ 9.99866427e-01 1.62564609e-02 1.69014028e-03 2.00966276e+01] [-1.62564130e-02 9.99867855e-01 -4.20545021e-05 -1.60301429e-01] [-1.69060059e-03 1.45732663e-05 9.99998571e-01 -2.77292073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.16, Z:-0.28 [[ 9.99898164e-01 1.41706043e-02 1.69014077e-03 2.01273272e+01] [-1.41705535e-02 9.99899592e-01 -4.20348556e-05 -1.62731873e-01] [-1.69056672e-03 1.80803448e-05 9.99998571e-01 -2.77184352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.17, Z:-0.28 [[ 9.99926532e-01 1.20030678e-02 1.69014077e-03 2.01572179e+01] [-1.20030139e-02 9.99927960e-01 -4.20348556e-05 -1.66109454e-01] [-1.69052356e-03 2.17449842e-05 9.99998571e-01 -2.78048250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.17, Z:-0.28 [[ 9.99964400e-01 8.26689397e-03 1.69014023e-03 2.01872359e+01] [-8.26683469e-03 9.99965828e-01 -4.20563608e-05 -1.72125746e-01] [-1.69043015e-03 2.80827537e-05 9.99998571e-01 -2.82167455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.18, Z:-0.28 [[ 9.99976491e-01 6.64540680e-03 1.69014023e-03 2.02177863e+01] [-6.64534520e-03 9.99977919e-01 -4.20563608e-05 -1.75216531e-01] [-1.69038239e-03 3.08238068e-05 9.99998571e-01 -2.83316452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.18, Z:-0.29 [[ 9.99993360e-01 3.22853015e-03 1.69013975e-03 2.02480222e+01] [-3.22846364e-03 9.99994788e-01 -4.20757181e-05 -1.81023688e-01] [-1.69026678e-03 3.66188839e-05 9.99998571e-01 -2.85962117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.935769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.18, Z:-0.29 [[ 9.99997244e-01 1.62983141e-03 1.69013975e-03 2.02778889e+01] [-1.62976263e-03 9.99998671e-01 -4.20757181e-05 -1.84331838e-01] [-1.69020608e-03 3.93210755e-05 9.99998571e-01 -2.88639041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.19, Z:-0.29 [[ 9.99998510e-01 3.52345563e-04 1.69013924e-03 2.03086117e+01] [-3.52274918e-04 9.99999937e-01 -4.20962047e-05 -1.88040724e-01] [-1.69015397e-03 4.15007483e-05 9.99998571e-01 -2.91025658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.20, Z:-0.29 [[ 9.99996928e-01 -1.81286147e-03 1.69013874e-03 2.03392398e+01] [ 1.81293524e-03 9.99998356e-01 -4.21161915e-05 -1.95397107e-01] [-1.69005961e-03 4.51801743e-05 9.99998571e-01 -2.92649504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.20, Z:-0.29 [[ 9.99994846e-01 -2.72986968e-03 1.69013825e-03 2.03709351e+01] [ 2.72994479e-03 9.99996273e-01 -4.21359233e-05 -1.99742034e-01] [-1.69001693e-03 4.67496902e-05 9.99998571e-01 -2.89701014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.21, Z:-0.29 [[ 9.99990319e-01 -4.06258391e-03 1.69013724e-03 2.04013810e+01] [ 4.06266099e-03 9.99991746e-01 -4.21764389e-05 -2.07863406e-01] [-1.68995194e-03 4.90424852e-05 9.99998571e-01 -2.85138872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.21, Z:-0.29 [[ 9.99990716e-01 -3.96379356e-03 1.69013674e-03 2.04328122e+01] [ 3.96387054e-03 9.99992143e-01 -4.21965769e-05 -2.12921061e-01] [-1.68995620e-03 4.88956683e-05 9.99998571e-01 -2.85502686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.22, Z:-0.29 [[ 9.99992256e-01 -3.55397365e-03 1.69013577e-03 2.04633527e+01] [ 3.55405011e-03 9.99993683e-01 -4.22353761e-05 -2.17499944e-01] [-1.68997499e-03 4.82418762e-05 9.99998571e-01 -2.87700189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.23, Z:-0.29 [[ 9.99998024e-01 -1.04681222e-03 1.69013414e-03 2.04948528e+01] [ 1.04688521e-03 9.99999451e-01 -4.23003884e-05 -2.25593549e-01] [-1.69008893e-03 4.40696812e-05 9.99998571e-01 -2.91435716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.23, Z:-0.29 [[ 9.99997347e-01 1.56522410e-03 1.69013316e-03 2.05255574e+01] [-1.56515478e-03 9.99998774e-01 -4.23394377e-05 -2.30326890e-01] [-1.69019736e-03 3.96940054e-05 9.99998571e-01 -2.91070326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.24, Z:-0.29 [[ 9.99965082e-01 8.18401223e-03 1.69013267e-03 2.05570340e+01] [-8.18395232e-03 9.99966510e-01 -4.23588682e-05 -2.37080609e-01] [-1.69042274e-03 2.85254239e-05 9.99998571e-01 -2.90579007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.235769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.24, Z:-0.29 [[ 9.99932761e-01 1.14724024e-02 1.69013165e-03 2.05871589e+01] [-1.14723471e-02 9.99934190e-01 -4.23997581e-05 -2.39736642e-01] [-1.69050685e-03 2.30071302e-05 9.99998571e-01 -2.92839254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.24, Z:-0.29 [[ 9.99889774e-01 1.47507039e-02 1.69013114e-03 2.06180604e+01] [-1.47506532e-02 9.99891202e-01 -4.24201690e-05 -2.42263726e-01] [-1.69057298e-03 1.74849548e-05 9.99998571e-01 -2.94255859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.25, Z:-0.29 [[ 9.99778884e-01 2.09600969e-02 1.69013015e-03 2.06483257e+01] [-2.09600550e-02 9.99780313e-01 -4.24594047e-05 -2.46408096e-01] [-1.69064880e-03 7.02479527e-06 9.99998571e-01 -2.92071822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.25, Z:-0.29 [[ 9.99715478e-01 2.37930044e-02 1.69012966e-03 2.06791656e+01] [-2.37929665e-02 9.99716906e-01 -4.24789261e-05 -2.48408771e-01] [-1.69066190e-03 2.25364146e-06 9.99998571e-01 -2.86835683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.25, Z:-0.28 [[ 9.99555553e-01 2.97630698e-02 1.69012867e-03 2.07093113e+01] [-2.97630404e-02 9.99556982e-01 -4.25184530e-05 -2.48901148e-01] [-1.69064539e-03 -7.80381195e-06 9.99998571e-01 -2.80513361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.25, Z:-0.28 [[ 9.99485417e-01 3.20319350e-02 1.69012817e-03 2.07394122e+01] [-3.20319089e-02 9.99486846e-01 -4.25381132e-05 -2.48212616e-01] [-1.69062345e-03 -1.16218078e-05 9.99998571e-01 -2.80219097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.415769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.25, Z:-0.28 [[ 9.99447798e-01 3.31849695e-02 1.69012817e-03 2.07701650e+01] [-3.31849451e-02 9.99449227e-01 -4.25381132e-05 -2.47940928e-01] [-1.69060892e-03 -1.35721869e-05 9.99998571e-01 -2.81725910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.25, Z:-0.29 [[ 9.99480991e-01 3.21697402e-02 1.69012817e-03 2.08004899e+01] [-3.21697143e-02 9.99482420e-01 -4.25381132e-05 -2.49146801e-01] [-1.69062183e-03 -1.18549048e-05 9.99998571e-01 -2.85304190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.475769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.25, Z:-0.29 [[ 9.99522878e-01 3.08408841e-02 1.69012767e-03 2.08310773e+01] [-3.08408562e-02 9.99524307e-01 -4.25582019e-05 -2.50599907e-01] [-1.69063622e-03 -9.58708786e-06 9.99998571e-01 -2.88534644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.25, Z:-0.29 [[ 9.99616407e-01 2.76438582e-02 1.69012716e-03 2.08627087e+01] [-2.76438257e-02 9.99617836e-01 -4.25780740e-05 -2.52950836e-01] [-1.69065828e-03 -4.15983940e-06 9.99998571e-01 -2.91977000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.26, Z:-0.29 [[ 9.99643985e-01 2.66279280e-02 1.69012621e-03 2.08939742e+01] [-2.66278940e-02 9.99645414e-01 -4.26161160e-05 -2.55290436e-01] [-1.69066169e-03 -2.40355740e-06 9.99998571e-01 -2.91194010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.26, Z:-0.29 [[ 9.99659384e-01 2.60434202e-02 1.69012525e-03 2.09253131e+01] [-2.60433853e-02 9.99660813e-01 -4.26540927e-05 -2.57924296e-01] [-1.69066284e-03 -1.37701900e-06 9.99998571e-01 -2.89992805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.595769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.26, Z:-0.29 [[ 9.99667201e-01 2.57416286e-02 1.69012426e-03 2.09557984e+01] [-2.57415933e-02 9.99668629e-01 -4.26932109e-05 -2.59900874e-01] [-1.69066319e-03 -8.27488614e-07 9.99998571e-01 -2.90490256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.26, Z:-0.29 [[ 9.99707132e-01 2.41411070e-02 1.69012197e-03 2.09869722e+01] [-2.41410691e-02 9.99708561e-01 -4.27836934e-05 -2.63733965e-01] [-1.69066225e-03 1.96981220e-06 9.99998571e-01 -2.91450969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.655769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.27, Z:-0.29 [[ 9.99743024e-01 2.26059641e-02 1.69012098e-03 2.10169019e+01] [-2.26059240e-02 9.99744453e-01 -4.28225604e-05 -2.67542861e-01] [-1.69065712e-03 4.60480956e-06 9.99998571e-01 -2.91916189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.28, Z:-0.29 [[ 9.99814343e-01 1.91943520e-02 1.69012049e-03 2.10480793e+01] [-1.91943070e-02 9.99815771e-01 -4.28419567e-05 -2.76747324e-01] [-1.69063145e-03 1.03933112e-05 9.99998571e-01 -2.90883036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.28, Z:-0.29 [[ 9.99837433e-01 1.79513755e-02 1.69011948e-03 2.10790556e+01] [-1.79513286e-02 9.99838861e-01 -4.28818757e-05 -2.81085715e-01] [-1.69061692e-03 1.25350143e-05 9.99998571e-01 -2.92187024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.28, Z:-0.29 [[ 9.99848914e-01 1.73000983e-02 1.69011288e-03 2.11101629e+01] [-1.73000501e-02 9.99850342e-01 -4.31404042e-05 -2.84232666e-01] [-1.69060627e-03 1.38948489e-05 9.99998571e-01 -2.93776245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.29, Z:-0.29 [[ 9.99838837e-01 1.78730089e-02 1.69011191e-03 2.11416803e+01] [-1.78729615e-02 9.99840265e-01 -4.31784132e-05 -2.87426890e-01] [-1.69061367e-03 1.29641494e-05 9.99998571e-01 -2.94408319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.29, Z:-0.29 [[ 9.99767832e-01 2.14807996e-02 1.69011094e-03 2.11731048e+01] [-2.14807573e-02 9.99769261e-01 -4.32163020e-05 -2.92184904e-01] [-1.69064929e-03 6.90140570e-06 9.99998571e-01 -2.94334525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.29, Z:-0.29 [[ 9.99735218e-01 2.29485725e-02 1.69010463e-03 2.12047374e+01] [-2.29485318e-02 9.99736647e-01 -4.34618080e-05 -2.94276320e-01] [-1.69065692e-03 4.66488026e-06 9.99998571e-01 -2.94334968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.30, Z:-0.30 [[ 9.99689184e-01 2.48732605e-02 1.69010366e-03 2.12364145e+01] [-2.48732225e-02 9.99690613e-01 -4.34994510e-05 -2.97832670e-01] [-1.69066273e-03 1.44760633e-06 9.99998571e-01 -2.95500945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.30, Z:-0.30 [[ 9.99685980e-01 2.50016891e-02 1.69010268e-03 2.12675348e+01] [-2.50016512e-02 9.99687409e-01 -4.35374372e-05 -3.01151676e-01] [-1.69066288e-03 1.26840791e-06 9.99998571e-01 -2.97727800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.31, Z:-0.30 [[ 9.99735448e-01 2.29385487e-02 1.69009632e-03 2.12999571e+01] [-2.29385074e-02 9.99736877e-01 -4.37829095e-05 -3.07993574e-01] [-1.69065593e-03 5.00303966e-06 9.99998571e-01 -2.98268219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.31, Z:-0.30 [[ 9.99760423e-01 2.18229063e-02 1.69008931e-03 2.13316227e+01] [-2.18228630e-02 9.99761852e-01 -4.40519970e-05 -3.10779581e-01] [-1.69064816e-03 7.15885581e-06 9.99998571e-01 -2.97208127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.31, Z:-0.30 [[ 9.99780493e-01 2.08832543e-02 1.69008214e-03 2.13630208e+01] [-2.08832092e-02 9.99781921e-01 -4.43252373e-05 -3.12537341e-01] [-1.69063922e-03 9.02116873e-06 9.99998571e-01 -2.97430589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.32, Z:-0.29 [[ 9.99783672e-01 2.07304814e-02 1.69007549e-03 2.13948616e+01] [-2.07304356e-02 9.99785100e-01 -4.45772260e-05 -3.16028050e-01] [-1.69063640e-03 9.53158144e-06 9.99998571e-01 -2.94828098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.32, Z:-0.29 [[ 9.99777953e-01 2.10044726e-02 1.69006848e-03 2.14267800e+01] [-2.10044268e-02 9.99779382e-01 -4.48416766e-05 -3.18527856e-01] [-1.69063749e-03 9.33279996e-06 9.99998571e-01 -2.93450933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.32, Z:-0.29 [[ 9.99767158e-01 2.15121753e-02 1.69006135e-03 2.14575627e+01] [-2.15121298e-02 9.99768586e-01 -4.51087864e-05 -3.21789224e-01] [-1.69064063e-03 8.74146413e-06 9.99998571e-01 -2.93380899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.32, Z:-0.29 [[ 9.99761425e-01 2.17769781e-02 1.69005474e-03 2.14899973e+01] [-2.17769326e-02 9.99762853e-01 -4.53551263e-05 -3.24572935e-01] [-1.69064164e-03 8.54009763e-06 9.99998571e-01 -2.92865937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.33, Z:-0.29 [[ 9.99753118e-01 2.21550623e-02 1.69004734e-03 2.15221015e+01] [-2.21550169e-02 9.99754546e-01 -4.56291677e-05 -3.27520092e-01] [-1.69064343e-03 8.17487543e-06 9.99998571e-01 -2.94137057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.33, Z:-0.29 [[ 9.99716626e-01 2.37446951e-02 1.69003978e-03 2.15540252e+01] [-2.37446515e-02 9.99718055e-01 -4.59075177e-05 -3.31851568e-01] [-1.69065334e-03 5.76510323e-06 9.99998571e-01 -2.93445019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.33, Z:-0.29 [[ 9.99698097e-01 2.45124111e-02 1.69003220e-03 2.15857801e+01] [-2.45123680e-02 9.99699526e-01 -4.61846622e-05 -3.34160980e-01] [-1.69065649e-03 4.74402760e-06 9.99998571e-01 -2.92823009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.34, Z:-0.30 [[ 9.99682736e-01 2.51310978e-02 1.69002449e-03 2.16173275e+01] [-2.51310551e-02 9.99684164e-01 -4.64652374e-05 -3.38588911e-01] [-1.69065844e-03 3.97839706e-06 9.99998571e-01 -2.95943995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.255769231000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.34, Z:-0.30 [[ 9.99689235e-01 2.48712178e-02 1.69001676e-03 2.16493162e+01] [-2.48711743e-02 9.99690663e-01 -4.67445461e-05 -3.41381096e-01] [-1.69065657e-03 4.69731810e-06 9.99998571e-01 -2.98255078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285769231000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.34, Z:-0.30 [[ 9.99700737e-01 2.44045022e-02 1.69000907e-03 2.16814282e+01] [-2.44044576e-02 9.99702166e-01 -4.70211508e-05 -3.44532989e-01] [-1.69065325e-03 5.76332442e-06 9.99998571e-01 -2.99608016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.315769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.35, Z:-0.30 [[ 9.99687165e-01 2.49542852e-02 1.69000081e-03 2.17133022e+01] [-2.49542409e-02 9.99688593e-01 -4.73162679e-05 -3.50104376e-01] [-1.69065527e-03 5.12877848e-06 9.99998571e-01 -2.96025012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.35, Z:-0.29 [[ 9.99666492e-01 2.57691519e-02 1.68999302e-03 2.17453523e+01] [-2.57691082e-02 9.99667920e-01 -4.75926639e-05 -3.53628038e-01] [-1.69065823e-03 4.02717828e-06 9.99998571e-01 -2.94977305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.36, Z:-0.29 [[ 9.99622246e-01 2.74319131e-02 1.68998512e-03 2.17776618e+01] [-2.74318713e-02 9.99623674e-01 -4.78717992e-05 -3.58044781e-01] [-1.69066235e-03 1.49426114e-06 9.99998571e-01 -2.93757591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.36, Z:-0.29 [[ 9.99579815e-01 2.89367697e-02 1.68997662e-03 2.18102668e+01] [-2.89367296e-02 9.99581244e-01 -4.81699216e-05 -3.59752382e-01] [-1.69066281e-03 -7.52715128e-07 9.99998571e-01 -2.92303850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.36, Z:-0.29 [[ 9.99514897e-01 3.10984597e-02 1.68996732e-03 2.18425972e+01] [-3.10984221e-02 9.99516326e-01 -4.84940261e-05 -3.61077635e-01] [-1.69065801e-03 -4.08481550e-06 9.99998571e-01 -2.92386292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.36, Z:-0.29 [[ 9.99340276e-01 3.62788730e-02 1.68996151e-03 2.18746712e+01] [-3.62788425e-02 9.99341705e-01 -4.86957228e-05 -3.61056812e-01] [-1.69061564e-03 -1.26462503e-05 9.99998571e-01 -2.90919534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.36, Z:-0.29 [[ 9.99245858e-01 3.87925174e-02 1.68995364e-03 2.19064171e+01] [-3.87924901e-02 9.99247287e-01 -4.89672258e-05 -3.61075543e-01] [-1.69058115e-03 -1.66272122e-05 9.99998571e-01 -2.89465926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.36, Z:-0.29 [[ 9.99171118e-01 4.06721047e-02 1.68994522e-03 2.19392123e+01] [-4.06720795e-02 9.99172547e-01 -4.92559581e-05 -3.60959923e-01] [-1.69055022e-03 -1.95184558e-05 9.99998571e-01 -2.87736132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.36, Z:-0.29 [[ 9.99063599e-01 4.32327329e-02 1.68993596e-03 2.19713348e+01] [-4.32327109e-02 9.99065028e-01 -4.95716722e-05 -3.60106966e-01] [-1.69049904e-03 -2.35352596e-05 9.99998571e-01 -2.89723976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.36, Z:-0.29 [[ 9.99005859e-01 4.45470232e-02 1.68992729e-03 2.20039806e+01] [-4.45470026e-02 9.99007288e-01 -4.98655610e-05 -3.60652158e-01] [-1.69047104e-03 -2.54652077e-05 9.99998571e-01 -2.91741803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.36, Z:-0.30 [[ 9.98966308e-01 4.54253225e-02 1.68992288e-03 2.20353093e+01] [-4.54253028e-02 9.98967737e-01 -5.00146850e-05 -3.61042242e-01] [-1.69045036e-03 -2.68022732e-05 9.99998571e-01 -2.95081310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.36, Z:-0.30 [[ 9.98958302e-01 4.56010343e-02 1.68991530e-03 2.20687915e+01] [-4.56010144e-02 9.98959731e-01 -5.02694481e-05 -3.62249934e-01] [-1.69044967e-03 -2.68447694e-05 9.99998571e-01 -2.95137973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.36, Z:-0.30 [[ 9.98907353e-01 4.67037876e-02 1.68990640e-03 2.21010102e+01] [-4.67037689e-02 9.98908782e-01 -5.05666927e-05 -3.59448445e-01] [-1.69042400e-03 -2.84135570e-05 9.99998571e-01 -2.95256140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.36, Z:-0.29 [[ 9.98857415e-01 4.77599072e-02 1.68989806e-03 2.21327869e+01] [-4.77598895e-02 9.98858844e-01 -5.08440316e-05 -3.57297759e-01] [-1.69039793e-03 -2.99234066e-05 9.99998571e-01 -2.93345780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735769231000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.35, Z:-0.29 [[ 9.98662077e-01 5.16836487e-02 1.68989030e-03 2.21656472e+01] [-5.16836362e-02 9.98663506e-01 -5.11006388e-05 -3.51140067e-01] [-1.69027284e-03 -3.63074053e-05 9.99998571e-01 -2.91578372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.35, Z:-0.29 [[ 9.98494948e-01 5.48177266e-02 1.68988155e-03 2.21964715e+01] [-5.48177180e-02 9.98496377e-01 -5.13882251e-05 -3.47815413e-01] [-1.69015760e-03 -4.13245674e-05 9.99998571e-01 -2.93910792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795769231000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.34, Z:-0.29 [[ 9.98309321e-01 5.81002856e-02 1.68987342e-03 2.22291772e+01] [-5.81002814e-02 9.98310751e-01 -5.16544115e-05 -3.44134385e-01] [-1.69001994e-03 -4.66150406e-05 9.99998571e-01 -2.91754425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825769231000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.34, Z:-0.29 [[ 9.98115508e-01 6.13398457e-02 1.68986472e-03 2.22609454e+01] [-6.13398456e-02 9.98116937e-01 -5.19375251e-05 -3.39747765e-01] [-1.68986844e-03 -5.18163915e-05 9.99998571e-01 -2.91534233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.33, Z:-0.29 [[ 9.97815875e-01 6.60350184e-02 1.68985990e-03 2.22927750e+01] [-6.60350248e-02 9.97817304e-01 -5.20936373e-05 -3.28887887e-01] [-1.68961146e-03 -5.96100824e-05 9.99998571e-01 -2.89534158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.32, Z:-0.29 [[ 9.97788536e-01 6.64468360e-02 1.68985186e-03 2.23241904e+01] [-6.64468425e-02 9.97789965e-01 -5.23532567e-05 -3.23374651e-01] [-1.68959594e-03 -6.00478410e-05 9.99998571e-01 -2.89920586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.31, Z:-0.29 [[ 9.97992719e-01 6.33062130e-02 1.68985065e-03 2.23549156e+01] [-6.33062150e-02 9.97994148e-01 -5.23923819e-05 -3.11618169e-01] [-1.68977782e-03 -5.46908328e-05 9.99998571e-01 -2.93516026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.31, Z:-0.29 [[ 9.98172515e-01 6.04050829e-02 1.68985005e-03 2.23860776e+01] [-6.04050806e-02 9.98173945e-01 -5.24118059e-05 -3.06385570e-01] [-1.68993023e-03 -4.97595042e-05 9.99998571e-01 -2.93589102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.975769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.30, Z:-0.30 [[ 9.98524613e-01 5.42746922e-02 1.68984940e-03 2.24161971e+01] [-5.42746811e-02 9.98526042e-01 -5.24324887e-05 -2.95689897e-01] [-1.69020439e-03 -3.93609071e-05 9.99998571e-01 -2.95237407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.29, Z:-0.29 [[ 9.98676818e-01 5.13980302e-02 1.68985004e-03 2.24461372e+01] [-5.13980150e-02 9.98678247e-01 -5.24118946e-05 -2.92163298e-01] [-1.69031035e-03 -3.45123938e-05 9.99998571e-01 -2.94354493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035769231000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.29, Z:-0.29 [[ 9.98824012e-01 4.84534653e-02 1.68985065e-03 2.24764324e+01] [-4.84534460e-02 9.98825441e-01 -5.23923556e-05 -2.89898616e-01] [-1.69040441e-03 -2.95483443e-05 9.99998571e-01 -2.92389920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.29, Z:-0.29 [[ 9.99087186e-01 4.26841712e-02 1.68985065e-03 2.25070252e+01] [-4.26841436e-02 9.99088615e-01 -5.23923556e-05 -2.87846875e-01] [-1.69054687e-03 -1.97852966e-05 9.99998571e-01 -2.92749687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.095769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.29, Z:-0.29 [[ 9.99171177e-01 4.06706629e-02 1.68985000e-03 2.25375859e+01] [-4.06706324e-02 9.99172606e-01 -5.24131799e-05 -2.87258725e-01] [-1.69058351e-03 -1.63575297e-05 9.99998571e-01 -2.92519885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125769231000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.29, Z:-0.29 [[ 9.99217209e-01 3.95235828e-02 1.68985000e-03 2.25683543e+01] [-3.95235506e-02 9.99218638e-01 -5.24131799e-05 -2.86005686e-01] [-1.69060117e-03 -1.44167209e-05 9.99998571e-01 -2.89718025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.28, Z:-0.29 [[ 9.99222662e-01 3.93854798e-02 1.68985000e-03 2.25991914e+01] [-3.93854475e-02 9.99224091e-01 -5.24131799e-05 -2.83540274e-01] [-1.69060315e-03 -1.41830615e-05 9.99998571e-01 -2.89011271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.28, Z:-0.29 [[ 9.99206787e-01 3.97861930e-02 1.68984936e-03 2.26296532e+01] [-3.97861613e-02 9.99208216e-01 -5.24338738e-05 -2.83437087e-01] [-1.69059751e-03 -1.48403366e-05 9.99998571e-01 -2.89226427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.28, Z:-0.29 [[ 9.99173963e-01 4.06021651e-02 1.68984936e-03 2.26606151e+01] [-4.06021345e-02 9.99175392e-01 -5.24338738e-05 -2.83766723e-01] [-1.69058483e-03 -1.62209296e-05 9.99998571e-01 -2.88584275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.28, Z:-0.29 [[ 9.99179595e-01 4.04633317e-02 1.68984936e-03 2.26902063e+01] [-4.04633009e-02 9.99181024e-01 -5.24338738e-05 -2.83973418e-01] [-1.69058706e-03 -1.59860263e-05 9.99998571e-01 -2.86653790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.28, Z:-0.28 [[ 9.99187436e-01 4.02692509e-02 1.68984995e-03 2.27196726e+01] [-4.02692198e-02 9.99188865e-01 -5.24149756e-05 -2.83987601e-01] [-1.69058996e-03 -1.56765539e-05 9.99998571e-01 -2.84964873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305769231000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.28, Z:-0.29 [[ 9.99208265e-01 3.97490565e-02 1.68984932e-03 2.27499644e+01] [-3.97490246e-02 9.99209694e-01 -5.24351160e-05 -2.83804298e-01] [-1.69059807e-03 -1.47762610e-05 9.99998571e-01 -2.87091055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.29, Z:-0.29 [[ 9.99238880e-01 3.89718516e-02 1.68984932e-03 2.27797544e+01] [-3.89718186e-02 9.99240309e-01 -5.24351160e-05 -2.85040563e-01] [-1.69060905e-03 -1.34612947e-05 9.99998571e-01 -2.92157195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.29, Z:-0.30 [[ 9.99315470e-01 3.69558531e-02 1.68984854e-03 2.28099399e+01] [-3.69558172e-02 9.99316899e-01 -5.24602292e-05 -2.86327120e-01] [-1.69063292e-03 -1.00254152e-05 9.99998571e-01 -2.96566438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.29, Z:-0.30 [[ 9.99325179e-01 3.66923931e-02 1.68984854e-03 2.28405040e+01] [-3.66923568e-02 9.99326607e-01 -5.24602292e-05 -2.87781201e-01] [-1.69063550e-03 -9.57969778e-06 9.99998571e-01 -2.95794113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.29, Z:-0.29 [[ 9.99334294e-01 3.64432818e-02 1.68984567e-03 2.28703853e+01] [-3.64432450e-02 9.99335723e-01 -5.25526642e-05 -2.90619946e-01] [-1.69063833e-03 -9.06578008e-06 9.99998571e-01 -2.93213668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.29, Z:-0.29 [[ 9.99356188e-01 3.58378777e-02 1.68984506e-03 2.29006445e+01] [-3.58378401e-02 9.99357617e-01 -5.25723332e-05 -2.92596564e-01] [-1.69064361e-03 -8.02191026e-06 9.99998571e-01 -2.92006220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.29, Z:-0.29 [[ 9.99384647e-01 3.50352980e-02 1.68984506e-03 2.29306398e+01] [-3.50352592e-02 9.99386075e-01 -5.25723332e-05 -2.94859812e-01] [-1.69064951e-03 -6.66417675e-06 9.99998571e-01 -2.92690241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.30, Z:-0.29 [[ 9.99475965e-01 3.23255150e-02 1.68984216e-03 2.29620207e+01] [-3.23254721e-02 9.99477394e-01 -5.26653632e-05 -3.01015292e-01] [-1.69066147e-03 -1.98718076e-06 9.99998571e-01 -2.93219146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.31, Z:-0.29 [[ 9.99532376e-01 3.05315189e-02 1.68984092e-03 2.29924618e+01] [-3.05314734e-02 9.99533805e-01 -5.27048590e-05 -3.05111178e-01] [-1.69066229e-03 1.08687967e-06 9.99998571e-01 -2.94045787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.575769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.31, Z:-0.30 [[ 9.99600308e-01 2.82200180e-02 1.68983808e-03 2.30237027e+01] [-2.82199691e-02 9.99601736e-01 -5.27960110e-05 -3.10641808e-01] [-1.69065498e-03 5.08773055e-06 9.99998571e-01 -2.95391909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.31, Z:-0.30 [[ 9.99607296e-01 2.79713910e-02 1.68983686e-03 2.30537228e+01] [-2.79713417e-02 9.99608724e-01 -5.28350429e-05 -3.13195230e-01] [-1.69065353e-03 5.54729029e-06 9.99998571e-01 -2.97187811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.32, Z:-0.30 [[ 9.99601507e-01 2.81774940e-02 1.68983686e-03 2.30843704e+01] [-2.81774450e-02 9.99602936e-01 -5.28350429e-05 -3.15626614e-01] [-1.69065464e-03 5.19870345e-06 9.99998571e-01 -2.98949568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665769231000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.32, Z:-0.30 [[ 9.99570602e-01 2.92533059e-02 1.68983686e-03 2.31146125e+01] [-2.92532583e-02 9.99572030e-01 -5.28350429e-05 -3.18403694e-01] [-1.69065926e-03 3.37912153e-06 9.99998571e-01 -2.99797671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.32, Z:-0.29 [[ 9.99447442e-01 3.31957216e-02 1.68983686e-03 2.31451140e+01] [-3.31956797e-02 9.99448870e-01 -5.28350429e-05 -3.21644655e-01] [-1.69065943e-03 -3.28943463e-06 9.99998571e-01 -2.94430913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.32, Z:-0.29 [[ 9.99350892e-01 3.59852595e-02 1.68983686e-03 2.31754867e+01] [-3.59852216e-02 9.99352321e-01 -5.28350429e-05 -3.23007270e-01] [-1.69064367e-03 -8.00840654e-06 9.99998571e-01 -2.91063266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.755769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.32, Z:-0.29 [[ 9.99139840e-01 4.14333654e-02 1.68983686e-03 2.32051794e+01] [-4.14333353e-02 9.99141269e-01 -5.28350429e-05 -3.23885656e-01] [-1.69057487e-03 -1.72259808e-05 9.99998571e-01 -2.91161052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.32, Z:-0.29 [[ 9.99030594e-01 4.39888218e-02 1.68983747e-03 2.32351586e+01] [-4.39887954e-02 9.99032023e-01 -5.28153475e-05 -3.24496092e-01] [-1.69052503e-03 -2.15697668e-05 9.99998571e-01 -2.92586645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.32, Z:-0.29 [[ 9.98905916e-01 4.67345203e-02 1.68983686e-03 2.32660630e+01] [-4.67344977e-02 9.98907345e-01 -5.28348205e-05 -3.24576843e-01] [-1.69045966e-03 -2.61966622e-05 9.99998571e-01 -2.92605696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.32, Z:-0.29 [[ 9.98689043e-01 5.11599427e-02 1.68983686e-03 2.32967278e+01] [-5.11599265e-02 9.98690472e-01 -5.28348205e-05 -3.22856862e-01] [-1.69032700e-03 -3.36863733e-05 9.99998571e-01 -2.92894614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.32, Z:-0.29 [[ 9.98647928e-01 5.19563346e-02 1.68983686e-03 2.33277436e+01] [-5.19563196e-02 9.98649357e-01 -5.28348205e-05 -3.22317326e-01] [-1.69029960e-03 -3.50343200e-05 9.99998571e-01 -2.92366712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.32, Z:-0.29 [[ 9.98684907e-01 5.12406168e-02 1.68983686e-03 2.33584389e+01] [-5.12406007e-02 9.98686336e-01 -5.28348205e-05 -3.19553534e-01] [-1.69032427e-03 -3.38229181e-05 9.99998571e-01 -2.90622774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.32, Z:-0.29 [[ 9.98772377e-01 4.95064012e-02 1.68983686e-03 2.33881637e+01] [-4.95063826e-02 9.98773806e-01 -5.28348205e-05 -3.19319212e-01] [-1.69038046e-03 -3.08877510e-05 9.99998571e-01 -2.90565929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.32, Z:-0.29 [[ 9.98900701e-01 4.68458588e-02 1.68983746e-03 2.34191192e+01] [-4.68458364e-02 9.98902130e-01 -5.28158364e-05 -3.20117276e-01] [-1.69045644e-03 -2.64040731e-05 9.99998571e-01 -2.90148025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.32, Z:-0.29 [[ 9.99213312e-01 3.96219905e-02 1.68983746e-03 2.34492965e+01] [-3.96219578e-02 9.99214741e-01 -5.28158364e-05 -3.20493393e-01] [-1.69060316e-03 -1.41803817e-05 9.99998571e-01 -2.89075778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.32, Z:-0.29 [[ 9.99333733e-01 3.64586610e-02 1.68983685e-03 2.34798868e+01] [-3.64586238e-02 9.99335162e-01 -5.28352699e-05 -3.20295229e-01] [-1.69063968e-03 -8.80905838e-06 9.99998571e-01 -2.88226472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.32, Z:-0.29 [[ 9.99477712e-01 3.22714598e-02 1.68983685e-03 2.35107699e+01] [-3.22714166e-02 9.99479141e-01 -5.28352699e-05 -3.20250860e-01] [-1.69066175e-03 -1.72575412e-06 9.99998571e-01 -2.87459792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.32, Z:-0.29 [[ 9.99515458e-01 3.10804476e-02 1.68983561e-03 2.35421507e+01] [-3.10804026e-02 9.99516886e-01 -5.28747791e-05 -3.22095202e-01] [-1.69066260e-03 3.28387875e-07 9.99998571e-01 -2.86968082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.32, Z:-0.29 [[ 9.99540408e-01 3.02674123e-02 1.68983436e-03 2.35721044e+01] [-3.02673661e-02 9.99541837e-01 -5.29149059e-05 -3.24834500e-01] [-1.69066173e-03 1.74375162e-06 9.99998571e-01 -2.87488241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.33, Z:-0.29 [[ 9.99578724e-01 2.89744498e-02 1.68983373e-03 2.36032970e+01] [-2.89744017e-02 9.99580152e-01 -5.29348767e-05 -3.27743924e-01] [-1.69065802e-03 3.95065519e-06 9.99998571e-01 -2.86970214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.33, Z:-0.29 [[ 9.99716724e-01 2.37406027e-02 1.68983249e-03 2.36343077e+01] [-2.37405471e-02 9.99718152e-01 -5.29745029e-05 -3.32670151e-01] [-1.69061386e-03 1.28419488e-05 9.99998571e-01 -2.88429533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.34, Z:-0.29 [[ 9.99838950e-01 1.78667049e-02 1.68983125e-03 2.36652017e+01] [-1.78666409e-02 9.99840377e-01 -5.30140826e-05 -3.39882286e-01] [-1.69050870e-03 2.28139367e-05 9.99998571e-01 -2.89258127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.34, Z:-0.29 [[ 9.99875993e-01 1.56570586e-02 1.68983000e-03 2.36950396e+01] [-1.56569913e-02 9.99877420e-01 -5.30538981e-05 -3.44928097e-01] [-1.69045353e-03 2.65896654e-05 9.99998571e-01 -2.90134737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.35, Z:-0.29 [[ 9.99902187e-01 1.38838098e-02 1.68982710e-03 2.37263690e+01] [-1.38837398e-02 9.99903615e-01 -5.31460967e-05 -3.50596237e-01] [-1.69040209e-03 2.96797786e-05 9.99998571e-01 -2.91174452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.36, Z:-0.29 [[ 9.99921710e-01 1.23983282e-02 1.68982586e-03 2.37571226e+01] [-1.23982561e-02 9.99923137e-01 -5.31853601e-05 -3.56007773e-01] [-1.69035539e-03 3.22303026e-05 9.99998571e-01 -2.93150959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.37, Z:-0.29 [[ 9.99929764e-01 1.17308148e-02 1.68982463e-03 2.37877204e+01] [-1.17307416e-02 9.99931191e-01 -5.32244024e-05 -3.65448262e-01] [-1.69033272e-03 3.33977681e-05 9.99998571e-01 -2.94938689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.37, Z:-0.29 [[ 9.99920967e-01 1.24580686e-02 1.68981664e-03 2.38191352e+01] [-1.24579960e-02 9.99922395e-01 -5.34769134e-05 -3.70147153e-01] [-1.69035172e-03 3.24209581e-05 9.99998571e-01 -2.92939167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.38, Z:-0.29 [[ 9.99858755e-01 1.67217056e-02 1.68981540e-03 2.38498784e+01] [-1.67216391e-02 9.99860182e-01 -5.35159104e-05 -3.77846532e-01] [-1.69047402e-03 2.52518682e-05 9.99998571e-01 -2.92085711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.415769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.38, Z:-0.29 [[ 9.99799001e-01 1.99775601e-02 1.68980741e-03 2.38807772e+01] [-1.99774978e-02 9.99800428e-01 -5.37673161e-05 -3.81408857e-01] [-1.69054431e-03 1.99983852e-05 9.99998571e-01 -2.92239223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.38, Z:-0.29 [[ 9.99723398e-01 2.34578886e-02 1.68980620e-03 2.39124948e+01] [-2.34578312e-02 9.99724826e-01 -5.38050266e-05 -3.84510173e-01] [-1.69060337e-03 1.41509553e-05 9.99998571e-01 -2.92830050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.475769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.39, Z:-0.30 [[ 9.99515884e-01 3.10667471e-02 1.68980500e-03 2.39435536e+01] [-3.10667004e-02 9.99517312e-01 -5.38427371e-05 -3.88557328e-01] [-1.69066207e-03 1.32000512e-06 9.99998571e-01 -2.95683120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.39, Z:-0.30 [[ 9.99297126e-01 3.74486248e-02 1.68979715e-03 2.39747090e+01] [-3.74485868e-02 9.99298554e-01 -5.40879566e-05 -3.91326656e-01] [-1.69063737e-03 -9.23057587e-06 9.99998571e-01 -2.96558003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.39, Z:-0.30 [[ 9.99296284e-01 3.74710861e-02 1.68979593e-03 2.40065249e+01] [-3.74710481e-02 9.99297712e-01 -5.41260567e-05 -3.92392769e-01] [-1.69063737e-03 -9.23045747e-06 9.99998571e-01 -2.96611825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.39, Z:-0.30 [[ 9.99213212e-01 3.96245052e-02 1.68979472e-03 2.40373540e+01] [-3.96244702e-02 9.99214641e-01 -5.41640384e-05 -3.93927832e-01] [-1.69061384e-03 -1.28357977e-05 9.99998571e-01 -2.96122969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.40, Z:-0.29 [[ 9.99162199e-01 4.08906379e-02 1.68978984e-03 2.40684100e+01] [-4.08906045e-02 9.99163628e-01 -5.43156837e-05 -3.95005628e-01] [-1.69059755e-03 -1.48263501e-05 9.99998571e-01 -2.92988599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.40, Z:-0.29 [[ 9.99122584e-01 4.18474325e-02 1.68978857e-03 2.40991069e+01] [-4.18474004e-02 9.99124012e-01 -5.43553553e-05 -3.95355367e-01] [-1.69058296e-03 -1.64055956e-05 9.99998571e-01 -2.86888406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.655769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.40, Z:-0.28 [[ 9.99121913e-01 4.18634439e-02 1.68978152e-03 2.41310115e+01] [-4.18634115e-02 9.99123342e-01 -5.45734374e-05 -3.96206528e-01] [-1.69058479e-03 -1.62145020e-05 9.99998571e-01 -2.84386972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.40, Z:-0.28 [[ 9.99117850e-01 4.19603018e-02 1.68977312e-03 2.41631986e+01] [-4.19602691e-02 9.99119279e-01 -5.48323873e-05 -3.97304579e-01] [-1.69058568e-03 -1.61193180e-05 9.99998571e-01 -2.83968362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.40, Z:-0.29 [[ 9.99103569e-01 4.22989735e-02 1.68976415e-03 2.41943965e+01] [-4.22989408e-02 9.99104998e-01 -5.51073560e-05 -3.96972706e-01] [-1.69058279e-03 -1.64172778e-05 9.99998571e-01 -2.85620836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.40, Z:-0.29 [[ 9.99090771e-01 4.26001816e-02 1.68975583e-03 2.42265764e+01] [-4.26001489e-02 9.99092200e-01 -5.53614893e-05 -3.96358005e-01] [-1.69058028e-03 -1.66726968e-05 9.99998571e-01 -2.87450421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.39, Z:-0.29 [[ 9.99053257e-01 4.34710704e-02 1.68974693e-03 2.42575900e+01] [-4.34710384e-02 9.99054686e-01 -5.56317744e-05 -3.94667227e-01] [-1.69056796e-03 -1.78759482e-05 9.99998571e-01 -2.90815834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.39, Z:-0.29 [[ 9.99003011e-01 4.46108646e-02 1.68974189e-03 2.42889093e+01] [-4.46108341e-02 9.99004440e-01 -5.57842692e-05 -3.94769863e-01] [-1.69054824e-03 -1.96521424e-05 9.99998571e-01 -2.91509721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.39, Z:-0.29 [[ 9.98940205e-01 4.59957871e-02 1.68973366e-03 2.43206732e+01] [-4.59957581e-02 9.98941633e-01 -5.60324095e-05 -3.94887768e-01] [-1.69052256e-03 -2.17475542e-05 9.99998571e-01 -2.89548282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.39, Z:-0.29 [[ 9.98889761e-01 4.70785555e-02 1.68972482e-03 2.43532825e+01] [-4.70785276e-02 9.98891190e-01 -5.62978257e-05 -3.92538290e-01] [-1.69050166e-03 -2.33144350e-05 9.99998571e-01 -2.88896567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.39, Z:-0.29 [[ 9.98905816e-01 4.67366661e-02 1.68971597e-03 2.43844768e+01] [-4.67366372e-02 9.98907245e-01 -5.65623710e-05 -3.92130038e-01] [-1.69051306e-03 -2.24711608e-05 9.99998571e-01 -2.89758841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.39, Z:-0.29 [[ 9.99001203e-01 4.46513379e-02 1.68970773e-03 2.44163466e+01] [-4.46513057e-02 9.99002631e-01 -5.68074333e-05 -3.89688877e-01] [-1.69055899e-03 -1.86969621e-05 9.99998571e-01 -2.89498749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.39, Z:-0.29 [[ 9.99035864e-01 4.38689781e-02 1.68970648e-03 2.44480935e+01] [-4.38689447e-02 9.99037293e-01 -5.68445310e-05 -3.88721043e-01] [-1.69057350e-03 -1.73359150e-05 9.99998571e-01 -2.88201835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.39, Z:-0.29 [[ 9.99063091e-01 4.32444740e-02 1.68970515e-03 2.44792870e+01] [-4.32444397e-02 9.99064520e-01 -5.68838965e-05 -3.87505194e-01] [-1.69058438e-03 -1.62397511e-05 9.99998571e-01 -2.88126402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.39, Z:-0.29 [[ 9.99095931e-01 4.24790057e-02 1.68970379e-03 2.45104265e+01] [-4.24789702e-02 9.99097360e-01 -5.69244246e-05 -3.87166446e-01] [-1.69059669e-03 -1.49039158e-05 9.99998571e-01 -2.89815169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.39, Z:-0.29 [[ 9.99206521e-01 3.97928855e-02 1.68969489e-03 2.45426437e+01] [-3.97928456e-02 9.99207949e-01 -5.71873433e-05 -3.87251314e-01] [-1.69063222e-03 -1.00958016e-05 9.99998571e-01 -2.94711167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.075769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.39, Z:-0.30 [[ 9.99260799e-01 3.84057413e-02 1.68968539e-03 2.45739170e+01] [-3.84056990e-02 9.99262227e-01 -5.74667656e-05 -3.88059683e-01] [-1.69064584e-03 -7.46926231e-06 9.99998571e-01 -2.97304399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.39, Z:-0.30 [[ 9.99353488e-01 3.59130999e-02 1.68967654e-03 2.46065458e+01] [-3.59130537e-02 9.99354917e-01 -5.77258540e-05 -3.88330365e-01] [-1.69065967e-03 -2.99291049e-06 9.99998571e-01 -2.95938167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.39, Z:-0.29 [[ 9.99375115e-01 3.53061665e-02 1.68966698e-03 2.46371821e+01] [-3.53061189e-02 9.99376543e-01 -5.80041841e-05 -3.89642921e-01] [-1.69066145e-03 -1.68764519e-06 9.99998571e-01 -2.94756649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.39, Z:-0.29 [[ 9.99395892e-01 3.47130637e-02 1.68966630e-03 2.46683939e+01] [-3.47130152e-02 9.99397320e-01 -5.80238982e-05 -3.90896243e-01] [-1.69066216e-03 -6.64566599e-07 9.99998571e-01 -2.93765451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.39, Z:-0.29 [[ 9.99462292e-01 3.27455483e-02 1.68966499e-03 2.46997623e+01] [-3.27454969e-02 9.99463721e-01 -5.80622493e-05 -3.91167726e-01] [-1.69066013e-03 2.70210927e-06 9.99998571e-01 -2.94768296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.39, Z:-0.30 [[ 9.99485158e-01 3.20400391e-02 1.68966364e-03 2.47313880e+01] [-3.20399867e-02 9.99486586e-01 -5.81014476e-05 -3.91608969e-01] [-1.69065771e-03 3.93473415e-06 9.99998571e-01 -2.95135247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.39, Z:-0.30 [[ 9.99495744e-01 3.17080782e-02 1.68966228e-03 2.47619071e+01] [-3.17080252e-02 9.99497172e-01 -5.81409527e-05 -3.91899324e-01] [-1.69065621e-03 4.53578076e-06 9.99998571e-01 -2.95600409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.39, Z:-0.29 [[ 9.99496432e-01 3.16863793e-02 1.68966160e-03 2.47919428e+01] [-3.16863262e-02 9.99497861e-01 -5.81606546e-05 -3.91242170e-01] [-1.69065606e-03 4.59219818e-06 9.99998571e-01 -2.94412689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.39, Z:-0.29 [[ 9.99482656e-01 3.21179822e-02 1.68966093e-03 2.48222389e+01] [-3.21179297e-02 9.99484085e-01 -5.81801310e-05 -3.90810227e-01] [-1.69065784e-03 3.88162092e-06 9.99998571e-01 -2.92939655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.39, Z:-0.29 [[ 9.99438130e-01 3.34749153e-02 1.68966093e-03 2.48525525e+01] [-3.34748648e-02 9.99439558e-01 -5.81801310e-05 -3.89747047e-01] [-1.69066155e-03 1.58627018e-06 9.99998571e-01 -2.90064633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.39, Z:-0.29 [[ 9.99417464e-01 3.40863157e-02 1.68966093e-03 2.48831269e+01] [-3.40862661e-02 9.99418893e-01 -5.81801310e-05 -3.90254761e-01] [-1.69066220e-03 5.52006932e-07 9.99998571e-01 -2.89015037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.39, Z:-0.29 [[ 9.99404240e-01 3.44718785e-02 1.68965777e-03 2.49133802e+01] [-3.44718292e-02 9.99405668e-01 -5.82716161e-05 -3.90509731e-01] [-1.69066229e-03 -8.69404295e-09 9.99998571e-01 -2.89583581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.39, Z:-0.29 [[ 9.99406079e-01 3.44185070e-02 1.68965710e-03 2.49445392e+01] [-3.44184577e-02 9.99407508e-01 -5.82912480e-05 -3.88817013e-01] [-1.69066229e-03 1.01236344e-07 9.99998571e-01 -2.92217006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.39, Z:-0.29 [[ 9.99419004e-01 3.40411539e-02 1.68965571e-03 2.49746928e+01] [-3.40411039e-02 9.99420432e-01 -5.83312894e-05 -3.88707491e-01] [-1.69066211e-03 7.79653351e-07 9.99998571e-01 -2.94798445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.39, Z:-0.30 [[ 9.99455346e-01 3.29568930e-02 1.68965214e-03 2.50056936e+01] [-3.29568413e-02 9.99456774e-01 -5.84345443e-05 -3.86774439e-01] [-1.69066010e-03 2.71712008e-06 9.99998571e-01 -2.95509626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.39, Z:-0.29 [[ 9.99475279e-01 3.23467391e-02 1.68965077e-03 2.50372725e+01] [-3.23466865e-02 9.99476707e-01 -5.84743334e-05 -3.85887596e-01] [-1.69065804e-03 3.78904709e-06 9.99998571e-01 -2.94431958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.39, Z:-0.29 [[ 9.99546942e-01 3.00508857e-02 1.68964939e-03 2.50690797e+01] [-3.00508297e-02 9.99548370e-01 -5.85139882e-05 -3.86225644e-01] [-1.69064469e-03 7.71211188e-06 9.99998571e-01 -2.91838003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.39, Z:-0.29 [[ 9.99602094e-01 2.81566899e-02 1.68964801e-03 2.51006456e+01] [-2.81566311e-02 9.99603522e-01 -5.85540518e-05 -3.89188705e-01] [-1.69062678e-03 1.09559572e-05 9.99998571e-01 -2.91648473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.39, Z:-0.29 [[ 9.99657823e-01 2.61033088e-02 1.68964662e-03 2.51309473e+01] [-2.61032470e-02 9.99659250e-01 -5.85940792e-05 -3.92468336e-01] [-1.69060037e-03 1.44687665e-05 9.99998571e-01 -2.92619113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.40, Z:-0.29 [[ 9.99761630e-01 2.17676081e-02 1.68964593e-03 2.51625953e+01] [-2.17675402e-02 9.99763057e-01 -5.86139223e-05 -3.95798859e-01] [-1.69052146e-03 2.18205149e-05 9.99998571e-01 -2.93128236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.40, Z:-0.29 [[ 9.99786726e-01 2.05826890e-02 1.68964452e-03 2.51935087e+01] [-2.05826193e-02 9.99788154e-01 -5.86546124e-05 -3.97331113e-01] [-1.69049384e-03 2.38647930e-05 9.99998571e-01 -2.91905803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.40, Z:-0.29 [[ 9.99781470e-01 2.08364476e-02 1.68964311e-03 2.52249239e+01] [-2.08363782e-02 9.99782897e-01 -5.86951904e-05 -4.01207513e-01] [-1.69049928e-03 2.34763210e-05 9.99998571e-01 -2.89942189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735769231000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.40, Z:-0.29 [[ 9.99755912e-01 2.20286343e-02 1.68964169e-03 2.52549319e+01] [-2.20285665e-02 9.99757340e-01 -5.87359063e-05 -4.04222426e-01] [-1.69052555e-03 2.15011852e-05 9.99998571e-01 -2.92164722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.41, Z:-0.29 [[ 9.99677655e-01 2.53323982e-02 1.68964099e-03 2.52858064e+01] [-2.53323350e-02 9.99679083e-01 -5.87562105e-05 -4.06477106e-01] [-1.69058719e-03 1.59347192e-05 9.99998571e-01 -2.94171527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.41, Z:-0.29 [[ 9.99625165e-01 2.73253552e-02 1.68963968e-03 2.53168563e+01] [-2.73252948e-02 9.99626593e-01 -5.87936716e-05 -4.08009093e-01] [-1.69061532e-03 1.26017313e-05 9.99998571e-01 -2.92754030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.41, Z:-0.29 [[ 9.99573311e-01 2.91606096e-02 1.68963829e-03 2.53479141e+01] [-2.91605518e-02 9.99574739e-01 -5.88335793e-05 -4.09942353e-01] [-1.69063538e-03 9.53769062e-06 9.99998571e-01 -2.91113311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.41, Z:-0.29 [[ 9.99513103e-01 3.11560986e-02 1.68963690e-03 2.53793716e+01] [-3.11560436e-02 9.99514531e-01 -5.88735702e-05 -4.14247903e-01] [-1.69065090e-03 6.20250389e-06 9.99998571e-01 -2.87943783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.42, Z:-0.29 [[ 9.99486176e-01 3.20082755e-02 1.68963551e-03 2.54100733e+01] [-3.20082216e-02 9.99487604e-01 -5.89135000e-05 -4.16753718e-01] [-1.69065546e-03 4.80100103e-06 9.99998571e-01 -2.89499387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.915769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.42, Z:-0.29 [[ 9.99426644e-01 3.38161042e-02 1.68963482e-03 2.54415084e+01] [-3.38160529e-02 9.99428072e-01 -5.89333074e-05 -4.21281761e-01] [-1.69066136e-03 1.76273738e-06 9.99998571e-01 -2.94584399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.42, Z:-0.30 [[ 9.99383801e-01 3.50594276e-02 1.68963344e-03 2.54714439e+01] [-3.50593780e-02 9.99385229e-01 -5.89726444e-05 -4.24811705e-01] [-1.69066225e-03 -3.01191952e-07 9.99998571e-01 -2.96279983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.975769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.43, Z:-0.30 [[ 9.99334433e-01 3.64394819e-02 1.68963276e-03 2.55023496e+01] [-3.64394342e-02 9.99335862e-01 -5.89922479e-05 -4.27828910e-01] [-1.69066025e-03 -2.61627707e-06 9.99998571e-01 -2.98111525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.43, Z:-0.30 [[ 9.99156105e-01 4.10392891e-02 1.68963139e-03 2.55328437e+01] [-4.10392480e-02 9.99157533e-01 -5.90314935e-05 -4.28543117e-01] [-1.69063054e-03 -1.03595243e-05 9.99998571e-01 -3.00325831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.43, Z:-0.30 [[ 9.98994893e-01 4.47922969e-02 1.68963070e-03 2.55646898e+01] [-4.47922611e-02 9.98996321e-01 -5.90510092e-05 -4.28287571e-01] [-1.69057989e-03 -1.66907230e-05 9.99998571e-01 -2.99513043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.43, Z:-0.30 [[ 9.98531656e-01 5.41449686e-02 1.68962932e-03 2.55944380e+01] [-5.41449461e-02 9.98533085e-01 -5.90907374e-05 -4.26004354e-01] [-1.69035024e-03 -3.24809163e-05 9.99998571e-01 -2.97577602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:-0.42, Z:-0.30 [[ 9.98276421e-01 5.86628625e-02 1.68963001e-03 2.56252641e+01] [-5.86628465e-02 9.98277851e-01 -5.90709929e-05 -4.24621861e-01] [-1.69018548e-03 -4.01493262e-05 9.99998571e-01 -2.96785574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.42, Z:-0.30 [[ 9.98038851e-01 6.25747367e-02 1.68962932e-03 2.56544171e+01] [-6.25747263e-02 9.98040280e-01 -5.90905324e-05 -4.22867631e-01] [-1.69001570e-03 -4.67534453e-05 9.99998571e-01 -2.97424499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.155769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.42, Z:-0.30 [[ 9.97790280e-01 6.64206423e-02 1.68962999e-03 2.56847098e+01] [-6.64206374e-02 9.97791709e-01 -5.90715494e-05 -4.20058292e-01] [-1.68982236e-03 -5.32852828e-05 9.99998571e-01 -2.98235004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.42, Z:-0.30 [[ 9.97775140e-01 6.66476949e-02 1.68962999e-03 2.57143583e+01] [-6.66476903e-02 9.97776569e-01 -5.90715494e-05 -4.19854781e-01] [-1.68981019e-03 -5.36698126e-05 9.99998571e-01 -2.99558297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.42, Z:-0.30 [[ 9.97832118e-01 6.57891285e-02 1.68963067e-03 2.57453134e+01] [-6.57891227e-02 9.97833547e-01 -5.90520646e-05 -4.19421089e-01] [-1.68985515e-03 -5.22352726e-05 9.99998571e-01 -2.99213512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.42, Z:-0.30 [[ 9.98091885e-01 6.17230450e-02 1.68963067e-03 2.57758932e+01] [-6.17230334e-02 9.98093314e-01 -5.90520646e-05 -4.15913407e-01] [-1.69005395e-03 -4.53497436e-05 9.99998571e-01 -2.96866877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.42, Z:-0.30 [[ 9.98201196e-01 5.99292648e-02 1.68963067e-03 2.58061040e+01] [-5.99292506e-02 9.98202625e-01 -5.90520646e-05 -4.15111750e-01] [-1.69013271e-03 -4.23124582e-05 9.99998571e-01 -2.96081006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.41, Z:-0.30 [[ 9.98461272e-01 5.54277314e-02 1.68963067e-03 2.58360477e+01] [-5.54277108e-02 9.98462701e-01 -5.90520646e-05 -4.14476630e-01] [-1.69030632e-03 -3.46911604e-05 9.99998571e-01 -2.97607215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.42, Z:-0.30 [[ 9.98630659e-01 5.22872168e-02 1.68963132e-03 2.58661119e+01] [-5.22871917e-02 9.98632087e-01 -5.90332603e-05 -4.15212458e-01] [-1.69040674e-03 -2.93936534e-05 9.99998571e-01 -2.99388535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.42, Z:-0.30 [[ 9.98795824e-01 4.90310898e-02 1.68963067e-03 2.58961484e+01] [-4.90310600e-02 9.98797253e-01 -5.90520166e-05 -4.15998371e-01] [-1.69049385e-03 -2.38634752e-05 9.99998571e-01 -3.01351883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.42, Z:-0.30 [[ 9.99123541e-01 4.18245814e-02 1.68963067e-03 2.59259293e+01] [-4.18245413e-02 9.99124969e-01 -5.90520166e-05 -4.20624875e-01] [-1.69062202e-03 -1.16677679e-05 9.99998571e-01 -2.99396159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.42, Z:-0.29 [[ 9.99279909e-01 3.79052610e-02 1.68963002e-03 2.59571251e+01] [-3.79052153e-02 9.99281337e-01 -5.90706772e-05 -4.24626016e-01] [-1.69065483e-03 -5.01764860e-06 9.99998571e-01 -2.94315166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.43, Z:-0.29 [[ 9.99279013e-01 3.79288778e-02 1.68962862e-03 2.59889392e+01] [-3.79288320e-02 9.99280441e-01 -5.91106679e-05 -4.25784454e-01] [-1.69065483e-03 -5.01759016e-06 9.99998571e-01 -2.94368989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.43, Z:-0.29 [[ 9.99563419e-01 2.94977223e-02 1.68962722e-03 2.60198515e+01] [-2.94976645e-02 9.99564847e-01 -5.91506002e-05 -4.32523171e-01] [-1.69063678e-03 9.28471934e-06 9.99998571e-01 -2.89062322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.44, Z:-0.29 [[ 9.99675556e-01 2.54151153e-02 1.68962181e-03 2.60509482e+01] [-2.54150514e-02 9.99676984e-01 -5.93048347e-05 -4.36587124e-01] [-1.69058327e-03 1.63437686e-05 9.99998571e-01 -2.90537878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.44, Z:-0.30 [[ 9.99805275e-01 1.96610467e-02 1.68962042e-03 2.60814665e+01] [-1.96609745e-02 9.99806703e-01 -5.93444069e-05 -4.44815800e-01] [-1.69046059e-03 2.61132672e-05 9.99998571e-01 -2.96503078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.45, Z:-0.30 [[ 9.99824112e-01 1.86786216e-02 1.68961486e-03 2.61123869e+01] [-1.86785477e-02 9.99825539e-01 -5.95021189e-05 -4.48979228e-01] [-1.69043151e-03 2.79321014e-05 9.99998571e-01 -2.98183408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.45, Z:-0.30 [[ 9.99824209e-01 1.86734199e-02 1.68960951e-03 2.61437459e+01] [-1.86733457e-02 9.99825636e-01 -5.96536148e-05 -4.53095918e-01] [-1.69042884e-03 2.80924656e-05 9.99998571e-01 -2.97793514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.46, Z:-0.30 [[ 9.99771323e-01 2.13177490e-02 1.68960813e-03 2.61747569e+01] [-2.13176785e-02 9.99772751e-01 -5.96927343e-05 -4.59840194e-01] [-1.69049668e-03 2.36605610e-05 9.99998571e-01 -2.95761560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665769231000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.46, Z:-0.29 [[ 9.99718338e-01 2.36725572e-02 1.68959915e-03 2.62060709e+01] [-2.36724897e-02 9.99719766e-01 -5.99459488e-05 -4.63224182e-01] [-1.69054474e-03 1.99320459e-05 9.99998571e-01 -2.94327522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.47, Z:-0.30 [[ 9.99596929e-01 2.83394704e-02 1.68959776e-03 2.62371796e+01] [-2.83394095e-02 9.99598356e-01 -5.99850681e-05 -4.67303408e-01] [-1.69061909e-03 1.20786870e-05 9.99998571e-01 -2.96745248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.47, Z:-0.30 [[ 9.99565943e-01 2.94120983e-02 1.68958872e-03 2.62684654e+01] [-2.94120385e-02 9.99567371e-01 -6.02386585e-05 -4.69668907e-01] [-1.69062950e-03 1.05182631e-05 9.99998571e-01 -2.97662620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.47, Z:-0.30 [[ 9.99555210e-01 2.97746224e-02 1.68958730e-03 2.62998920e+01] [-2.97745631e-02 9.99556638e-01 -6.02783720e-05 -4.72275078e-01] [-1.69063297e-03 9.94483720e-06 9.99998571e-01 -2.98843405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.47, Z:-0.30 [[ 9.99592590e-01 2.84920933e-02 1.68958588e-03 2.63311675e+01] [-2.84920320e-02 9.99594018e-01 -6.03181102e-05 -4.74648947e-01] [-1.69061853e-03 1.21538009e-05 9.99998571e-01 -2.98481651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.48, Z:-0.30 [[ 9.99610222e-01 2.78666335e-02 1.68957666e-03 2.63623931e+01] [-2.78665709e-02 9.99611650e-01 -6.05754003e-05 -4.75126716e-01] [-1.69060854e-03 1.34690817e-05 9.99998571e-01 -2.97361350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.48, Z:-0.30 [[ 9.99606366e-01 2.80046244e-02 1.68957524e-03 2.63932694e+01] [-2.80045619e-02 9.99607794e-01 -6.06148086e-05 -4.75414125e-01] [-1.69061008e-03 1.32751341e-05 9.99998571e-01 -2.96802515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.48, Z:-0.29 [[ 9.99569352e-01 2.92960035e-02 1.68956607e-03 2.64249665e+01] [-2.92959425e-02 9.99570780e-01 -6.08692936e-05 -4.76237007e-01] [-1.69062411e-03 1.13456498e-05 9.99998571e-01 -2.93504073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.48, Z:-0.29 [[ 9.99510961e-01 3.12247371e-02 1.68956463e-03 2.64564219e+01] [-3.12246788e-02 9.99512389e-01 -6.09093552e-05 -4.75742796e-01] [-1.69064266e-03 8.12345529e-06 9.99998571e-01 -2.92332806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.48, Z:-0.29 [[ 9.99489808e-01 3.18946625e-02 1.68955520e-03 2.64879617e+01] [-3.18946047e-02 9.99491236e-01 -6.11698333e-05 -4.75584353e-01] [-1.69064661e-03 7.25092977e-06 9.99998571e-01 -2.91274915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.48, Z:-0.29 [[ 9.99464924e-01 3.26651249e-02 1.68955376e-03 2.65194556e+01] [-3.26650681e-02 9.99466352e-01 -6.12096286e-05 -4.76028027e-01] [-1.69065155e-03 5.98748829e-06 9.99998571e-01 -2.91769472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.48, Z:-0.29 [[ 9.99432706e-01 3.36364602e-02 1.68954441e-03 2.65503762e+01] [-3.36364043e-02 9.99434134e-01 -6.14666837e-05 -4.77145261e-01] [-1.69065587e-03 4.60161522e-06 9.99998571e-01 -2.92893918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.48, Z:-0.30 [[ 9.99351850e-01 3.59586512e-02 1.68954295e-03 2.65817922e+01] [-3.59585986e-02 9.99353279e-01 -6.15067672e-05 -4.77638750e-01] [-1.69066198e-03 7.13304948e-07 9.99998571e-01 -2.95375410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.48, Z:-0.30 [[ 9.99279361e-01 3.79197188e-02 1.68953718e-03 2.66131346e+01] [-3.79196687e-02 9.99280789e-01 -6.16647488e-05 -4.76795493e-01] [-1.69066036e-03 -2.44637950e-06 9.99998571e-01 -2.95209374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.48, Z:-0.29 [[ 9.99266174e-01 3.82656457e-02 1.68953574e-03 2.66448048e+01] [-3.82655961e-02 9.99267602e-01 -6.17042972e-05 -4.77905344e-01] [-1.69065948e-03 -2.99207510e-06 9.99998571e-01 -2.94431859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.48, Z:-0.29 [[ 9.99270026e-01 3.81649129e-02 1.68953429e-03 2.66762081e+01] [-3.81648631e-02 9.99271454e-01 -6.17440121e-05 -4.79630068e-01] [-1.69065984e-03 -2.78190405e-06 9.99998571e-01 -2.93642400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145769231000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-0.48, Z:-0.29 [[ 9.99290916e-01 3.76139779e-02 1.68952486e-03 2.67076374e+01] [-3.76139268e-02 9.99292344e-01 -6.20008346e-05 -4.81877076e-01] [-1.69066136e-03 -1.59279369e-06 9.99998571e-01 -2.92008050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.49, Z:-0.29 [[ 9.99378458e-01 3.52114038e-02 1.68952341e-03 2.67389961e+01] [-3.52113493e-02 9.99379886e-01 -6.20403095e-05 -4.86845437e-01] [-1.69066024e-03 2.51134994e-06 9.99998571e-01 -2.90785782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205769231000005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.49, Z:-0.30 [[ 9.99499000e-01 3.16052780e-02 1.68951780e-03 2.67699700e+01] [-3.16052180e-02 9.99500428e-01 -6.21926767e-05 -4.93053800e-01] [-1.69063938e-03 8.76393968e-06 9.99998571e-01 -2.95123316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235769231000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.50, Z:-0.30 [[ 9.99550900e-01 2.99189417e-02 1.68950843e-03 2.68016553e+01] [-2.99188789e-02 9.99552328e-01 -6.24463590e-05 -4.97232747e-01] [-1.69062041e-03 1.18701163e-05 9.99998571e-01 -2.95886054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.50, Z:-0.29 [[ 9.99588188e-01 2.86461267e-02 1.68949852e-03 2.68341329e+01] [-2.86460616e-02 9.99589615e-01 -6.27133035e-05 -5.01803494e-01] [-1.69060167e-03 1.42899987e-05 9.99998571e-01 -2.94792270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.51, Z:-0.29 [[ 9.99623853e-01 2.73733265e-02 1.68948845e-03 2.68657096e+01] [-2.73732591e-02 9.99625280e-01 -6.29833505e-05 -5.10098707e-01] [-1.69057943e-03 1.67128544e-05 9.99998571e-01 -2.94691248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325769231000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.52, Z:-0.30 [[ 9.99611063e-01 2.78364406e-02 1.68947840e-03 2.68963284e+01] [-2.78363735e-02 9.99612491e-01 -6.32516800e-05 -5.15647213e-01] [-1.69058442e-03 1.61981272e-05 9.99998571e-01 -2.96039855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.52, Z:-0.30 [[ 9.99594755e-01 2.84160469e-02 1.68946907e-03 2.69281244e+01] [-2.84159802e-02 9.99596182e-01 -6.34999957e-05 -5.20808299e-01] [-1.69059125e-03 1.54663431e-05 9.99998571e-01 -2.96808112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.53, Z:-0.30 [[ 9.99535204e-01 3.04388299e-02 1.68945904e-03 2.69596315e+01] [-3.04387656e-02 9.99536631e-01 -6.37658259e-05 -5.30069525e-01] [-1.69061715e-03 1.23111401e-05 9.99998571e-01 -2.96698253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415769231000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.54, Z:-0.30 [[ 9.99492267e-01 3.18175035e-02 1.68944824e-03 2.69917682e+01] [-3.18174407e-02 9.99493695e-01 -6.40507541e-05 -5.35083903e-01] [-1.69063079e-03 1.02643143e-05 9.99998571e-01 -2.96317491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445769231000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.54, Z:-0.29 [[ 9.99357767e-01 3.57938588e-02 1.68943816e-03 2.70238680e+01] [-3.57938013e-02 9.99359195e-01 -6.43153320e-05 -5.42773824e-01] [-1.69065766e-03 3.80261267e-06 9.99998571e-01 -2.94836225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.475769231000005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.55, Z:-0.29 [[ 9.99261164e-01 3.83962430e-02 1.68942734e-03 2.70567890e+01] [-3.83961887e-02 9.99262592e-01 -6.45982697e-05 -5.45986188e-01] [-1.69066188e-03 -3.17028874e-07 9.99998571e-01 -2.93998553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.55, Z:-0.29 [[ 9.99131383e-01 4.16368238e-02 1.68941585e-03 2.70899923e+01] [-4.16367736e-02 9.99132811e-01 -6.48974382e-05 -5.48120657e-01] [-1.69065293e-03 -5.50075811e-06 9.99998571e-01 -2.93682566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535769231000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.55, Z:-0.29 [[ 9.98767761e-01 4.95994444e-02 1.68940384e-03 2.71222895e+01] [-4.95994051e-02 9.98769190e-01 -6.52086115e-05 -5.49101831e-01] [-1.69055882e-03 -1.86651666e-05 9.99998571e-01 -2.94380142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565769231000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.55, Z:-0.29 [[ 9.98532332e-01 5.41324950e-02 1.68939335e-03 2.71547635e+01] [-5.41324617e-02 9.98533761e-01 -6.54793126e-05 -5.49708677e-01] [-1.69046085e-03 -2.60678100e-05 9.99998571e-01 -2.94353739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595769231000006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.55, Z:-0.29 [[ 9.98056952e-01 6.22853692e-02 1.68938587e-03 2.71873771e+01] [-6.22853472e-02 9.98058381e-01 -6.56716458e-05 -5.46970224e-01] [-1.69019611e-03 -3.96799431e-05 9.99998571e-01 -2.92701882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625769231000003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.55, Z:-0.29 [[ 9.97826689e-01 6.58714279e-02 1.68937845e-03 2.72190020e+01] [-6.58714107e-02 9.97828118e-01 -6.58619914e-05 -5.45112490e-01] [-1.69004774e-03 -4.55628891e-05 9.99998571e-01 -2.91720896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.655769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.54, Z:-0.29 [[ 9.97645432e-01 6.85619344e-02 1.68936739e-03 2.72518521e+01] [-6.85619207e-02 9.97646861e-01 -6.61446358e-05 -5.43825678e-01] [-1.68992707e-03 -4.98373789e-05 9.99998571e-01 -2.90657710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685769231000005 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.54, Z:-0.29 [[ 9.97382209e-01 7.22902154e-02 1.68935556e-03 2.72827340e+01] [-7.22902065e-02 9.97383638e-01 -6.64453660e-05 -5.39953167e-01] [-1.68973894e-03 -5.58524362e-05 9.99998571e-01 -2.92828490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715769231000003 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.54, Z:-0.29 [[ 9.97289370e-01 7.35599013e-02 1.68934601e-03 2.73145948e+01] [-7.35598938e-02 9.97290799e-01 -6.66872513e-05 -5.37485483e-01] [-1.68967474e-03 -5.77616261e-05 9.99998571e-01 -2.93155153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745769231000004 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.53, Z:-0.29 [[ 9.97164543e-01 7.52331035e-02 1.68933500e-03 2.73465240e+01] [-7.52330979e-02 9.97165972e-01 -6.69650436e-05 -5.29116606e-01] [-1.68958536e-03 -6.03187381e-05 9.99998571e-01 -2.89494628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775769231000005 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.53, Z:-0.29 [[ 9.97094591e-01 7.61545958e-02 1.68932545e-03 2.73784152e+01] [-7.61545911e-02 9.97096020e-01 -6.72051390e-05 -5.25833822e-01] [-1.68953766e-03 -6.16400080e-05 9.99998571e-01 -2.87912912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805769231000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.52, Z:-0.29 [[ 9.97037299e-01 7.69010398e-02 1.68932398e-03 2.74101900e+01] [-7.69010361e-02 9.97038728e-01 -6.72418798e-05 -5.23088802e-01] [-1.68949241e-03 -6.28681024e-05 9.99998571e-01 -2.87919391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835769231000004 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.52, Z:-0.29 [[ 9.97024965e-01 7.70607874e-02 1.68932253e-03 2.74405045e+01] [-7.70607838e-02 9.97026394e-01 -6.72784663e-05 -5.15633984e-01] [-1.68948368e-03 -6.31022075e-05 9.99998571e-01 -2.90514287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865769231000005 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.51, Z:-0.29 [[ 9.97103283e-01 7.60407083e-02 1.68931874e-03 2.74712786e+01] [-7.60407031e-02 9.97104712e-01 -6.73733828e-05 -5.11289560e-01] [-1.68955080e-03 -6.12787637e-05 9.99998571e-01 -2.92088749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895769231000003 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.50, Z:-0.29 [[ 9.97381876e-01 7.22948083e-02 1.68931533e-03 2.75022653e+01] [-7.22947976e-02 9.97383305e-01 -6.74586891e-05 -5.03148621e-01] [-1.68977182e-03 -5.48466363e-05 9.99998571e-01 -2.93583395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925769231000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.50, Z:-0.29 [[ 9.97581819e-01 6.94813749e-02 1.68931390e-03 2.75329267e+01] [-6.94813602e-02 9.97583248e-01 -6.74946305e-05 -5.01649409e-01] [-1.68992086e-03 -5.00444112e-05 9.99998571e-01 -2.92703309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955769231000005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.50, Z:-0.29 [[ 9.97787764e-01 6.64584378e-02 1.68931318e-03 2.75634022e+01] [-6.64584187e-02 9.97789193e-01 -6.75125703e-05 -5.00336203e-01] [-1.69006522e-03 -4.49058662e-05 9.99998571e-01 -2.91044471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985769231000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.50, Z:-0.29 [[ 9.98168569e-01 6.04702683e-02 1.68931318e-03 2.75941545e+01] [-6.04702406e-02 9.98169998e-01 -6.75125703e-05 -4.95930207e-01] [-1.69030424e-03 -3.47642488e-05 9.99998571e-01 -2.92434201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.50, Z:-0.29 [[ 9.98311317e-01 5.80660055e-02 1.68931247e-03 2.76246608e+01] [-5.80659743e-02 9.98312746e-01 -6.75303757e-05 -4.95412417e-01] [-1.69038339e-03 -3.06752362e-05 9.99998571e-01 -2.94623538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045769231000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.50, Z:-0.29 [[ 9.98525877e-01 5.42514494e-02 1.68931247e-03 2.76547607e+01] [-5.42514128e-02 9.98527305e-01 -6.75303757e-05 -4.96192333e-01] [-1.69048825e-03 -2.42167605e-05 9.99998571e-01 -2.94157850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075769231000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.50, Z:-0.30 [[ 9.98598574e-01 5.28964542e-02 1.68931247e-03 2.76854561e+01] [-5.28964156e-02 9.98600002e-01 -6.75303757e-05 -4.96853968e-01] [-1.69051955e-03 -2.19228376e-05 9.99998571e-01 -2.95344873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105769231000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.50, Z:-0.29 [[ 9.98662027e-01 5.16846332e-02 1.68930859e-03 2.77161895e+01] [-5.16845927e-02 9.98663456e-01 -6.76273076e-05 -4.96721441e-01] [-1.69054605e-03 -1.97744023e-05 9.99998571e-01 -2.93393997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135769231000005 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.50, Z:-0.29 [[ 9.98742633e-01 5.01028940e-02 1.68930859e-03 2.77465617e+01] [-5.01028513e-02 9.98744061e-01 -6.76273076e-05 -4.97493173e-01] [-1.69057524e-03 -1.70969017e-05 9.99998571e-01 -2.89937151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165769231000006 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.50, Z:-0.29 [[ 9.98793621e-01 4.90759491e-02 1.68930859e-03 2.77766075e+01] [-4.90759049e-02 9.98795050e-01 -6.76273076e-05 -5.00236047e-01] [-1.69059193e-03 -1.53586242e-05 9.99998571e-01 -2.88495500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195769231000003 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.50, Z:-0.29 [[ 9.98921505e-01 4.64001489e-02 1.68930859e-03 2.78071607e+01] [-4.64001009e-02 9.98922933e-01 -6.76273076e-05 -5.03226638e-01] [-1.69062701e-03 -1.08297170e-05 9.99998571e-01 -2.87919639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225769231000005 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.50, Z:-0.29 [[ 9.98965877e-01 4.54348219e-02 1.68930779e-03 2.78389291e+01] [-4.54347724e-02 9.98967305e-01 -6.76471523e-05 -5.04152287e-01] [-1.69063679e-03 -9.17611843e-06 9.99998571e-01 -2.88520683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255769231000006 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.51, Z:-0.29 [[ 9.98994051e-01 4.48110779e-02 1.68930620e-03 2.78702984e+01] [-4.48110275e-02 9.98995479e-01 -6.76870024e-05 -5.05763422e-01] [-1.69064238e-03 -8.08063385e-06 9.99998571e-01 -2.88992997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285769231000003 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.51, Z:-0.29 [[ 9.98992766e-01 4.48397179e-02 1.68930458e-03 2.79006959e+01] [-4.48396675e-02 9.98994194e-01 -6.77273388e-05 -5.09981282e-01] [-1.69064234e-03 -8.08873420e-06 9.99998571e-01 -2.90065925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.315769231000004 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.51, Z:-0.29 [[ 9.98965093e-01 4.54520555e-02 1.68930377e-03 2.79315841e+01] [-4.54520060e-02 9.98966521e-01 -6.77474360e-05 -5.11548131e-01] [-1.69063718e-03 -9.10492158e-06 9.99998571e-01 -2.90469841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345769231000006 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.51, Z:-0.29 [[ 9.98964016e-01 4.54757290e-02 1.68930217e-03 2.79633914e+01] [-4.54756794e-02 9.98965444e-01 -6.77874690e-05 -5.12869942e-01] [-1.69063717e-03 -9.10492158e-06 9.99998571e-01 -2.90523664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375769231000003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.51, Z:-0.29 [[ 9.98835711e-01 4.82116988e-02 1.68930056e-03 2.79950980e+01] [-4.82116530e-02 9.98837140e-01 -6.78275019e-05 -5.13498841e-01] [-1.69060622e-03 -1.36954414e-05 9.99998571e-01 -2.94076540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405769231000004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.52, Z:-0.29 [[ 9.98748004e-01 4.99957104e-02 1.68929896e-03 2.80263082e+01] [-4.99956671e-02 9.98749432e-01 -6.78674238e-05 -5.15388577e-01] [-1.69057945e-03 -1.66751743e-05 9.99998571e-01 -2.94906349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435769231000005 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.52, Z:-0.29 [[ 9.98651219e-01 5.18930506e-02 1.68929735e-03 2.80566508e+01] [-5.18930099e-02 9.98652648e-01 -6.79075154e-05 -5.18112881e-01] [-1.69054519e-03 -1.98468009e-05 9.99998571e-01 -2.94177528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465769231000003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.52, Z:-0.29 [[ 9.98551526e-01 5.37772894e-02 1.68929654e-03 2.80873738e+01] [-5.37772514e-02 9.98552954e-01 -6.79274438e-05 -5.19958701e-01] [-1.69050501e-03 -2.30166723e-05 9.99998571e-01 -2.90893739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495769231000004 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.52, Z:-0.29 [[ 9.98506591e-01 5.46052581e-02 1.68929577e-03 2.81179006e+01] [-5.46052213e-02 9.98508020e-01 -6.79467356e-05 -5.20360741e-01] [-1.69048562e-03 -2.43991059e-05 9.99998571e-01 -2.90155818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525769231000005 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.52, Z:-0.29 [[ 9.98394566e-01 5.66165864e-02 1.68929577e-03 2.81479529e+01] [-5.66165524e-02 9.98395994e-01 -6.79467356e-05 -5.22414512e-01] [-1.69043304e-03 -2.78044509e-05 9.99998571e-01 -2.90801204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555769231000003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:28.18, Y:-0.52, Z:-0.29 [[ 9.98319322e-01 5.79282070e-02 1.68929577e-03 2.81781975e+01] [-5.79281750e-02 9.98320751e-01 -6.79467356e-05 -5.24552702e-01] [-1.69039505e-03 -3.00252818e-05 9.99998571e-01 -2.91954888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585769231000004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.52, Z:-0.29 [[ 9.98180906e-01 6.02662827e-02 1.68929498e-03 2.82083603e+01] [-6.02662540e-02 9.98182335e-01 -6.79664224e-05 -5.23859814e-01] [-1.69032049e-03 -3.39646950e-05 9.99998571e-01 -2.93514279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615769231000005 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:28.24, Y:-0.52, Z:-0.29 [[ 9.98119147e-01 6.12806169e-02 1.68929498e-03 2.82390812e+01] [-6.12805896e-02 9.98120576e-01 -6.79664224e-05 -5.22735510e-01] [-1.69028510e-03 -3.56824046e-05 9.99998571e-01 -2.93937731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645769231000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.52, Z:-0.29 [[ 9.98066017e-01 6.21399340e-02 1.68929498e-03 2.82683571e+01] [-6.21399079e-02 9.98067446e-01 -6.79664224e-05 -5.22654164e-01] [-1.69025375e-03 -3.71376578e-05 9.99998571e-01 -2.93436727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675769231000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.52, Z:-0.29 [[ 9.98041551e-01 6.25316550e-02 1.68929423e-03 2.82985320e+01] [-6.25316295e-02 9.98042980e-01 -6.79849111e-05 -5.22176147e-01] [-1.69023946e-03 -3.77825549e-05 9.99998571e-01 -2.91485681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705769231000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.52, Z:-0.29 [[ 9.98071276e-01 6.20554189e-02 1.68929423e-03 2.83289695e+01] [-6.20553927e-02 9.98072705e-01 -6.79849111e-05 -5.20944062e-01] [-1.69025729e-03 -3.69760300e-05 9.99998571e-01 -2.91177429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735769231000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.52, Z:-0.29 [[ 9.98134462e-01 6.10306708e-02 1.68929423e-03 2.83594825e+01] [-6.10306431e-02 9.98135891e-01 -6.79849111e-05 -5.16064720e-01] [-1.69029437e-03 -3.52406308e-05 9.99998571e-01 -2.91404684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765769231000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.52, Z:-0.29 [[ 9.98177755e-01 6.03184567e-02 1.68929423e-03 2.83885885e+01] [-6.03184279e-02 9.98179184e-01 -6.79849111e-05 -5.15183717e-01] [-1.69031908e-03 -3.40345465e-05 9.99998571e-01 -2.92492055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795769231000005 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.52, Z:-0.29 [[ 9.98237533e-01 5.93209327e-02 1.68929503e-03 2.84187919e+01] [-5.93209026e-02 9.98238962e-01 -6.79651583e-05 -5.15025797e-01] [-1.69035187e-03 -3.23651338e-05 9.99998571e-01 -2.93827800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825769231000006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.51, Z:-0.30 [[ 9.98460932e-01 5.54338635e-02 1.68929503e-03 2.84484319e+01] [-5.54338279e-02 9.98462361e-01 -6.79651583e-05 -5.10741391e-01] [-1.69046507e-03 -2.57835343e-05 9.99998571e-01 -2.96872761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855769231000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.51, Z:-0.30 [[ 9.98549253e-01 5.38194634e-02 1.68929583e-03 2.84786901e+01] [-5.38194255e-02 9.98550682e-01 -6.79452923e-05 -5.09558103e-01] [-1.69050428e-03 -2.30702099e-05 9.99998571e-01 -2.98527950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885769231000005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.51, Z:-0.30 [[ 9.98680394e-01 5.13285227e-02 1.68929583e-03 2.85095412e+01] [-5.13284812e-02 9.98681822e-01 -6.79452923e-05 -5.09730096e-01] [-1.69055657e-03 -1.88533577e-05 9.99998571e-01 -2.97626154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915769231000006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.51, Z:-0.30 [[ 9.98776385e-01 4.94254935e-02 1.68929583e-03 2.85398887e+01] [-4.94254493e-02 9.98777813e-01 -6.79452923e-05 -5.10927724e-01] [-1.69058942e-03 -1.56320517e-05 9.99998571e-01 -2.95129485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945769231000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.51, Z:-0.29 [[ 9.98906308e-01 4.67261574e-02 1.68929583e-03 2.85699988e+01] [-4.67261093e-02 9.98907737e-01 -6.79452923e-05 -5.11113108e-01] [-1.69062549e-03 -1.10632403e-05 9.99998571e-01 -2.92607744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.975769231000005 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.51, Z:-0.29 [[ 9.99056095e-01 4.34058157e-02 1.68929583e-03 2.85994468e+01] [-4.34057628e-02 9.99057523e-01 -6.79452923e-05 -5.11440648e-01] [-1.69065292e-03 -5.44401549e-06 9.99998571e-01 -2.92967807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.51, Z:-0.29 [[ 9.99314022e-01 3.69950141e-02 1.68929492e-03 2.86302531e+01] [-3.69949520e-02 9.99315450e-01 -6.79678049e-05 -5.14005376e-01] [-1.69065298e-03 5.42579596e-06 9.99998571e-01 -2.94205666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.52, Z:-0.29 [[ 9.99501591e-01 3.15232572e-02 1.68929492e-03 2.86616094e+01] [-3.15231874e-02 9.99503019e-01 -6.79678049e-05 -5.18802502e-01] [-1.69059794e-03 1.46819689e-05 9.99998571e-01 -2.91189724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.52, Z:-0.29 [[ 9.99573532e-01 2.91530427e-02 1.68929331e-03 2.86917304e+01] [-2.91529694e-02 9.99574960e-01 -6.80078964e-05 -5.21516045e-01] [-1.69055792e-03 1.87309772e-05 9.99998571e-01 -2.89634174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.095769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.52, Z:-0.29 [[ 9.99637726e-01 2.68619275e-02 1.68929251e-03 2.87232614e+01] [-2.68618509e-02 9.99639153e-01 -6.80277600e-05 -5.24558351e-01] [-1.69051029e-03 2.26255919e-05 9.99998571e-01 -2.88336766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.53, Z:-0.29 [[ 9.99689478e-01 2.48614984e-02 1.68929090e-03 2.87531474e+01] [-2.48614189e-02 9.99690905e-01 -6.80675987e-05 -5.28533039e-01] [-1.69046101e-03 2.60482935e-05 9.99998571e-01 -2.88435249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.54, Z:-0.29 [[ 9.99802862e-01 1.97834125e-02 1.68929090e-03 2.87832623e+01] [-1.97833257e-02 9.99804289e-01 -6.80675987e-05 -5.36088674e-01] [-1.69030690e-03 3.46343878e-05 9.99998571e-01 -2.93864986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.54, Z:-0.30 [[ 9.99891628e-01 1.46245751e-02 1.68929007e-03 2.88130362e+01] [-1.46244809e-02 9.99893054e-01 -6.80882219e-05 -5.44731842e-01] [-1.69010517e-03 4.33758526e-05 9.99998571e-01 -2.99970878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.55, Z:-0.30 [[ 9.99921427e-01 1.24211723e-02 1.68928925e-03 2.88435690e+01] [-1.24210749e-02 9.99922853e-01 -6.81086284e-05 -5.49735814e-01] [-1.69000491e-03 4.71204887e-05 9.99998571e-01 -3.01180930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.55, Z:-0.30 [[ 9.99941571e-01 1.06771415e-02 1.68928848e-03 2.88751435e+01] [-1.06770417e-02 9.99942996e-01 -6.81276105e-05 -5.54702724e-01] [-1.68991959e-03 5.00870264e-05 9.99998571e-01 -2.99531087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.275769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.56, Z:-0.30 [[ 9.99952629e-01 9.58574577e-03 1.68928687e-03 2.89066716e+01] [-9.58564427e-03 9.99954054e-01 -6.81675820e-05 -5.59558205e-01] [-1.68986269e-03 5.19714498e-05 9.99998571e-01 -2.99033125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.57, Z:-0.30 [[ 9.99943185e-01 1.05248543e-02 1.68928526e-03 2.89367419e+01] [-1.05247541e-02 9.99944611e-01 -6.82074924e-05 -5.67696054e-01] [-1.68990956e-03 5.04243052e-05 9.99998571e-01 -3.00757426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.335769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.57, Z:-0.30 [[ 9.99870146e-01 1.60261560e-02 1.68928446e-03 2.89666564e+01] [-1.60260635e-02 9.99871572e-01 -6.82273313e-05 -5.72091134e-01] [-1.69016093e-03 4.11458917e-05 9.99998571e-01 -3.01864157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.57, Z:-0.30 [[ 9.99798493e-01 2.00030016e-02 1.68928367e-03 2.89981245e+01] [-2.00029149e-02 9.99799919e-01 -6.82468668e-05 -5.73951474e-01] [-1.69031082e-03 3.44425172e-05 9.99998571e-01 -3.00259597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.58, Z:-0.30 [[ 9.99709281e-01 2.40520392e-02 1.68928207e-03 2.90291260e+01] [-2.40519581e-02 9.99710707e-01 -6.82863983e-05 -5.75578223e-01] [-1.69043580e-03 2.76360046e-05 9.99998571e-01 -2.99006071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425769231000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.58, Z:-0.30 [[ 9.99546772e-01 3.00565786e-02 1.68927165e-03 2.90607202e+01] [-3.00565057e-02 9.99548199e-01 -6.85431468e-05 -5.77296715e-01] [-1.69056861e-03 1.77384781e-05 9.99998571e-01 -2.98697962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.455769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:29.09, Y:-0.58, Z:-0.30 [[ 9.99481851e-01 3.21430426e-02 1.68927006e-03 2.90906454e+01] [-3.21429726e-02 9.99483279e-01 -6.85823840e-05 -5.77666668e-01] [-1.69060162e-03 1.42486870e-05 9.99998571e-01 -2.99160235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.58, Z:-0.30 [[ 9.99376516e-01 3.52664910e-02 1.68926926e-03 2.91217006e+01] [-3.52664254e-02 9.99377944e-01 -6.86019300e-05 -5.76276876e-01] [-1.69063779e-03 8.98466934e-06 9.99998571e-01 -2.98531498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.515769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.15, Y:-0.58, Z:-0.30 [[ 9.99307593e-01 3.71682677e-02 1.68926767e-03 2.91525587e+01] [-3.71682048e-02 9.99309021e-01 -6.86412020e-05 -5.76571181e-01] [-1.69065169e-03 5.80662784e-06 9.99998571e-01 -2.97489325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.58, Z:-0.30 [[ 9.99222087e-01 3.94000856e-02 1.68926402e-03 2.91838931e+01] [-3.94000257e-02 9.99223515e-01 -6.87309451e-05 -5.76338932e-01] [-1.69066033e-03 2.12043282e-06 9.99998571e-01 -2.95388784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:29.21, Y:-0.57, Z:-0.29 [[ 9.99075729e-01 4.29515317e-02 1.68926240e-03 2.92147942e+01] [-4.29514769e-02 9.99077157e-01 -6.87707609e-05 -5.72297474e-01] [-1.69065728e-03 -3.84911661e-06 9.99998571e-01 -2.94381011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.57, Z:-0.30 [[ 9.98981625e-01 4.50872336e-02 1.68926159e-03 2.92459315e+01] [-4.50871817e-02 9.98983054e-01 -6.87905640e-05 -5.69540607e-01] [-1.69064528e-03 -7.44353484e-06 9.99998571e-01 -2.96672249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.635769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.57, Z:-0.30 [[ 9.98943879e-01 4.59159361e-02 1.68926081e-03 2.92774052e+01] [-4.59158854e-02 9.98945307e-01 -6.88097454e-05 -5.69416108e-01] [-1.69063862e-03 -8.82683172e-06 9.99998571e-01 -2.95408336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.57, Z:-0.29 [[ 9.98897716e-01 4.69094828e-02 1.68925917e-03 2.93084599e+01] [-4.69094334e-02 9.98899144e-01 -6.88498249e-05 -5.68900364e-01] [-1.69062925e-03 -1.04682580e-05 9.99998571e-01 -2.93744715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.695769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.57, Z:-0.29 [[ 9.98806828e-01 4.88064236e-02 1.68925747e-03 2.93390870e+01] [-4.88063769e-02 9.98808256e-01 -6.88915296e-05 -5.65193761e-01] [-1.69060666e-03 -1.36372067e-05 9.99998571e-01 -2.92525687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.56, Z:-0.29 [[ 9.98790292e-01 4.91436649e-02 1.68925347e-03 2.93698888e+01] [-4.91436185e-02 9.98791720e-01 -6.89894870e-05 -5.64201608e-01] [-1.69060278e-03 -1.41099985e-05 9.99998571e-01 -2.91856841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.56, Z:-0.29 [[ 9.98851980e-01 4.78734573e-02 1.68925347e-03 2.94007885e+01] [-4.78734090e-02 9.98853409e-01 -6.89894870e-05 -5.61959849e-01] [-1.69061935e-03 -1.19600368e-05 9.99998571e-01 -2.93029649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.56, Z:-0.29 [[ 9.98901490e-01 4.68290561e-02 1.68924966e-03 2.94311924e+01] [-4.68290063e-02 9.98902918e-01 -6.90826626e-05 -5.61534940e-01] [-1.69063149e-03 -1.00991084e-05 9.99998571e-01 -2.94050615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.815769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.56, Z:-0.30 [[ 9.98966050e-01 4.54310207e-02 1.68924966e-03 2.94617657e+01] [-4.54309688e-02 9.98967478e-01 -6.90826626e-05 -5.60946663e-01] [-1.69064397e-03 -7.73301413e-06 9.99998571e-01 -2.96216378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.56, Z:-0.30 [[ 9.99048942e-01 4.35701401e-02 1.68924966e-03 2.94925917e+01] [-4.35700856e-02 9.99050371e-01 -6.90826626e-05 -5.60681145e-01] [-1.69065544e-03 -4.58379134e-06 9.99998571e-01 -2.99613217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.875769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.56, Z:-0.30 [[ 9.99213027e-01 3.96292062e-02 1.68924531e-03 2.95230758e+01] [-3.96291458e-02 9.99214454e-01 -6.91888418e-05 -5.58460735e-01] [-1.69066023e-03 2.19104322e-06 9.99998571e-01 -3.01874461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.56, Z:-0.30 [[ 9.99282114e-01 3.78471095e-02 1.68924451e-03 2.95540061e+01] [-3.78470466e-02 9.99283541e-01 -6.92083876e-05 -5.57167837e-01] [-1.69065358e-03 5.22578804e-06 9.99998571e-01 -2.99226215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.55, Z:-0.30 [[ 9.99398848e-01 3.46278608e-02 1.68924451e-03 2.95846661e+01] [-3.46277932e-02 9.99400276e-01 -6.92083876e-05 -5.53190005e-01] [-1.69062797e-03 1.06719731e-05 9.99998571e-01 -2.96657669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.55, Z:-0.30 [[ 9.99449586e-01 3.31311194e-02 1.68924069e-03 2.96151295e+01] [-3.31310495e-02 9.99451014e-01 -6.93014992e-05 -5.52270037e-01] [-1.69060936e-03 1.32970376e-05 9.99998571e-01 -2.96513546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995769231000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.55, Z:-0.30 [[ 9.99534590e-01 3.04589847e-02 1.68923989e-03 2.96461504e+01] [-3.04589111e-02 9.99536017e-01 -6.93211209e-05 -5.49395100e-01] [-1.69056756e-03 1.78364506e-05 9.99998571e-01 -2.96337458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.55, Z:-0.30 [[ 9.99576428e-01 2.90535945e-02 1.68923989e-03 2.96763987e+01] [-2.90535189e-02 9.99577855e-01 -6.93211209e-05 -5.48784329e-01] [-1.69054081e-03 2.02133954e-05 9.99998571e-01 -2.95703679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.055769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:29.71, Y:-0.55, Z:-0.29 [[ 9.99606896e-01 2.79856980e-02 1.68923989e-03 2.97064498e+01] [-2.79856208e-02 9.99608323e-01 -6.93211209e-05 -5.48310694e-01] [-1.69051825e-03 2.20194435e-05 9.99998571e-01 -2.94916539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.74, Y:-0.55, Z:-0.29 [[ 9.99644154e-01 2.66216537e-02 1.68923630e-03 2.97375703e+01] [-2.66215744e-02 9.99645581e-01 -6.94084899e-05 -5.45657800e-01] [-1.69048537e-03 2.44136614e-05 9.99998571e-01 -2.92385031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.77, Y:-0.54, Z:-0.29 [[ 9.99647631e-01 2.64907663e-02 1.68923630e-03 2.97672344e+01] [-2.64906868e-02 9.99649058e-01 -6.94084899e-05 -5.44912491e-01] [-1.69048216e-03 2.46350029e-05 9.99998571e-01 -2.93566260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.54, Z:-0.30 [[ 9.99615205e-01 2.76873281e-02 1.68923708e-03 2.97964893e+01] [-2.76872504e-02 9.99616632e-01 -6.93894459e-05 -5.41875491e-01] [-1.69051069e-03 2.25924152e-05 9.99998571e-01 -2.97149058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.54, Z:-0.30 [[ 9.99593716e-01 2.84525718e-02 1.68923610e-03 2.98275183e+01] [-2.84524952e-02 9.99595143e-01 -6.94132436e-05 -5.41333341e-01] [-1.69052719e-03 2.13220601e-05 9.99998571e-01 -2.96834221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.54, Z:-0.30 [[ 9.99585488e-01 2.87402032e-02 1.68923610e-03 2.98571228e+01] [-2.87401269e-02 9.99586915e-01 -6.94132436e-05 -5.41475803e-01] [-1.69053325e-03 2.08356110e-05 9.99998571e-01 -2.95683255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.54, Z:-0.30 [[ 9.99585488e-01 2.87402032e-02 1.68923536e-03 2.98880960e+01] [-2.87401269e-02 9.99586915e-01 -6.94314157e-05 -5.42748865e-01] [-1.69053303e-03 2.08537970e-05 9.99998571e-01 -2.95735664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.54, Z:-0.29 [[ 9.99608419e-01 2.79312576e-02 1.68923536e-03 2.99190512e+01] [-2.79311802e-02 9.99609846e-01 -6.94314157e-05 -5.41787126e-01] [-1.69051560e-03 2.22218906e-05 9.99998571e-01 -2.92716697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.54, Z:-0.29 [[ 9.99627163e-01 2.72521825e-02 1.68923536e-03 2.99489433e+01] [-2.72521041e-02 9.99628590e-01 -6.94314157e-05 -5.42467171e-01] [-1.69050011e-03 2.33703113e-05 9.99998571e-01 -2.93695958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.54, Z:-0.29 [[ 9.99660202e-01 2.60120414e-02 1.68923615e-03 2.99795921e+01] [-2.60119612e-02 9.99661629e-01 -6.94119644e-05 -5.44845417e-01] [-1.69047011e-03 2.54480330e-05 9.99998571e-01 -2.94257856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355769231000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.55, Z:-0.29 [[ 9.99662926e-01 2.59071591e-02 1.68923540e-03 3.00101248e+01] [-2.59070788e-02 9.99664353e-01 -6.94304384e-05 -5.46394855e-01] [-1.69046715e-03 2.56438808e-05 9.99998571e-01 -2.92043260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.55, Z:-0.29 [[ 9.99667292e-01 2.57381518e-02 1.68923540e-03 3.00407422e+01] [-2.57380712e-02 9.99668719e-01 -6.94304384e-05 -5.47012883e-01] [-1.69046279e-03 2.59296775e-05 9.99998571e-01 -2.90502198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.415769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.55, Z:-0.29 [[ 9.99667103e-01 2.57454625e-02 1.68923540e-03 3.00699969e+01] [-2.57453819e-02 9.99668530e-01 -6.94304384e-05 -5.48134390e-01] [-1.69046298e-03 2.59173148e-05 9.99998571e-01 -2.90509449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.55, Z:-0.29 [[ 9.99672337e-01 2.55414549e-02 1.68923459e-03 3.01005957e+01] [-2.55413740e-02 9.99673763e-01 -6.94500789e-05 -5.50501489e-01] [-1.69045735e-03 2.62819502e-05 9.99998571e-01 -2.90700712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.56, Z:-0.29 [[ 9.99696336e-01 2.45841747e-02 1.68923459e-03 3.01303489e+01] [-2.45840924e-02 9.99697763e-01 -6.94500789e-05 -5.56226435e-01] [-1.69043141e-03 2.79006902e-05 9.99998571e-01 -2.91042849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.56, Z:-0.29 [[ 9.99724836e-01 2.33965364e-02 1.68923539e-03 3.01602111e+01] [-2.33964525e-02 9.99726263e-01 -6.94304844e-05 -5.60442963e-01] [-1.69039742e-03 2.98892641e-05 9.99998571e-01 -2.89602502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.57, Z:-0.29 [[ 9.99783527e-01 2.07375355e-02 1.68923539e-03 3.01898422e+01] [-2.07374478e-02 9.99784954e-01 -6.94304844e-05 -5.68041709e-01] [-1.69031195e-03 3.43850238e-05 9.99998571e-01 -2.90593649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.57, Z:-0.29 [[ 9.99798671e-01 1.99941068e-02 1.68923858e-03 3.02204328e+01] [-1.99940181e-02 9.99800097e-01 -6.93528202e-05 -5.72181210e-01] [-1.69028755e-03 3.55641905e-05 9.99998571e-01 -2.91859993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.595769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.25, Y:-0.58, Z:-0.29 [[ 9.99797672e-01 2.00440037e-02 1.68923622e-03 3.02507327e+01] [-2.00439150e-02 9.99799098e-01 -6.94103042e-05 -5.76585570e-01] [-1.69028811e-03 3.55373532e-05 9.99998571e-01 -2.93530795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.58, Z:-0.29 [[ 9.99770786e-01 2.13429576e-02 1.68923540e-03 3.02805368e+01] [-2.13428708e-02 9.99772213e-01 -6.94303096e-05 -5.84751572e-01] [-1.69033246e-03 3.33612623e-05 9.99998571e-01 -2.94632551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:30.31, Y:-0.59, Z:-0.30 [[ 9.99741922e-01 2.26547180e-02 1.68923540e-03 3.03108118e+01] [-2.26546330e-02 9.99743348e-01 -6.94303096e-05 -5.89368552e-01] [-1.69037478e-03 3.11433831e-05 9.99998571e-01 -2.95347761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.60, Z:-0.30 [[ 9.99655966e-01 2.61743366e-02 1.68923540e-03 3.03413028e+01] [-2.61742567e-02 9.99657393e-01 -6.94303096e-05 -5.95346790e-01] [-1.69047395e-03 2.51919423e-05 9.99998571e-01 -2.98418572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.60, Z:-0.30 [[ 9.99596946e-01 2.83388672e-02 1.68923537e-03 3.03718830e+01] [-2.83387904e-02 9.99598373e-01 -6.94310047e-05 -5.97746522e-01] [-1.69052453e-03 2.15321332e-05 9.99998571e-01 -2.99093210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.60, Z:-0.30 [[ 9.99520492e-01 3.09181585e-02 1.68923537e-03 3.04026374e+01] [-3.09180853e-02 9.99521919e-01 -6.94310047e-05 -6.00146474e-01] [-1.69057446e-03 1.71697887e-05 9.99998571e-01 -2.99050422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.60, Z:-0.30 [[ 9.99315404e-01 3.69576807e-02 1.68923456e-03 3.04333596e+01] [-3.69576161e-02 9.99316832e-01 -6.94508499e-05 -6.03619182e-01] [-1.69064727e-03 6.97322181e-06 9.99998571e-01 -2.96406366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.60, Z:-0.30 [[ 9.99170152e-01 4.06958794e-02 1.68923456e-03 3.04629579e+01] [-4.06958201e-02 9.99171580e-01 -6.94508499e-05 -6.04824960e-01] [-1.69066152e-03 6.48430566e-07 9.99998571e-01 -2.96086057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.835769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.60, Z:-0.29 [[ 9.98706611e-01 5.08158560e-02 1.68923537e-03 3.04929694e+01] [-5.08158113e-02 9.98708040e-01 -6.94311385e-05 -6.01751185e-01] [-1.69058114e-03 -1.64985285e-05 9.99998571e-01 -2.92436538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.60, Z:-0.29 [[ 9.98441484e-01 5.57830527e-02 1.68923703e-03 3.05226038e+01] [-5.57830152e-02 9.98442913e-01 -6.93906233e-05 -5.99805432e-01] [-1.69047756e-03 -2.49482579e-05 9.99998571e-01 -2.92019502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.60, Z:-0.29 [[ 9.98252263e-01 5.90725398e-02 1.68923786e-03 3.05520005e+01] [-5.90725070e-02 9.98253692e-01 -6.93704144e-05 -5.98028013e-01] [-1.69038582e-03 -3.05383421e-05 9.99998571e-01 -2.90319440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.60, Z:-0.29 [[ 9.98031644e-01 6.26895904e-02 1.68923951e-03 3.05814327e+01] [-6.26895628e-02 9.98033073e-01 -6.93301093e-05 -5.95710107e-01] [-1.69026318e-03 -3.67040437e-05 9.99998571e-01 -2.85176373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.59, Z:-0.29 [[ 9.98008145e-01 6.30625805e-02 1.68924116e-03 3.06101679e+01] [-6.30625535e-02 9.98009574e-01 -6.92900208e-05 -5.92846095e-01] [-1.69024846e-03 -3.73758559e-05 9.99998571e-01 -2.88368934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.59, Z:-0.29 [[ 9.98024745e-01 6.27993204e-02 1.68924361e-03 3.06402556e+01] [-6.27992931e-02 9.98026174e-01 -6.92303009e-05 -5.91831935e-01] [-1.69025695e-03 -3.69897510e-05 9.99998571e-01 -2.91284817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.015769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.59, Z:-0.29 [[ 9.98039202e-01 6.25691435e-02 1.68924522e-03 3.06703891e+01] [-6.25691160e-02 9.98040631e-01 -6.91909719e-05 -5.91225120e-01] [-1.69026458e-03 -3.66392775e-05 9.99998571e-01 -2.92360612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.59, Z:-0.29 [[ 9.98041275e-01 6.25360632e-02 1.68924921e-03 3.06995815e+01] [-6.25360358e-02 9.98042704e-01 -6.90933248e-05 -5.88153576e-01] [-1.69026368e-03 -3.66809592e-05 9.99998571e-01 -2.93807734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.59, Z:-0.29 [[ 9.98019678e-01 6.28797973e-02 1.68924952e-03 3.07293602e+01] [-6.28797704e-02 9.98021107e-01 -6.90857773e-05 -5.86135064e-01] [-1.69025078e-03 -3.72706568e-05 9.99998571e-01 -2.93284482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.58, Z:-0.29 [[ 9.97910838e-01 6.45841054e-02 1.68925113e-03 3.07580389e+01] [-6.45840810e-02 9.97912267e-01 -6.90464750e-05 -5.80273290e-01] [-1.69018373e-03 -4.01965059e-05 9.99998571e-01 -2.92353079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.58, Z:-0.29 [[ 9.97861611e-01 6.53402802e-02 1.68925352e-03 3.07873269e+01] [-6.53402570e-02 9.97863040e-01 -6.89879663e-05 -5.78647512e-01] [-1.69015134e-03 -4.15358158e-05 9.99998571e-01 -2.90616369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.58, Z:-0.29 [[ 9.97817119e-01 6.60162328e-02 1.68925517e-03 3.08155962e+01] [-6.60162106e-02 9.97818548e-01 -6.89474392e-05 -5.77298599e-01] [-1.69012179e-03 -4.27212899e-05 9.99998571e-01 -2.90521350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.57, Z:-0.29 [[ 9.97834833e-01 6.57479448e-02 1.68926149e-03 3.08447114e+01] [-6.57479225e-02 9.97836262e-01 -6.87926264e-05 -5.70045948e-01] [-1.69012934e-03 -4.24217545e-05 9.99998571e-01 -2.90549334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.56, Z:-0.29 [[ 9.97950403e-01 6.39698386e-02 1.68926017e-03 3.08727897e+01] [-6.39698137e-02 9.97951832e-01 -6.88250503e-05 -5.62649230e-01] [-1.69020300e-03 -3.93776715e-05 9.99998571e-01 -2.94712362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.56, Z:-0.30 [[ 9.98051707e-01 6.23693602e-02 1.68926334e-03 3.09004392e+01] [-6.23693332e-02 9.98053136e-01 -6.87470617e-05 -5.61027970e-01] [-1.69026228e-03 -3.67451058e-05 9.99998571e-01 -2.97871632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.56, Z:-0.30 [[ 9.98195350e-01 6.00265771e-02 1.68926741e-03 3.09294962e+01] [-6.00265468e-02 9.98196779e-01 -6.86470011e-05 -5.59274819e-01] [-1.69034193e-03 -3.28777718e-05 9.99998571e-01 -3.00120122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.315769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.56, Z:-0.30 [[ 9.98352366e-01 5.73559071e-02 1.68927053e-03 3.09583537e+01] [-5.73558731e-02 9.98353795e-01 -6.85701433e-05 -5.56765640e-01] [-1.69042254e-03 -2.84324212e-05 9.99998571e-01 -3.02719016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.55, Z:-0.30 [[ 9.98656393e-01 5.17933844e-02 1.68927286e-03 3.09887563e+01] [-5.17933426e-02 9.98657822e-01 -6.85126826e-05 -5.49925468e-01] [-1.69055406e-03 -1.90724592e-05 9.99998571e-01 -3.00253559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.375769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.55, Z:-0.30 [[ 9.98992007e-01 4.48566215e-02 1.68927455e-03 3.10178367e+01] [-4.48565699e-02 9.98993435e-01 -6.84708121e-05 -5.46264760e-01] [-1.69064556e-03 -7.37326811e-06 9.99998571e-01 -2.95861525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.55, Z:-0.29 [[ 9.99181294e-01 4.04213913e-02 1.68927708e-03 3.10465159e+01] [-4.04213334e-02 9.99182722e-01 -6.84084117e-05 -5.45834914e-01] [-1.69066163e-03 6.95731775e-08 9.99998571e-01 -2.92954231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.55, Z:-0.29 [[ 9.99358314e-01 3.57785798e-02 1.68927934e-03 3.10758310e+01] [-3.57785154e-02 9.99359742e-01 -6.83525477e-05 -5.46116938e-01] [-1.69064332e-03 7.86877994e-06 9.99998571e-01 -2.90838535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.55, Z:-0.29 [[ 9.99650078e-01 2.63982376e-02 1.68928096e-03 3.11061936e+01] [-2.63981598e-02 9.99651506e-01 -6.83124106e-05 -5.50027162e-01] [-1.69049559e-03 2.36945977e-05 9.99998571e-01 -2.92733047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.55, Z:-0.29 [[ 9.99755230e-01 2.20596107e-02 1.68928096e-03 3.11359982e+01] [-2.20595268e-02 9.99756657e-01 -6.83124106e-05 -5.53916752e-01] [-1.69037683e-03 3.10309511e-05 9.99998571e-01 -2.94469384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.56, Z:-0.29 [[ 9.99879423e-01 1.54364809e-02 1.68928177e-03 3.11661917e+01] [-1.54363875e-02 9.99880850e-01 -6.82925749e-05 -5.60703305e-01] [-1.69013468e-03 4.22079325e-05 9.99998571e-01 -2.94696670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.555769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.56, Z:-0.29 [[ 9.99910337e-01 1.32839698e-02 1.68928177e-03 3.11956829e+01] [-1.32838734e-02 9.99911763e-01 -6.82925749e-05 -5.64500798e-01] [-1.69003991e-03 4.58462464e-05 9.99998571e-01 -2.92899121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.57, Z:-0.29 [[ 9.99927398e-01 1.19308369e-02 1.68928256e-03 3.12252247e+01] [-1.19307386e-02 9.99928824e-01 -6.82729504e-05 -5.68576204e-01] [-1.68997688e-03 4.81136051e-05 9.99998571e-01 -2.91402648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.58, Z:-0.29 [[ 9.99937240e-01 1.10752667e-02 1.68928335e-03 3.12551834e+01] [-1.10751672e-02 9.99938666e-01 -6.82534696e-05 -5.75060719e-01] [-1.68993566e-03 4.95400906e-05 9.99998571e-01 -2.94464447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.58, Z:-0.30 [[ 9.99927648e-01 1.19099106e-02 1.68928335e-03 3.12859856e+01] [-1.19098123e-02 9.99929073e-01 -6.82534696e-05 -5.79803454e-01] [-1.68997642e-03 4.81294838e-05 9.99998571e-01 -2.97555510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675769231000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.59, Z:-0.30 [[ 9.99890346e-01 1.47119861e-02 1.68928254e-03 3.13155402e+01] [-1.47118917e-02 9.99891772e-01 -6.82734361e-05 -5.89624032e-01] [-1.69010415e-03 4.34134078e-05 9.99998571e-01 -3.00856362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.59, Z:-0.30 [[ 9.99864647e-01 1.63656567e-02 1.68928173e-03 3.13458616e+01] [-1.63655647e-02 9.99866073e-01 -6.82933643e-05 -5.94780762e-01] [-1.69017316e-03 4.06380711e-05 9.99998571e-01 -2.96818923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.735769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.60, Z:-0.29 [[ 9.99831550e-01 1.82761549e-02 1.68928173e-03 3.13747723e+01] [-1.82760656e-02 9.99832976e-01 -6.82933643e-05 -5.98670738e-01] [-1.69024772e-03 3.74084366e-05 9.99998571e-01 -2.92778912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.60, Z:-0.29 [[ 9.99708374e-01 2.40896822e-02 1.68928105e-03 3.14052065e+01] [-2.40896011e-02 9.99709801e-01 -6.83103453e-05 -6.03646460e-01] [-1.69043639e-03 2.75963177e-05 9.99998571e-01 -2.90010321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.61, Z:-0.30 [[ 9.99473631e-01 3.23976369e-02 1.68928105e-03 3.14343341e+01] [-3.23975677e-02 9.99475059e-01 -6.83103453e-05 -6.08361968e-01] [-1.69060737e-03 1.35457917e-05 9.99998571e-01 -2.96408302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.61, Z:-0.30 [[ 9.99314425e-01 3.69841447e-02 1.68928185e-03 3.14643153e+01] [-3.69840821e-02 9.99315852e-01 -6.82904616e-05 -6.09416272e-01] [-1.69065180e-03 5.76710466e-06 9.99998571e-01 -2.99057975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855769231000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.61, Z:-0.30 [[ 9.99132291e-01 4.16150378e-02 1.68928265e-03 3.14943990e+01] [-4.16149818e-02 9.99133719e-01 -6.82706483e-05 -6.09366840e-01] [-1.69066034e-03 -2.08805757e-06 9.99998571e-01 -2.99541919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.61, Z:-0.30 [[ 9.98841534e-01 4.80909200e-02 1.68928428e-03 3.15233705e+01] [-4.80908733e-02 9.98842962e-01 -6.82302686e-05 -6.08699693e-01] [-1.69061097e-03 -1.30879303e-05 9.99998571e-01 -2.95007687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.61, Z:-0.29 [[ 9.98787249e-01 4.92054538e-02 1.68928611e-03 3.15523266e+01] [-4.92054089e-02 9.98788678e-01 -6.81849854e-05 -6.10223420e-01] [-1.69059491e-03 -1.50197198e-05 9.99998571e-01 -2.91653123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.61, Z:-0.29 [[ 9.98837743e-01 4.81695855e-02 1.68928852e-03 3.15823493e+01] [-4.81695392e-02 9.98839172e-01 -6.81251934e-05 -6.10831400e-01] [-1.69060911e-03 -1.33262352e-05 9.99998571e-01 -2.87670658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.61, Z:-0.29 [[ 9.98915753e-01 4.65237988e-02 1.68929014e-03 3.16115592e+01] [-4.65237502e-02 9.98917182e-01 -6.80849325e-05 -6.11519592e-01] [-1.69062852e-03 -1.05810011e-05 9.99998571e-01 -2.88709258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.61, Z:-0.29 [[ 9.99028984e-01 4.40254044e-02 1.68929095e-03 3.16418612e+01] [-4.40253522e-02 9.99030412e-01 -6.80648808e-05 -6.12806824e-01] [-1.69064962e-03 -6.37284048e-06 9.99998571e-01 -2.91133472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.62, Z:-0.30 [[ 9.99229678e-01 3.92070902e-02 1.68929095e-03 3.16707324e+01] [-3.92070311e-02 9.99231106e-01 -6.80648808e-05 -6.17765501e-01] [-1.69066069e-03 1.78036606e-06 9.99998571e-01 -2.96641109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.62, Z:-0.30 [[ 9.99304964e-01 3.72388937e-02 1.68929011e-03 3.17010434e+01] [-3.72388318e-02 9.99306392e-01 -6.80857884e-05 -6.20870988e-01] [-1.69065384e-03 5.13127601e-06 9.99998571e-01 -2.95316074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.62, Z:-0.29 [[ 9.99370847e-01 3.54267704e-02 1.68929011e-03 3.17308776e+01] [-3.54267059e-02 9.99372275e-01 -6.80857884e-05 -6.24592460e-01] [-1.69064176e-03 8.19696804e-06 9.99998571e-01 -2.92394099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.63, Z:-0.29 [[ 9.99370847e-01 3.54267704e-02 1.68929093e-03 3.17618523e+01] [-3.54267059e-02 9.99372275e-01 -6.80653154e-05 -6.25840506e-01] [-1.69064186e-03 8.17647874e-06 9.99998571e-01 -2.92446510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.63, Z:-0.29 [[ 9.99363546e-01 3.56321301e-02 1.68929093e-03 3.17915400e+01] [-3.56320659e-02 9.99364974e-01 -6.80653154e-05 -6.28457997e-01] [-1.69064350e-03 7.82906900e-06 9.99998571e-01 -2.93070525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.63, Z:-0.29 [[ 9.99334083e-01 3.64490953e-02 1.68929002e-03 3.18217458e+01] [-3.64490322e-02 9.99335511e-01 -6.80880265e-05 -6.32505838e-01] [-1.69064925e-03 6.46969912e-06 9.99998571e-01 -2.93449774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.63, Z:-0.30 [[ 9.99330985e-01 3.65339334e-02 1.68929002e-03 3.18521915e+01] [-3.65338705e-02 9.99332413e-01 -6.80880265e-05 -6.34533457e-01] [-1.69064979e-03 6.32617173e-06 9.99998571e-01 -2.95150344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.64, Z:-0.30 [[ 9.99326224e-01 3.66639490e-02 1.68929002e-03 3.18826446e+01] [-3.66638863e-02 9.99327651e-01 -6.80880265e-05 -6.36556794e-01] [-1.69065060e-03 6.10621319e-06 9.99998571e-01 -2.96230353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.64, Z:-0.30 [[ 9.99352208e-01 3.59487352e-02 1.68929002e-03 3.19134130e+01] [-3.59486714e-02 9.99353635e-01 -6.80880265e-05 -6.39190886e-01] [-1.69064580e-03 7.31618768e-06 9.99998571e-01 -2.96542424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.64, Z:-0.30 [[ 9.99369008e-01 3.54786019e-02 1.68929002e-03 3.19428717e+01] [-3.54785375e-02 9.99370436e-01 -6.80880265e-05 -6.40845452e-01] [-1.69064217e-03 8.11152418e-06 9.99998571e-01 -2.96947255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.64, Z:-0.30 [[ 9.99387806e-01 3.49450861e-02 1.68929002e-03 3.19736485e+01] [-3.49450210e-02 9.99389234e-01 -6.80880265e-05 -6.41842990e-01] [-1.69063760e-03 9.01406824e-06 9.99998571e-01 -2.97649842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.64, Z:-0.30 [[ 9.99433179e-01 3.36224057e-02 1.68929002e-03 3.20039854e+01] [-3.36223386e-02 9.99434607e-01 -6.80880265e-05 -6.43606975e-01] [-1.69062419e-03 1.12515517e-05 9.99998571e-01 -2.99886978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.395769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.65, Z:-0.30 [[ 9.99429058e-01 3.37447048e-02 1.68928923e-03 3.20346255e+01] [-3.37446379e-02 9.99430485e-01 -6.81076607e-05 -6.45928979e-01] [-1.69062543e-03 1.10643219e-05 9.99998571e-01 -2.99865633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.65, Z:-0.30 [[ 9.99299164e-01 3.73942016e-02 1.68928923e-03 3.20638789e+01] [-3.73941398e-02 9.99300592e-01 -6.81076607e-05 -6.47743549e-01] [-1.69065456e-03 4.89041086e-06 9.99998571e-01 -2.97705196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.65, Z:-0.30 [[ 9.99183079e-01 4.03772263e-02 1.68929001e-03 3.20941571e+01] [-4.03771689e-02 9.99184507e-01 -6.80881970e-05 -6.48235209e-01] [-1.69066162e-03 -1.76173841e-07 9.99998571e-01 -2.96284140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.65, Z:-0.30 [[ 9.99050405e-01 4.35365996e-02 1.68929001e-03 3.21249676e+01] [-4.35365467e-02 9.99051833e-01 -6.80881970e-05 -6.48437668e-01] [-1.69065261e-03 -5.52231270e-06 9.99998571e-01 -2.95226693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.515769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.65, Z:-0.29 [[ 9.98925875e-01 4.63059602e-02 1.68929001e-03 3.21540925e+01] [-4.63059113e-02 9.98927304e-01 -6.80881970e-05 -6.48813623e-01] [-1.69063081e-03 -1.02090516e-05 9.99998571e-01 -2.94823438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.65, Z:-0.29 [[ 9.98763707e-01 4.96810288e-02 1.68929079e-03 3.21832678e+01] [-4.96809847e-02 9.98765135e-01 -6.80688863e-05 -6.49359077e-01] [-1.69058648e-03 -1.59408968e-05 9.99998571e-01 -2.93613500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.65, Z:-0.29 [[ 9.98733778e-01 5.02790866e-02 1.68929311e-03 3.22140703e+01] [-5.02790435e-02 9.98735207e-01 -6.80112251e-05 -6.50708356e-01] [-1.69057605e-03 -1.70109341e-05 9.99998571e-01 -2.92935142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.65, Z:-0.29 [[ 9.98782215e-01 4.93075439e-02 1.68929311e-03 3.22434700e+01] [-4.93074994e-02 9.98783643e-01 -6.80112251e-05 -6.51874218e-01] [-1.69059179e-03 -1.53664171e-05 9.99998571e-01 -2.94492464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.65, Z:-0.30 [[ 9.98842706e-01 4.80665762e-02 1.68929388e-03 3.22736108e+01] [-4.80665299e-02 9.98844134e-01 -6.79921374e-05 -6.53424135e-01] [-1.69060943e-03 -1.32850443e-05 9.99998571e-01 -2.96716359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.66, Z:-0.30 [[ 9.98991262e-01 4.48732161e-02 1.68929388e-03 3.23036652e+01] [-4.48731653e-02 9.98992690e-01 -6.79921374e-05 -6.56811198e-01] [-1.69064326e-03 -7.88041237e-06 9.99998571e-01 -2.98728379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.66, Z:-0.30 [[ 9.99035514e-01 4.38769609e-02 1.68929388e-03 3.23330359e+01] [-4.38769087e-02 9.99036942e-01 -6.79921374e-05 -6.59280789e-01] [-1.69065028e-03 -6.19443333e-06 9.99998571e-01 -2.99164995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.36, Y:-0.66, Z:-0.30 [[ 9.99078955e-01 4.28764269e-02 1.68929470e-03 3.23621116e+01] [-4.28763733e-02 9.99080383e-01 -6.79716644e-05 -6.61624262e-01] [-1.69065558e-03 -4.52177080e-06 9.99998571e-01 -2.98836303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.67, Z:-0.30 [[ 9.99134242e-01 4.15681694e-02 1.68929550e-03 3.23915417e+01] [-4.15681140e-02 9.99135670e-01 -6.79519402e-05 -6.65698004e-01] [-1.69066003e-03 -2.32771748e-06 9.99998571e-01 -2.96034251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.42, Y:-0.67, Z:-0.29 [[ 9.99136325e-01 4.15180631e-02 1.68929625e-03 3.24215136e+01] [-4.15180075e-02 9.99137753e-01 -6.79332654e-05 -6.68900897e-01] [-1.69066012e-03 -2.26162116e-06 9.99998571e-01 -2.94810834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.67, Z:-0.30 [[ 9.99128952e-01 4.16951358e-02 1.68929625e-03 3.24512720e+01] [-4.16950805e-02 9.99130380e-01 -6.79332654e-05 -6.73948840e-01] [-1.69065969e-03 -2.56125077e-06 9.99998571e-01 -2.96377501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.68, Z:-0.30 [[ 9.99119833e-01 4.19130805e-02 1.68929238e-03 3.24811972e+01] [-4.19130253e-02 9.99121261e-01 -6.80293072e-05 -6.76689082e-01] [-1.69065925e-03 -2.83392437e-06 9.99998571e-01 -2.96731033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.68, Z:-0.30 [[ 9.99109331e-01 4.21626699e-02 1.68929238e-03 3.25116260e+01] [-4.21626152e-02 9.99110759e-01 -6.80293072e-05 -6.80165763e-01] [-1.69065849e-03 -3.25626900e-06 9.99998571e-01 -2.99601311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:-0.68, Z:-0.30 [[ 9.99088974e-01 4.26423210e-02 1.68929156e-03 3.25416469e+01] [-4.26422669e-02 9.99090403e-01 -6.80495514e-05 -6.81926534e-01] [-1.69065678e-03 -4.04766532e-06 9.99998571e-01 -3.00905082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.68, Z:-0.30 [[ 9.99042078e-01 4.37272548e-02 1.68929077e-03 3.25716925e+01] [-4.37272022e-02 9.99043506e-01 -6.80692895e-05 -6.83760184e-01] [-1.69065146e-03 -5.86387457e-06 9.99998571e-01 -3.00171980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.60, Y:-0.69, Z:-0.30 [[ 9.98900380e-01 4.68527162e-02 1.68929077e-03 3.26015910e+01] [-4.68526681e-02 9.98901808e-01 -6.80692895e-05 -6.85223934e-01] [-1.69062484e-03 -1.11533406e-05 9.99998571e-01 -2.99436605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.69, Z:-0.30 [[ 9.98841374e-01 4.80942415e-02 1.68928997e-03 3.26315966e+01] [-4.80941951e-02 9.98842802e-01 -6.80891052e-05 -6.85822028e-01] [-1.69060982e-03 -1.32348261e-05 9.99998571e-01 -2.96920769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:-0.69, Z:-0.30 [[ 9.98795659e-01 4.90344462e-02 1.68929077e-03 3.26606552e+01] [-4.90344012e-02 9.98797088e-01 -6.80693349e-05 -6.85157434e-01] [-1.69059644e-03 -1.48460050e-05 9.99998571e-01 -2.98016311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.69, Z:-0.30 [[ 9.98833314e-01 4.82613461e-02 1.68928988e-03 3.26914236e+01] [-4.82612999e-02 9.98834742e-01 -6.80913536e-05 -6.86084492e-01] [-1.69060760e-03 -1.35154132e-05 9.99998571e-01 -2.96206650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:-0.69, Z:-0.30 [[ 9.98969965e-01 4.53448507e-02 1.68928988e-03 3.27213369e+01] [-4.53448004e-02 9.98971393e-01 -6.80913536e-05 -6.87495619e-01] [-1.69063986e-03 -8.57929535e-06 9.99998571e-01 -2.95540542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.69, Z:-0.30 [[ 9.99019037e-01 4.42505365e-02 1.68928907e-03 3.27516762e+01] [-4.42504846e-02 9.99020465e-01 -6.81113973e-05 -6.89064253e-01] [-1.69064832e-03 -6.70727749e-06 9.99998571e-01 -2.95063086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.78, Y:-0.69, Z:-0.30 [[ 9.99108310e-01 4.21868524e-02 1.68928907e-03 3.27822744e+01] [-4.21867975e-02 9.99109738e-01 -6.81113973e-05 -6.90785806e-01] [-1.69065857e-03 -3.21503293e-06 9.99998571e-01 -2.95514996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.69, Z:-0.30 [[ 9.99147781e-01 4.12414588e-02 1.68928828e-03 3.28126594e+01] [-4.12414025e-02 9.99149209e-01 -6.81311178e-05 -6.91722163e-01] [-1.69066087e-03 -1.59556263e-06 9.99998571e-01 -2.95477946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.69, Z:-0.30 [[ 9.99177777e-01 4.05082275e-02 1.68928828e-03 3.28430745e+01] [-4.05081703e-02 9.99179205e-01 -6.81311178e-05 -6.92942709e-01] [-1.69066159e-03 -3.54878269e-07 9.99998571e-01 -2.96940803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.70, Z:-0.30 [[ 9.99262967e-01 3.83493158e-02 1.68928749e-03 3.28737698e+01] [-3.83492554e-02 9.99264394e-01 -6.81507173e-05 -6.95126373e-01] [-1.69065837e-03 3.31757070e-06 9.99998571e-01 -3.01609584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.70, Z:-0.30 [[ 9.99274252e-01 3.80541153e-02 1.68928670e-03 3.29047359e+01] [-3.80540544e-02 9.99275680e-01 -6.81701893e-05 -6.97748087e-01] [-1.69065727e-03 3.83650690e-06 9.99998571e-01 -3.01604590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.70, Z:-0.30 [[ 9.99250265e-01 3.86788495e-02 1.68928514e-03 3.29350544e+01] [-3.86787894e-02 9.99251693e-01 -6.82089245e-05 -7.00865704e-01] [-1.69065928e-03 2.81828182e-06 9.99998571e-01 -3.00184940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.70, Z:-0.30 [[ 9.99211498e-01 3.96677208e-02 1.68928156e-03 3.29648533e+01] [-3.96676620e-02 9.99212926e-01 -6.82974520e-05 -7.02303104e-01] [-1.69066117e-03 1.23374950e-06 9.99998571e-01 -2.99762412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.70, Z:-0.30 [[ 9.99164313e-01 4.08389723e-02 1.68927770e-03 3.29948855e+01] [-4.08389150e-02 9.99165741e-01 -6.83926546e-05 -7.03392577e-01] [-1.69066149e-03 -6.52768767e-07 9.99998571e-01 -2.96772573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.70, Z:-0.29 [[ 9.99072222e-01 4.30330277e-02 1.68927770e-03 3.30252165e+01] [-4.30329735e-02 9.99073650e-01 -6.83926546e-05 -7.03886510e-01] [-1.69065598e-03 -4.36544123e-06 9.99998571e-01 -2.92836884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.71, Z:-0.29 [[ 9.99046515e-01 4.36257666e-02 1.68927407e-03 3.30558031e+01] [-4.36257131e-02 9.99047943e-01 -6.84823288e-05 -7.05412629e-01] [-1.69065338e-03 -5.27875394e-06 9.99998571e-01 -2.91783215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.71, Z:-0.29 [[ 9.99032637e-01 4.39424196e-02 1.68927407e-03 3.30859220e+01] [-4.39423666e-02 9.99034065e-01 -6.84823288e-05 -7.09184207e-01] [-1.69065162e-03 -5.81461885e-06 9.99998571e-01 -2.93489410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.71, Z:-0.30 [[ 9.99033510e-01 4.39225808e-02 1.68927407e-03 3.31167231e+01] [-4.39225278e-02 9.99034938e-01 -6.84823288e-05 -7.11921593e-01] [-1.69065173e-03 -5.78104590e-06 9.99998571e-01 -2.95039000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.71, Z:-0.30 [[ 9.99019156e-01 4.42478455e-02 1.68927407e-03 3.31467215e+01] [-4.42477930e-02 9.99020584e-01 -6.84823288e-05 -7.14277270e-01] [-1.69064976e-03 -6.33149090e-06 9.99998571e-01 -2.95766882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.72, Z:-0.30 [[ 9.98939202e-01 4.60175700e-02 1.68927027e-03 3.31768605e+01] [-4.60175199e-02 9.98940630e-01 -6.85758026e-05 -7.15873846e-01] [-1.69063640e-03 -9.23297080e-06 9.99998571e-01 -2.95757634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.72, Z:-0.30 [[ 9.98847389e-01 4.79691541e-02 1.68926951e-03 3.32068859e+01] [-4.79691066e-02 9.98848817e-01 -6.85946972e-05 -7.16792711e-01] [-1.69061528e-03 -1.25171149e-05 9.99998571e-01 -2.95685205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.71, Z:-0.30 [[ 9.98531975e-01 5.41390984e-02 1.68926951e-03 3.32367832e+01] [-5.41390598e-02 9.98533403e-01 -6.85946972e-05 -7.14954375e-01] [-1.69050568e-03 -2.29614643e-05 9.99998571e-01 -2.96301861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.71, Z:-0.30 [[ 9.98306905e-01 5.81418047e-02 1.68926854e-03 3.32668758e+01] [-5.81417718e-02 9.98308334e-01 -6.86184211e-05 -7.13360643e-01] [-1.69040046e-03 -2.97148224e-05 9.99998571e-01 -2.97034772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.71, Z:-0.30 [[ 9.97823382e-01 6.59215073e-02 1.68927015e-03 3.32954283e+01] [-6.59214856e-02 9.97824811e-01 -6.85787057e-05 -7.08125514e-01] [-1.69011648e-03 -4.29297620e-05 9.99998571e-01 -2.95933877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.71, Z:-0.29 [[ 9.97648390e-01 6.85188769e-02 1.68927254e-03 3.33247643e+01] [-6.85188591e-02 9.97649819e-01 -6.85198005e-05 -7.05703153e-01] [-1.68999735e-03 -4.73883586e-05 9.99998571e-01 -2.92995600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.70, Z:-0.29 [[ 9.97552084e-01 6.99069780e-02 1.68927402e-03 3.33534459e+01] [-6.99069622e-02 9.97553513e-01 -6.84832676e-05 -7.02807534e-01] [-1.68992870e-03 -4.97763890e-05 9.99998571e-01 -2.90420058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.38, Y:-0.69, Z:-0.29 [[ 9.97500482e-01 7.06394730e-02 1.68927622e-03 3.33820190e+01] [-7.06394583e-02 9.97501911e-01 -6.84289588e-05 -6.94579783e-01] [-1.68989005e-03 -5.10716380e-05 9.99998571e-01 -2.93512321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.69, Z:-0.30 [[ 9.97487203e-01 7.08267405e-02 1.68927841e-03 3.34110652e+01] [-7.08267262e-02 9.97488632e-01 -6.83748578e-05 -6.90987081e-01] [-1.68987878e-03 -5.14430141e-05 9.99998571e-01 -2.96505679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:-0.69, Z:-0.30 [[ 9.97514076e-01 7.04472489e-02 1.68928131e-03 3.34401252e+01] [-7.04472342e-02 9.97515505e-01 -6.83031120e-05 -6.86992852e-01] [-1.68989607e-03 -5.08718808e-05 9.99998571e-01 -2.97655856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.68, Z:-0.30 [[ 9.97704362e-01 6.76989877e-02 1.68928422e-03 3.34688719e+01] [-6.76989691e-02 9.97705791e-01 -6.82311145e-05 -6.79382725e-01] [-1.69002783e-03 -4.62883200e-05 9.99998571e-01 -2.95091265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:-0.68, Z:-0.29 [[ 9.97896132e-01 6.48109295e-02 1.68928738e-03 3.34972103e+01] [-6.48109069e-02 9.97897561e-01 -6.81528008e-05 -6.77456859e-01] [-1.69015280e-03 -4.14748311e-05 9.99998571e-01 -2.94759083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.68, Z:-0.30 [[ 9.98486357e-01 5.49740126e-02 1.68928974e-03 3.35255317e+01] [-5.49739761e-02 9.98487785e-01 -6.80942551e-05 -6.76304636e-01] [-1.69047859e-03 -2.48757892e-05 9.99998571e-01 -2.98963744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.68, Z:-0.30 [[ 9.98803352e-01 4.88775061e-02 1.68929131e-03 3.35554983e+01] [-4.88774609e-02 9.98804780e-01 -6.80554218e-05 -6.78011965e-01] [-1.69059861e-03 -1.45942864e-05 9.99998571e-01 -2.99877387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.68, Z:-0.30 [[ 9.99278131e-01 3.79521288e-02 1.68929273e-03 3.35857878e+01] [-3.79520680e-02 9.99279558e-01 -6.80199612e-05 -6.81316292e-01] [-1.69065720e-03 3.85870689e-06 9.99998571e-01 -2.96089614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.68, Z:-0.30 [[ 9.99444844e-01 3.32738519e-02 1.68929273e-03 3.36153351e+01] [-3.32737845e-02 9.99446272e-01 -6.80199612e-05 -6.84380446e-01] [-1.69062061e-03 1.17730372e-05 9.99998571e-01 -2.96181287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.69, Z:-0.29 [[ 9.99562108e-01 2.95421508e-02 1.68929356e-03 3.36455017e+01] [-2.95420781e-02 9.99563535e-01 -6.79995651e-05 -6.88209446e-01] [-1.69056509e-03 1.80645466e-05 9.99998571e-01 -2.94638461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.69, Z:-0.29 [[ 9.99707615e-01 2.41211496e-02 1.68929356e-03 3.36754473e+01] [-2.41210691e-02 9.99709042e-01 -6.79995651e-05 -6.93301482e-01] [-1.69044227e-03 2.72321166e-05 9.99998571e-01 -2.90930660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.69, Z:-0.29 [[ 9.99707615e-01 2.41211496e-02 1.68929356e-03 3.37064221e+01] [-2.41210691e-02 9.99709042e-01 -6.79995651e-05 -6.94548322e-01] [-1.69044227e-03 2.72321166e-05 9.99998571e-01 -2.90983071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.70, Z:-0.29 [[ 9.99744254e-01 2.25515499e-02 1.68929356e-03 3.37369005e+01] [-2.25514672e-02 9.99745681e-01 -6.79995651e-05 -6.96756687e-01] [-1.69039743e-03 2.98861264e-05 9.99998571e-01 -2.90960457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.70, Z:-0.30 [[ 9.99758442e-01 2.19135367e-02 1.68929356e-03 3.37665186e+01] [-2.19134531e-02 9.99759869e-01 -6.79995651e-05 -7.01118513e-01] [-1.69037801e-03 3.09648843e-05 9.99998571e-01 -2.95497026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.71, Z:-0.30 [[ 9.99765168e-01 2.16044980e-02 1.68929272e-03 3.37959050e+01] [-2.16044138e-02 9.99766595e-01 -6.80202694e-05 -7.05102866e-01] [-1.69036798e-03 3.15081170e-05 9.99998571e-01 -2.97144662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.71, Z:-0.30 [[ 9.99777129e-01 2.10437242e-02 1.68929351e-03 3.38258308e+01] [-2.10436394e-02 9.99778556e-01 -6.80006515e-05 -7.09107895e-01] [-1.69035041e-03 3.24366127e-05 9.99998571e-01 -2.97486013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.71, Z:-0.30 [[ 9.99800406e-01 1.99071221e-02 1.68929351e-03 3.38562001e+01] [-1.99070356e-02 9.99801833e-01 -6.80006515e-05 -7.14744588e-01] [-1.69031245e-03 3.43582529e-05 9.99998571e-01 -2.97114314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:-0.72, Z:-0.30 [[ 9.99756615e-01 2.19967293e-02 1.68929351e-03 3.38865510e+01] [-2.19966458e-02 9.99758042e-01 -6.80006515e-05 -7.20081499e-01] [-1.69038057e-03 3.08253101e-05 9.99998571e-01 -2.97311851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.72, Z:-0.30 [[ 9.99706927e-01 2.41496509e-02 1.68928983e-03 3.39162320e+01] [-2.41495703e-02 9.99708354e-01 -6.80920582e-05 -7.22560542e-01] [-1.69044155e-03 2.72764788e-05 9.99998571e-01 -2.96770779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:-0.72, Z:-0.30 [[ 9.99642068e-01 2.66998670e-02 1.68929060e-03 3.39470309e+01] [-2.66997901e-02 9.99643495e-01 -6.80727875e-05 -7.24394952e-01] [-1.69050590e-03 2.29447176e-05 9.99998571e-01 -2.96582977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.73, Z:-0.30 [[ 9.99432957e-01 3.36290206e-02 1.68929060e-03 3.39770281e+01] [-3.36289536e-02 9.99434384e-01 -6.80727875e-05 -7.25765129e-01] [-1.69062434e-03 1.12251120e-05 9.99998571e-01 -2.97636836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.73, Z:-0.30 [[ 9.99292160e-01 3.75809086e-02 1.68929060e-03 3.40064694e+01] [-3.75808472e-02 9.99293588e-01 -6.80727875e-05 -7.26800294e-01] [-1.69065551e-03 4.53963080e-06 9.99998571e-01 -2.98155873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.73, Z:-0.30 [[ 9.98962983e-01 4.54984054e-02 1.68929139e-03 3.40361453e+01] [-4.54983553e-02 9.98964411e-01 -6.80533079e-05 -7.25439044e-01] [-1.69063829e-03 -8.87724442e-06 9.99998571e-01 -2.98494686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.72, Z:-0.30 [[ 9.98803877e-01 4.88667811e-02 1.68929216e-03 3.40651721e+01] [-4.88667359e-02 9.98805305e-01 -6.80341923e-05 -7.23969380e-01] [-1.69059858e-03 -1.45973788e-05 9.99998571e-01 -2.97619252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.72, Z:-0.30 [[ 9.98635243e-01 5.21995885e-02 1.68929446e-03 3.40953042e+01] [-5.21995482e-02 9.98636672e-01 -6.79770772e-05 -7.19379034e-01] [-1.69053977e-03 -2.02961024e-05 9.99998571e-01 -2.96629610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.72, Z:-0.30 [[ 9.98643563e-01 5.20401831e-02 1.68929599e-03 3.41236682e+01] [-5.20401426e-02 9.98644991e-01 -6.79389267e-05 -7.17560416e-01] [-1.69054253e-03 -2.00644324e-05 9.99998571e-01 -2.97658948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.72, Z:-0.30 [[ 9.98710531e-01 5.07387510e-02 1.68929828e-03 3.41532482e+01] [-5.07387087e-02 9.98711960e-01 -6.78819435e-05 -7.15543637e-01] [-1.69056664e-03 -1.79184015e-05 9.99998571e-01 -2.98565868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:-0.71, Z:-0.30 [[ 9.98945494e-01 4.58807789e-02 1.68929979e-03 3.41830934e+01] [-4.58807297e-02 9.98946923e-01 -6.78442557e-05 -7.10936954e-01] [-1.69063358e-03 -9.73359371e-06 9.99998571e-01 -2.98161738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.71, Z:-0.30 [[ 9.99118542e-01 4.19438280e-02 1.68929908e-03 3.42130469e+01] [-4.19437733e-02 9.99119970e-01 -6.78620119e-05 -7.10186430e-01] [-1.69065884e-03 -3.05338324e-06 9.99998571e-01 -2.98112735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:-0.71, Z:-0.30 [[ 9.99456016e-01 3.29365698e-02 1.68930057e-03 3.42421072e+01] [-3.29365022e-02 9.99457444e-01 -6.78248838e-05 -7.10456633e-01] [-1.69061795e-03 1.21483362e-05 9.99998571e-01 -2.95318393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.71, Z:-0.30 [[ 9.99581455e-01 2.88801328e-02 1.68930131e-03 3.42723276e+01] [-2.88800594e-02 9.99582882e-01 -6.78064486e-05 -7.11646840e-01] [-1.69055493e-03 1.89909462e-05 9.99998571e-01 -2.95499319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.30, Y:-0.71, Z:-0.30 [[ 9.99665496e-01 2.58077908e-02 1.68930131e-03 3.43031003e+01] [-2.58077131e-02 9.99666923e-01 -6.78064486e-05 -7.12909876e-01] [-1.69048858e-03 2.41867634e-05 9.99998571e-01 -2.98029803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.71, Z:-0.30 [[ 9.99754689e-01 2.20841062e-02 1.68930131e-03 3.43334438e+01] [-2.20840231e-02 9.99756116e-01 -6.78064486e-05 -7.14710452e-01] [-1.69038676e-03 3.04832457e-05 9.99998571e-01 -3.02339966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.72, Z:-0.30 [[ 9.99777291e-01 2.10360218e-02 1.68930131e-03 3.43638884e+01] [-2.10359372e-02 9.99778718e-01 -6.78064486e-05 -7.16998401e-01] [-1.69035388e-03 3.22553111e-05 9.99998571e-01 -3.02188297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.72, Z:-0.30 [[ 9.99800412e-01 1.99068347e-02 1.68930149e-03 3.43935457e+01] [-1.99067485e-02 9.99801839e-01 -6.78020098e-05 -7.22323417e-01] [-1.69031646e-03 3.41599774e-05 9.99998571e-01 -2.99845922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.73, Z:-0.30 [[ 9.99819225e-01 1.89384112e-02 1.68929746e-03 3.44236409e+01] [-1.89383235e-02 9.99820652e-01 -6.79023094e-05 -7.25976314e-01] [-1.69028045e-03 3.58975726e-05 9.99998571e-01 -2.99701929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.73, Z:-0.30 [[ 9.99849189e-01 1.72842472e-02 1.68929746e-03 3.44537436e+01] [-1.72841571e-02 9.99850615e-01 -6.79023094e-05 -7.30254764e-01] [-1.69021874e-03 3.86939863e-05 9.99998571e-01 -2.99453508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.74, Z:-0.30 [[ 9.99919977e-01 1.25373477e-02 1.68929746e-03 3.44837542e+01] [-1.25372508e-02 9.99921403e-01 -6.79023094e-05 -7.39909851e-01] [-1.69001600e-03 4.67177297e-05 9.99998571e-01 -2.97357475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.75, Z:-0.30 [[ 9.99952954e-01 9.55179128e-03 1.68929666e-03 3.45151303e+01] [-9.55169015e-03 9.99954379e-01 -6.79220490e-05 -7.50177623e-01] [-1.68986837e-03 5.17832152e-05 9.99998571e-01 -2.96565627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:-0.76, Z:-0.30 [[ 9.99953505e-01 9.49393509e-03 1.68929510e-03 3.45461753e+01] [-9.49383382e-03 9.99954930e-01 -6.79609996e-05 -7.55276169e-01] [-1.68986418e-03 5.19199528e-05 9.99998571e-01 -2.97554995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.76, Z:-0.30 [[ 9.99944469e-01 1.04021947e-02 1.68929353e-03 3.45772734e+01] [-1.04020947e-02 9.99945894e-01 -6.79998345e-05 -7.59322357e-01] [-1.68990948e-03 5.04238671e-05 9.99998571e-01 -2.98554961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.76, Z:-0.30 [[ 9.99918809e-01 1.26301802e-02 1.68929197e-03 3.46082649e+01] [-1.26300832e-02 9.99920235e-01 -6.80386038e-05 -7.62720326e-01] [-1.69001657e-03 4.66971815e-05 9.99998571e-01 -2.99807183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.77, Z:-0.30 [[ 9.99821261e-01 1.88306062e-02 1.68929042e-03 3.46373191e+01] [-1.88305181e-02 9.99822688e-01 -6.80772585e-05 -7.66206387e-01] [-1.69027282e-03 3.62548768e-05 9.99998571e-01 -3.00147457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.77, Z:-0.29 [[ 9.99654249e-01 2.62398335e-02 1.68929042e-03 3.46676023e+01] [-2.62397559e-02 9.99655676e-01 -6.80772585e-05 -7.68518305e-01] [-1.69049509e-03 2.37271526e-05 9.99998571e-01 -2.93444766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.77, Z:-0.30 [[ 9.99572656e-01 2.91830691e-02 1.68929042e-03 3.46983207e+01] [-2.91829957e-02 9.99574083e-01 -6.80772585e-05 -7.68762373e-01] [-1.69055762e-03 1.87496112e-05 9.99998571e-01 -2.98653325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.77, Z:-0.30 [[ 9.99509598e-01 3.12683415e-02 1.68928964e-03 3.47285453e+01] [-3.12682710e-02 9.99511026e-01 -6.80965269e-05 -7.68963756e-01] [-1.69059288e-03 1.52419660e-05 9.99998571e-01 -2.97290000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.77, Z:-0.30 [[ 9.99436659e-01 3.35188270e-02 1.68928964e-03 3.47584789e+01] [-3.35187598e-02 9.99438086e-01 -6.80965269e-05 -7.68460946e-01] [-1.69062292e-03 1.14352717e-05 9.99998571e-01 -2.98449131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.77, Z:-0.30 [[ 9.99409079e-01 3.43313153e-02 1.68929043e-03 3.47901466e+01] [-3.43312493e-02 9.99410507e-01 -6.80768379e-05 -7.68564964e-01] [-1.69063177e-03 1.00411589e-05 9.99998571e-01 -2.98599598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.77, Z:-0.30 [[ 9.99394255e-01 3.47601575e-02 1.68928890e-03 3.48202707e+01] [-3.47600920e-02 9.99395683e-01 -6.81149390e-05 -7.66195527e-01] [-1.69063572e-03 9.35384131e-06 9.99998571e-01 -2.95541100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.77, Z:-0.29 [[ 9.99400023e-01 3.45939256e-02 1.68928813e-03 3.48509041e+01] [-3.45938598e-02 9.99401451e-01 -6.81339211e-05 -7.65556916e-01] [-1.69063403e-03 9.65404562e-06 9.99998571e-01 -2.93824044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.77, Z:-0.29 [[ 9.99428873e-01 3.37501806e-02 1.68928813e-03 3.48814710e+01] [-3.37501136e-02 9.99430300e-01 -6.81339211e-05 -7.65226998e-01] [-1.69062528e-03 1.10813416e-05 9.99998571e-01 -2.94068327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.77, Z:-0.29 [[ 9.99456646e-01 3.29174702e-02 1.68928813e-03 3.49120432e+01] [-3.29174020e-02 9.99458073e-01 -6.81339211e-05 -7.66008297e-01] [-1.69061546e-03 1.24899237e-05 9.99998571e-01 -2.94684416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.77, Z:-0.29 [[ 9.99487269e-01 3.19741406e-02 1.68928813e-03 3.49428097e+01] [-3.19740711e-02 9.99488696e-01 -6.81339211e-05 -7.66670517e-01] [-1.69060291e-03 1.40855680e-05 9.99998571e-01 -2.93688393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.77, Z:-0.29 [[ 9.99518860e-01 3.09708572e-02 1.68928739e-03 3.49730377e+01] [-3.09707863e-02 9.99520288e-01 -6.81523803e-05 -7.65974870e-01] [-1.69058775e-03 1.58010309e-05 9.99998571e-01 -2.93257839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.77, Z:-0.29 [[ 9.99503019e-01 3.14779376e-02 1.68928664e-03 3.50039944e+01] [-3.14778674e-02 9.99504447e-01 -6.81707416e-05 -7.65456930e-01] [-1.69059539e-03 1.49617211e-05 9.99998571e-01 -2.94899875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.03, Y:-0.76, Z:-0.30 [[ 9.99418625e-01 3.40522804e-02 1.68928664e-03 3.50340794e+01] [-3.40522138e-02 9.99420053e-01 -6.81707416e-05 -7.63181652e-01] [-1.69062832e-03 1.06071589e-05 9.99998571e-01 -3.00913832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.76, Z:-0.30 [[ 9.99394192e-01 3.47619717e-02 1.68928591e-03 3.50645720e+01] [-3.47619061e-02 9.99395620e-01 -6.81888770e-05 -7.62687973e-01] [-1.69063532e-03 9.42476935e-06 9.99998571e-01 -3.02386026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.09, Y:-0.76, Z:-0.30 [[ 9.99417813e-01 3.40761156e-02 1.68928591e-03 3.50939297e+01] [-3.40760490e-02 9.99419240e-01 -6.81888770e-05 -7.62416641e-01] [-1.69062846e-03 1.05849888e-05 9.99998571e-01 -3.02115330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.76, Z:-0.30 [[ 9.99473476e-01 3.24024236e-02 1.68928666e-03 3.51242302e+01] [-3.24023547e-02 9.99474904e-01 -6.81702821e-05 -7.63371410e-01] [-1.69060851e-03 1.33975232e-05 9.99998571e-01 -3.01411311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.76, Z:-0.30 [[ 9.99631478e-01 2.70934549e-02 1.68928666e-03 3.51550794e+01] [-2.70933784e-02 9.99632905e-01 -6.81702821e-05 -7.64380014e-01] [-1.69051350e-03 2.23766771e-05 9.99998571e-01 -3.00324778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.77, Z:-0.30 [[ 9.99700295e-01 2.44226666e-02 1.68928666e-03 3.51858780e+01] [-2.44225863e-02 9.99701722e-01 -6.81702821e-05 -7.65619847e-01] [-1.69044769e-03 2.68931018e-05 9.99998571e-01 -3.02810053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.77, Z:-0.31 [[ 9.99746245e-01 2.24631078e-02 1.68928510e-03 3.52157935e+01] [-2.24630246e-02 9.99747672e-01 -6.82089495e-05 -7.67773285e-01] [-1.69039103e-03 3.02451883e-05 9.99998571e-01 -3.06048272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.25, Y:-0.77, Z:-0.30 [[ 9.99806257e-01 1.96110800e-02 1.68928510e-03 3.52456124e+01] [-1.96109927e-02 9.99807684e-01 -6.82089495e-05 -7.74221398e-01] [-1.69029788e-03 3.50671767e-05 9.99998571e-01 -3.04041638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.78, Z:-0.30 [[ 9.99837114e-01 1.79691943e-02 1.68928439e-03 3.52760894e+01] [-1.79691046e-02 9.99838540e-01 -6.82265281e-05 -7.78740442e-01] [-1.69023762e-03 3.78604870e-05 9.99998571e-01 -2.98985161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.79, Z:-0.30 [[ 9.99866171e-01 1.62722389e-02 1.68928439e-03 3.53062328e+01] [-1.62721468e-02 9.99867598e-01 -6.82265281e-05 -7.87610428e-01] [-1.69017092e-03 4.07291138e-05 9.99998571e-01 -2.98253054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.34, Y:-0.79, Z:-0.30 [[ 9.99868037e-01 1.61572100e-02 1.68928360e-03 3.53368651e+01] [-1.61571178e-02 9.99869463e-01 -6.82461035e-05 -7.93617689e-01] [-1.69016575e-03 4.09431435e-05 9.99998571e-01 -2.98263170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.80, Z:-0.30 [[ 9.99836907e-01 1.79807035e-02 1.68928360e-03 3.53668002e+01] [-1.79806138e-02 9.99838333e-01 -6.82461035e-05 -8.04549386e-01] [-1.69023761e-03 3.78606170e-05 9.99998571e-01 -2.97609016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.81, Z:-0.30 [[ 9.99805537e-01 1.96477433e-02 1.68928203e-03 3.53971188e+01] [-1.96476560e-02 9.99806964e-01 -6.82849618e-05 -8.09371156e-01] [-1.69029758e-03 3.50812508e-05 9.99998571e-01 -2.95749518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.81, Z:-0.29 [[ 9.99762124e-01 2.17449402e-02 1.68927843e-03 3.54285970e+01] [-2.17448557e-02 9.99763550e-01 -6.83739342e-05 -8.13907688e-01] [-1.69036579e-03 3.16245540e-05 9.99998571e-01 -2.93436549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.82, Z:-0.29 [[ 9.99606132e-01 2.80129998e-02 1.68927684e-03 3.54584120e+01] [-2.80129242e-02 9.99607559e-01 -6.84131021e-05 -8.22962290e-01] [-1.69053036e-03 2.10645722e-05 9.99998571e-01 -2.92540677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.83, Z:-0.29 [[ 9.99499237e-01 3.15978036e-02 1.68927605e-03 3.54886953e+01] [-3.15977330e-02 9.99500665e-01 -6.84326841e-05 -8.28533108e-01] [-1.69059486e-03 1.50211219e-05 9.99998571e-01 -2.94852717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.83, Z:-0.30 [[ 9.99236481e-01 3.90333400e-02 1.68927527e-03 3.55184784e+01] [-3.90332801e-02 9.99237909e-01 -6.84518146e-05 -8.33800690e-01] [-1.69065979e-03 2.46159546e-06 9.99998571e-01 -3.01736653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.84, Z:-0.30 [[ 9.99049708e-01 4.35525804e-02 1.68927450e-03 3.55485128e+01] [-4.35525269e-02 9.99051136e-01 -6.84709617e-05 -8.35681554e-01] [-1.69065369e-03 -5.16627870e-06 9.99998571e-01 -3.03346534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.84, Z:-0.30 [[ 9.98848905e-01 4.79375774e-02 1.68927372e-03 3.55794031e+01] [-4.79375302e-02 9.98850333e-01 -6.84901080e-05 -8.37092259e-01] [-1.69061487e-03 -1.25683406e-05 9.99998571e-01 -3.01811997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.84, Z:-0.30 [[ 9.98847817e-01 4.79602352e-02 1.68927217e-03 3.56112086e+01] [-4.79601879e-02 9.98849246e-01 -6.85283610e-05 -8.38429726e-01] [-1.69061487e-03 -1.25684069e-05 9.99998571e-01 -3.01865818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.84, Z:-0.29 [[ 9.98470228e-01 5.52661830e-02 1.68927061e-03 3.56417827e+01] [-5.52661461e-02 9.98471656e-01 -6.85666803e-05 -8.36370104e-01] [-1.69047825e-03 -2.48976877e-05 9.99998571e-01 -2.93419058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.83, Z:-0.29 [[ 9.98064784e-01 6.21597381e-02 1.68926984e-03 3.56724255e+01] [-6.21597110e-02 9.98066213e-01 -6.85857440e-05 -8.32038372e-01] [-1.69026642e-03 -3.65515094e-05 9.99998571e-01 -2.89530898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.055769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.83, Z:-0.29 [[ 9.97879811e-01 6.50617328e-02 1.68926984e-03 3.57034890e+01] [-6.50617098e-02 9.97881240e-01 -6.85857440e-05 -8.30747084e-01] [-1.69015299e-03 -4.14664549e-05 9.99998571e-01 -2.92104761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.83, Z:-0.30 [[ 9.97734718e-01 6.72501199e-02 1.68926984e-03 3.57335950e+01] [-6.72501001e-02 9.97736147e-01 -6.85857440e-05 -8.29070088e-01] [-1.69005798e-03 -4.51731880e-05 9.99998571e-01 -2.95626269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.83, Z:-0.30 [[ 9.97663584e-01 6.82972875e-02 1.68926984e-03 3.57630565e+01] [-6.82972692e-02 9.97665013e-01 -6.85857440e-05 -8.26141237e-01] [-1.69000964e-03 -4.69470179e-05 9.99998571e-01 -2.98448039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.82, Z:-0.30 [[ 9.97679001e-01 6.80717001e-02 1.68927059e-03 3.57940823e+01] [-6.80716815e-02 9.97680431e-01 -6.85673032e-05 -8.15827548e-01] [-1.69001970e-03 -4.65833310e-05 9.99998571e-01 -2.96524772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.81, Z:-0.29 [[ 9.97694625e-01 6.78423262e-02 1.68927059e-03 3.58236568e+01] [-6.78423073e-02 9.97696054e-01 -6.85673032e-05 -8.06173188e-01] [-1.69003037e-03 -4.61947845e-05 9.99998571e-01 -2.94806888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.80, Z:-0.29 [[ 9.97720051e-01 6.74673748e-02 1.68927207e-03 3.58533431e+01] [-6.74673554e-02 9.97721480e-01 -6.85308813e-05 -8.02242376e-01] [-1.69004662e-03 -4.55960845e-05 9.99998571e-01 -2.93281692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.80, Z:-0.29 [[ 9.97791044e-01 6.64091709e-02 1.68927370e-03 3.58835107e+01] [-6.64091500e-02 9.97792473e-01 -6.84904991e-05 -7.97509944e-01] [-1.69009298e-03 -4.38440242e-05 9.99998571e-01 -2.93249960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:-0.79, Z:-0.29 [[ 9.98053785e-01 6.23360946e-02 1.68927533e-03 3.59125914e+01] [-6.23360679e-02 9.98055214e-01 -6.84503622e-05 -7.86435013e-01] [-1.69025698e-03 -3.69856387e-05 9.99998571e-01 -2.92922281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.78, Z:-0.29 [[ 9.98208915e-01 5.98005790e-02 1.68927775e-03 3.59412294e+01] [-5.98005489e-02 9.98210343e-01 -6.83905000e-05 -7.83411316e-01] [-1.69034432e-03 -3.27517302e-05 9.99998571e-01 -2.93167931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.97, Y:-0.78, Z:-0.30 [[ 9.98553323e-01 5.37439072e-02 1.68928017e-03 3.59697364e+01] [-5.37438685e-02 9.98554752e-01 -6.83307993e-05 -7.78131947e-01] [-1.69051110e-03 -2.25565045e-05 9.99998571e-01 -2.96390882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.78, Z:-0.30 [[ 9.98725277e-01 5.04476602e-02 1.68928255e-03 3.59993091e+01] [-5.04476168e-02 9.98726706e-01 -6.82719422e-05 -7.75617281e-01] [-1.69057575e-03 -1.70353643e-05 9.99998571e-01 -2.97418684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.77, Z:-0.30 [[ 9.99042985e-01 4.37065316e-02 1.68928414e-03 3.60295824e+01] [-4.37064787e-02 9.99044413e-01 -6.82325423e-05 -7.71525733e-01] [-1.69065209e-03 -5.66541853e-06 9.99998571e-01 -2.98939356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.415769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.77, Z:-0.30 [[ 9.99196280e-01 4.00492128e-02 1.68928573e-03 3.60587400e+01] [-4.00491548e-02 9.99197708e-01 -6.81931558e-05 -7.72287403e-01] [-1.69066151e-03 4.83882014e-07 9.99998571e-01 -2.98742892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.77, Z:-0.30 [[ 9.99430998e-01 3.36871764e-02 1.68928506e-03 3.60881302e+01] [-3.36871092e-02 9.99432426e-01 -6.82096897e-05 -7.73386826e-01] [-1.69062406e-03 1.12637480e-05 9.99998571e-01 -2.98136571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.77, Z:-0.30 [[ 9.99508617e-01 3.12997066e-02 1.68928434e-03 3.61173077e+01] [-3.12996360e-02 9.99510044e-01 -6.82274389e-05 -7.74726958e-01] [-1.69059217e-03 1.53199280e-05 9.99998571e-01 -2.98344521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.78, Z:-0.30 [[ 9.99619723e-01 2.75237458e-02 1.68928590e-03 3.61479382e+01] [-2.75236699e-02 9.99621150e-01 -6.81889645e-05 -7.77564920e-01] [-1.69052273e-03 2.16676864e-05 9.99998571e-01 -2.97015734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.78, Z:-0.29 [[ 9.99659603e-01 2.60350445e-02 1.68928590e-03 3.61774723e+01] [-2.60349665e-02 9.99661030e-01 -6.81889645e-05 -7.79596203e-01] [-1.69048858e-03 2.41852515e-05 9.99998571e-01 -2.94261745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565769231000004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:36.21, Y:-0.78, Z:-0.29 [[ 9.99693436e-01 2.47018290e-02 1.68928666e-03 3.62084145e+01] [-2.47017491e-02 9.99694863e-01 -6.81699690e-05 -7.81349481e-01] [-1.69045512e-03 2.64207352e-05 9.99998571e-01 -2.91576263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.24, Y:-0.79, Z:-0.29 [[ 9.99766803e-01 2.15287387e-02 1.68928666e-03 3.62388011e+01] [-2.15286543e-02 9.99768229e-01 -6.81699690e-05 -7.86007986e-01] [-1.69036275e-03 3.17860034e-05 9.99998571e-01 -2.92489776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.79, Z:-0.30 [[ 9.99799258e-01 1.99647249e-02 1.68928666e-03 3.62696463e+01] [-1.99646382e-02 9.99800684e-01 -6.81699690e-05 -7.90066611e-01] [-1.69031096e-03 3.44302873e-05 9.99998571e-01 -2.95086755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.80, Z:-0.30 [[ 9.99835363e-01 1.80663518e-02 1.68928587e-03 3.62988099e+01] [-1.80662623e-02 9.99836789e-01 -6.81895866e-05 -7.96781191e-01] [-1.69024210e-03 3.76592784e-05 9.99998571e-01 -2.99855694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.80, Z:-0.30 [[ 9.99844548e-01 1.75506666e-02 1.68928666e-03 3.63295736e+01] [-1.75505764e-02 9.99845974e-01 -6.81699688e-05 -8.00340755e-01] [-1.69022290e-03 3.85114169e-05 9.99998571e-01 -3.00603133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.81, Z:-0.30 [[ 9.99862616e-01 1.64892342e-02 1.68928666e-03 3.63584305e+01] [-1.64891425e-02 9.99864043e-01 -6.81699688e-05 -8.08117330e-01] [-1.69018106e-03 4.03057148e-05 9.99998571e-01 -2.98830347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.81, Z:-0.30 [[ 9.99874449e-01 1.57554109e-02 1.68928741e-03 3.63889572e+01] [-1.57553182e-02 9.99875875e-01 -6.81515443e-05 -8.13243119e-01] [-1.69015148e-03 4.15277272e-05 9.99998571e-01 -2.97895067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.82, Z:-0.30 [[ 9.99889252e-01 1.47861151e-02 1.68928741e-03 3.64190725e+01] [-1.47860210e-02 9.99890678e-01 -6.81515443e-05 -8.18221554e-01] [-1.69011043e-03 4.31661575e-05 9.99998571e-01 -2.98019600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.83, Z:-0.30 [[ 9.99910819e-01 1.32476522e-02 1.68928741e-03 3.64491688e+01] [-1.32475559e-02 9.99912245e-01 -6.81515443e-05 -8.26098063e-01] [-1.69004201e-03 4.57665371e-05 9.99998571e-01 -3.01058950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.83, Z:-0.30 [[ 9.99902982e-01 1.38265516e-02 1.68928664e-03 3.64787139e+01] [-1.38264561e-02 9.99904408e-01 -6.81705039e-05 -8.34602493e-01] [-1.69006772e-03 4.48070425e-05 9.99998571e-01 -3.02234420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.84, Z:-0.30 [[ 9.99891318e-01 1.46457588e-02 1.68928591e-03 3.65088905e+01] [-1.46456645e-02 9.99892744e-01 -6.81885516e-05 -8.39152504e-01] [-1.69010340e-03 4.34404261e-05 9.99998571e-01 -2.99099478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.895769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.84, Z:-0.30 [[ 9.99869602e-01 1.60600349e-02 1.68928591e-03 3.65392889e+01] [-1.60599426e-02 9.99871028e-01 -6.81885516e-05 -8.43141681e-01] [-1.69016315e-03 4.10498251e-05 9.99998571e-01 -2.98435507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.85, Z:-0.30 [[ 9.99798838e-01 1.99857576e-02 1.68928591e-03 3.65690497e+01] [-1.99856709e-02 9.99800264e-01 -6.81885516e-05 -8.47748410e-01] [-1.69031130e-03 3.44133222e-05 9.99998571e-01 -2.97988257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.955769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.85, Z:-0.30 [[ 9.99676744e-01 2.53683702e-02 1.68928514e-03 3.65996199e+01] [-2.53682912e-02 9.99678171e-01 -6.82076319e-05 -8.51238855e-01] [-1.69047180e-03 2.53313060e-05 9.99998571e-01 -2.96320059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.85, Z:-0.30 [[ 9.99601984e-01 2.81606253e-02 1.68928514e-03 3.66297525e+01] [-2.81605503e-02 9.99603411e-01 -6.82076319e-05 -8.53307915e-01] [-1.69053596e-03 2.06092850e-05 9.99998571e-01 -2.95726608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.015769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.85, Z:-0.30 [[ 9.99540294e-01 3.02712394e-02 1.68928437e-03 3.66604230e+01] [-3.02711674e-02 9.99541721e-01 -6.82266845e-05 -8.54831330e-01] [-1.69057552e-03 1.70587102e-05 9.99998571e-01 -2.95109558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.86, Z:-0.30 [[ 9.99472650e-01 3.24278952e-02 1.68928437e-03 3.66903409e+01] [-3.24278262e-02 9.99474077e-01 -6.82266845e-05 -8.55785046e-01] [-1.69060839e-03 1.34108850e-05 9.99998571e-01 -2.95327437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.86, Z:-0.30 [[ 9.99461625e-01 3.27659202e-02 1.68928358e-03 3.67203681e+01] [-3.27658516e-02 9.99463053e-01 -6.82462253e-05 -8.57293989e-01] [-1.69061268e-03 1.28586680e-05 9.99998571e-01 -2.96785946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.75, Y:-0.86, Z:-0.30 [[ 9.99480080e-01 3.21980823e-02 1.68928280e-03 3.67516065e+01] [-3.21980129e-02 9.99481507e-01 -6.82655663e-05 -8.59891498e-01] [-1.69060494e-03 1.38385241e-05 9.99998571e-01 -2.97770963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.78, Y:-0.86, Z:-0.30 [[ 9.99481037e-01 3.21683532e-02 1.68928126e-03 3.67831344e+01] [-3.21682837e-02 9.99482465e-01 -6.83037738e-05 -8.61859983e-01] [-1.69060421e-03 1.39270479e-05 9.99998571e-01 -2.95117167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.86, Z:-0.29 [[ 9.99474498e-01 3.23708776e-02 1.68927970e-03 3.68146689e+01] [-3.23708083e-02 9.99475926e-01 -6.83422137e-05 -8.63520987e-01] [-1.69060669e-03 1.36229504e-05 9.99998571e-01 -2.91454482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.195769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.86, Z:-0.29 [[ 9.99420692e-01 3.39915691e-02 1.68927815e-03 3.68448885e+01] [-3.39915020e-02 9.99422120e-01 -6.83806099e-05 -8.63671767e-01] [-1.69062631e-03 1.09198949e-05 9.99998571e-01 -2.89951710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.86, Z:-0.29 [[ 9.99375745e-01 3.52883223e-02 1.68927815e-03 3.68750319e+01] [-3.52882571e-02 9.99377173e-01 -6.83806099e-05 -8.63964272e-01] [-1.69063906e-03 8.72624136e-06 9.99998571e-01 -2.93273200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.91, Y:-0.86, Z:-0.30 [[ 9.99279132e-01 3.79257573e-02 1.68927738e-03 3.69068592e+01] [-3.79256958e-02 9.99280560e-01 -6.83995857e-05 -8.62441212e-01] [-1.69065615e-03 4.28325855e-06 9.99998571e-01 -2.97926321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.86, Z:-0.30 [[ 9.99243677e-01 3.88486740e-02 1.68927585e-03 3.69384713e+01] [-3.88486138e-02 9.99245105e-01 -6.84374010e-05 -8.62348395e-01] [-1.69065932e-03 2.75961520e-06 9.99998571e-01 -2.95648662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.97, Y:-0.86, Z:-0.29 [[ 9.99232112e-01 3.91450261e-02 1.68927417e-03 3.69686256e+01] [-3.91449663e-02 9.99233540e-01 -6.84787165e-05 -8.61420185e-01] [-1.69066001e-03 2.29955206e-06 9.99998571e-01 -2.91929123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.86, Z:-0.29 [[ 9.99262562e-01 3.83598576e-02 1.68927039e-03 3.69996384e+01] [-3.83597965e-02 9.99263990e-01 -6.85720111e-05 -8.62027491e-01] [-1.69065748e-03 3.72137539e-06 9.99998571e-01 -2.91195288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.375769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.86, Z:-0.29 [[ 9.99307396e-01 3.71735860e-02 1.68926874e-03 3.70301676e+01] [-3.71735232e-02 9.99308823e-01 -6.86124830e-05 -8.63135416e-01] [-1.69065173e-03 5.76889099e-06 9.99998571e-01 -2.93825560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.87, Z:-0.30 [[ 9.99393026e-01 3.47954982e-02 1.68926792e-03 3.70602455e+01] [-3.47954319e-02 9.99394453e-01 -6.86326544e-05 -8.65307475e-01] [-1.69063310e-03 9.81218925e-06 9.99998571e-01 -2.96858132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:37.09, Y:-0.87, Z:-0.29 [[ 9.99428981e-01 3.37469843e-02 1.68926717e-03 3.70912991e+01] [-3.37469165e-02 9.99430408e-01 -6.86510672e-05 -8.67301011e-01] [-1.69062175e-03 1.16043079e-05 9.99998571e-01 -2.94300946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.87, Z:-0.29 [[ 9.99530918e-01 3.05792479e-02 1.68926556e-03 3.71222687e+01] [-3.05791755e-02 9.99532345e-01 -6.86907869e-05 -8.71184369e-01] [-1.69057608e-03 1.70022173e-05 9.99998571e-01 -2.90752380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.15, Y:-0.87, Z:-0.29 [[ 9.99591341e-01 2.85358986e-02 1.68926393e-03 3.71528214e+01] [-2.85358232e-02 9.99592768e-01 -6.87307828e-05 -8.74839960e-01] [-1.69053730e-03 2.04981583e-05 9.99998571e-01 -2.91701366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.88, Z:-0.30 [[ 9.99727674e-01 2.32749833e-02 1.68926312e-03 3.71832980e+01] [-2.32749004e-02 9.99729100e-01 -6.87506997e-05 -8.82633103e-01] [-1.69040567e-03 2.94145463e-05 9.99998571e-01 -2.97837919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.89, Z:-0.30 [[ 9.99787711e-01 2.05348383e-02 1.68925932e-03 3.72139896e+01] [-2.05347512e-02 9.99789137e-01 -6.88439470e-05 -8.87374392e-01] [-1.69031682e-03 3.41408123e-05 9.99998571e-01 -2.99741916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.90, Z:-0.30 [[ 9.99860942e-01 1.65904575e-02 1.68925785e-03 3.72448088e+01] [-1.65903648e-02 9.99862368e-01 -6.88800248e-05 -8.95759102e-01] [-1.69016810e-03 4.08450424e-05 9.99998571e-01 -2.96743045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.28, Y:-0.90, Z:-0.30 [[ 9.99876104e-01 1.56500012e-02 1.68925625e-03 3.72759917e+01] [-1.56499071e-02 9.99877530e-01 -6.89192402e-05 -9.00252946e-01] [-1.69012795e-03 4.24739981e-05 9.99998571e-01 -2.95631377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.90, Z:-0.30 [[ 9.99878913e-01 1.54695110e-02 1.68925460e-03 3.73057446e+01] [-1.54694165e-02 9.99880339e-01 -6.89597717e-05 -9.04623565e-01] [-1.69011923e-03 4.28196386e-05 9.99998571e-01 -2.95852651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675769231000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.91, Z:-0.30 [[ 9.99869525e-01 1.60648353e-02 1.68925071e-03 3.73367261e+01] [-1.60647415e-02 9.99870951e-01 -6.90547855e-05 -9.11791357e-01] [-1.69014207e-03 4.19083995e-05 9.99998571e-01 -2.98382486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.92, Z:-0.30 [[ 9.99859879e-01 1.66543889e-02 1.68924907e-03 3.73675027e+01] [-1.66542959e-02 9.99861305e-01 -6.90948397e-05 -9.16829951e-01] [-1.69016552e-03 4.09519041e-05 9.99998571e-01 -3.00279989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.93, Z:-0.30 [[ 9.99846085e-01 1.74628825e-02 1.68923845e-03 3.73979902e+01] [-1.74627902e-02 9.99847511e-01 -6.93534670e-05 -9.26269231e-01] [-1.69019198e-03 3.98439757e-05 9.99998571e-01 -3.00429719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.93, Z:-0.30 [[ 9.99836420e-01 1.80077517e-02 1.68922812e-03 3.74290290e+01] [-1.80076598e-02 9.99837847e-01 -6.96041967e-05 -9.31619092e-01] [-1.69020762e-03 3.91737655e-05 9.99998571e-01 -2.96798623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.94, Z:-0.29 [[ 9.99806378e-01 1.96049053e-02 1.68922650e-03 3.74604318e+01] [-1.96048156e-02 9.99807805e-01 -6.96434919e-05 -9.40436362e-01] [-1.69026720e-03 3.65130333e-05 9.99998571e-01 -2.93019064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.95, Z:-0.29 [[ 9.99790613e-01 2.03930474e-02 1.68922489e-03 3.74928198e+01] [-2.03929588e-02 9.99792040e-01 -6.96826239e-05 -9.45696211e-01] [-1.69029464e-03 3.52197398e-05 9.99998571e-01 -2.91666650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.95, Z:-0.29 [[ 9.99785872e-01 2.06241699e-02 1.68921344e-03 3.75246344e+01] [-2.06240811e-02 9.99787299e-01 -6.99590164e-05 -9.50368202e-01] [-1.69029699e-03 3.51055612e-05 9.99998571e-01 -2.91119591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.95, Z:-0.29 [[ 9.99782486e-01 2.07876592e-02 1.68920195e-03 3.75572720e+01] [-2.07875702e-02 9.99783913e-01 -7.02353661e-05 -9.51873694e-01] [-1.69029697e-03 3.51056848e-05 9.99998571e-01 -2.91174845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.915769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.96, Z:-0.29 [[ 9.99767371e-01 2.15023353e-02 1.68919042e-03 3.75886090e+01] [-2.15022469e-02 9.99768797e-01 -7.05115901e-05 -9.60429481e-01] [-1.69031604e-03 3.41737975e-05 9.99998571e-01 -2.92457041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.97, Z:-0.30 [[ 9.99748675e-01 2.23547040e-02 1.68917973e-03 3.76208078e+01] [-2.23546163e-02 9.99750102e-01 -7.07667644e-05 -9.71174848e-01] [-1.69033958e-03 3.29880142e-05 9.99998571e-01 -2.96360266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.98, Z:-0.30 [[ 9.99741475e-01 2.26744370e-02 1.68917567e-03 3.76529840e+01] [-2.26743496e-02 9.99742901e-01 -7.08635162e-05 -9.77013527e-01] [-1.69034818e-03 3.25442364e-05 9.99998571e-01 -2.98145329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.98, Z:-0.30 [[ 9.99731271e-01 2.31199636e-02 1.68916380e-03 3.76846711e+01] [-2.31198763e-02 9.99732697e-01 -7.11454387e-05 -9.82495937e-01] [-1.69035716e-03 3.20730617e-05 9.99998571e-01 -3.00579381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.99, Z:-0.30 [[ 9.99679882e-01 2.52444069e-02 1.68915192e-03 3.77163538e+01] [-2.52443222e-02 9.99681309e-01 -7.14263358e-05 -9.90372567e-01] [-1.69041672e-03 2.87619756e-05 9.99998571e-01 -3.01791416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.99, Z:-0.30 [[ 9.99627757e-01 2.72303805e-02 1.68913918e-03 3.77487629e+01] [-2.72302982e-02 9.99629184e-01 -7.17264203e-05 -9.93888934e-01] [-1.69046596e-03 2.57039572e-05 9.99998571e-01 -2.99118715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.095769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.78, Y:-1.00, Z:-0.30 [[ 9.99427127e-01 3.38018471e-02 1.68912519e-03 3.77813126e+01] [-3.38017736e-02 9.99428554e-01 -7.20543777e-05 -9.97783461e-01] [-1.69059552e-03 1.49176725e-05 9.99998571e-01 -2.97049494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.81, Y:-1.00, Z:-0.30 [[ 9.99294915e-01 3.75075869e-02 1.68911114e-03 3.78133223e+01] [-3.75075181e-02 9.99296343e-01 -7.23822208e-05 -9.99353592e-01] [-1.69063747e-03 8.97681853e-06 9.99998571e-01 -2.96630150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.00, Z:-0.29 [[ 9.98989219e-01 4.49186660e-02 1.68909793e-03 3.78458311e+01] [-4.49186073e-02 9.98990647e-01 -7.26892432e-05 -1.00094904e+00] [-1.69065813e-03 -3.25615609e-06 9.99998571e-01 -2.93270710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.00, Z:-0.29 [[ 9.98847180e-01 4.79735097e-02 1.68908394e-03 3.78789576e+01] [-4.79734548e-02 9.98848608e-01 -7.30128819e-05 -1.00179200e+00] [-1.69064182e-03 -8.10248078e-06 9.99998571e-01 -2.92225315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.91, Y:-1.00, Z:-0.29 [[ 9.98727594e-01 5.04017800e-02 1.68906969e-03 3.79108600e+01] [-5.04017280e-02 9.98729023e-01 -7.33410211e-05 -1.00209530e+00] [-1.69061944e-03 -1.18843295e-05 9.99998571e-01 -2.92908417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.00, Z:-0.30 [[ 9.98533400e-01 5.41128034e-02 1.68905633e-03 3.79434913e+01] [-5.41127563e-02 9.98534829e-01 -7.36474189e-05 -1.00151063e+00] [-1.69056684e-03 -1.78600858e-05 9.99998571e-01 -2.95905837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.275769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.98, Y:-1.00, Z:-0.30 [[ 9.98456497e-01 5.55136910e-02 1.68904210e-03 3.79755279e+01] [-5.55136453e-02 9.98457926e-01 -7.39722383e-05 -1.00270624e+00] [-1.69054395e-03 -1.99068222e-05 9.99998571e-01 -2.96127674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.01, Y:-1.00, Z:-0.29 [[ 9.98346549e-01 5.74570739e-02 1.68902878e-03 3.80078764e+01] [-5.74570304e-02 9.98347977e-01 -7.42752713e-05 -1.00217358e+00] [-1.69050610e-03 -2.28941170e-05 9.99998571e-01 -2.94120413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:-1.00, Z:-0.29 [[ 9.98247707e-01 5.91494897e-02 1.68901553e-03 3.80409461e+01] [-5.91494482e-02 9.98249136e-01 -7.45753339e-05 -1.00173281e+00] [-1.69046938e-03 -2.54596804e-05 9.99998571e-01 -2.93853330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.00, Z:-0.30 [[ 9.98110577e-01 6.14200486e-02 1.68900081e-03 3.80732054e+01] [-6.14200097e-02 9.98112006e-01 -7.49072676e-05 -1.00090617e+00] [-1.69041279e-03 -2.89727099e-05 9.99998571e-01 -2.96020145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.11, Y:-1.00, Z:-0.30 [[ 9.97814318e-01 6.60585603e-02 1.68898704e-03 3.81052650e+01] [-6.60585276e-02 9.97815747e-01 -7.52164596e-05 -9.95714944e-01] [-1.69026655e-03 -3.65199364e-05 9.99998571e-01 -3.01535264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.99, Z:-0.30 [[ 9.97591802e-01 6.93378995e-02 1.68897460e-03 3.81373332e+01] [-6.93378710e-02 9.97593231e-01 -7.54948013e-05 -9.89176636e-01] [-1.69014428e-03 -4.17969079e-05 9.99998571e-01 -3.00066525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.99, Z:-0.30 [[ 9.97534333e-01 7.01598329e-02 1.68896571e-03 3.81708707e+01] [-7.01598053e-02 9.97535762e-01 -7.56931241e-05 -9.87956908e-01] [-1.69011431e-03 -4.29910151e-05 9.99998571e-01 -2.97113516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.99, Z:-0.30 [[ 9.97588415e-01 6.93866135e-02 1.68895138e-03 3.82029090e+01] [-6.93865842e-02 9.97589844e-01 -7.60114943e-05 -9.86735806e-01] [-1.69015492e-03 -4.13623810e-05 9.99998571e-01 -2.96192467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.515769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.99, Z:-0.30 [[ 9.97726990e-01 6.73646831e-02 1.68894692e-03 3.82358196e+01] [-6.73646507e-02 9.97728419e-01 -7.61104583e-05 -9.86289091e-01] [-1.69023750e-03 -3.78378609e-05 9.99998571e-01 -2.96931360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.98, Z:-0.30 [[ 9.98220090e-01 5.96137532e-02 1.68893189e-03 3.82669400e+01] [-5.96137092e-02 9.98221518e-01 -7.64424357e-05 -9.84557655e-01] [-1.69048518e-03 -2.43771198e-05 9.99998571e-01 -3.03077720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.98, Z:-0.30 [[ 9.98680644e-01 5.13236669e-02 1.68891973e-03 3.83004790e+01] [-5.13236106e-02 9.98682072e-01 -7.67102070e-05 -9.84158273e-01] [-1.69063091e-03 -1.00724597e-05 9.99998571e-01 -3.02065961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:-0.98, Z:-0.30 [[ 9.98796191e-01 4.90236308e-02 1.68891346e-03 3.83324712e+01] [-4.90235709e-02 9.98797619e-01 -7.68481551e-05 -9.84820869e-01] [-1.69065011e-03 -6.04092390e-06 9.99998571e-01 -2.99611130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.99, Z:-0.30 [[ 9.98854265e-01 4.78257716e-02 1.68889998e-03 3.83643728e+01] [-4.78257095e-02 9.98855693e-01 -7.71431719e-05 -9.85194451e-01] [-1.69065679e-03 -3.71805353e-06 9.99998571e-01 -2.97021666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.99, Z:-0.29 [[ 9.98888308e-01 4.71093983e-02 1.68888741e-03 3.83963094e+01] [-4.71093348e-02 9.98889736e-01 -7.74174289e-05 -9.85163498e-01] [-1.69065939e-03 -2.23099768e-06 9.99998571e-01 -2.94228696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.99, Z:-0.29 [[ 9.98889666e-01 4.70806098e-02 1.68887392e-03 3.84277230e+01] [-4.70805457e-02 9.98891093e-01 -7.77105146e-05 -9.85714132e-01] [-1.69065978e-03 -1.88887602e-06 9.99998571e-01 -2.93921363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.46, Y:-0.98, Z:-0.29 [[ 9.98896202e-01 4.69417250e-02 1.68886141e-03 3.84600730e+01] [-4.69416602e-02 9.98897630e-01 -7.79815202e-05 -9.84963535e-01] [-1.69066025e-03 -1.38251414e-06 9.99998571e-01 -2.93983755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.99, Z:-0.29 [[ 9.98889567e-01 4.70827096e-02 1.68884775e-03 3.84908946e+01] [-4.70826445e-02 9.98890994e-01 -7.82762761e-05 -9.85907107e-01] [-1.69066027e-03 -1.32606266e-06 9.99998571e-01 -2.94703672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:-0.99, Z:-0.30 [[ 9.98891154e-01 4.70490191e-02 1.68883508e-03 3.85221301e+01] [-4.70489535e-02 9.98892582e-01 -7.85485613e-05 -9.87257654e-01] [-1.69066047e-03 -9.96460285e-07 9.99998571e-01 -2.96879526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.99, Z:-0.30 [[ 9.98940711e-01 4.59848278e-02 1.68882247e-03 3.85536405e+01] [-4.59847603e-02 9.98942138e-01 -7.88187568e-05 -9.87170298e-01] [-1.69066040e-03 1.07516834e-06 9.99998571e-01 -3.01104553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.99, Z:-0.30 [[ 9.98994845e-01 4.47933775e-02 1.68881049e-03 3.85863716e+01] [-4.47933078e-02 9.98996273e-01 -7.90745919e-05 -9.85359831e-01] [-1.69065741e-03 3.34770143e-06 9.99998571e-01 -3.01213813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:-0.99, Z:-0.30 [[ 9.99025835e-01 4.40968105e-02 1.68879715e-03 3.86170501e+01] [-4.40967394e-02 9.99027263e-01 -7.93586084e-05 -9.85934420e-01] [-1.69065385e-03 4.81085233e-06 9.99998571e-01 -3.00713633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.99, Z:-0.30 [[ 9.99045406e-01 4.36511670e-02 1.68879050e-03 3.86479628e+01] [-4.36510950e-02 9.99046834e-01 -7.94998044e-05 -9.86611596e-01] [-1.69065106e-03 5.70635976e-06 9.99998571e-01 -2.98346227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.68, Y:-0.99, Z:-0.30 [[ 9.99060261e-01 4.33098443e-02 1.68877896e-03 3.86794274e+01] [-4.33097714e-02 9.99061688e-01 -7.97443152e-05 -9.86900242e-01] [-1.69064807e-03 6.52874589e-06 9.99998571e-01 -2.96577621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.71, Y:-0.98, Z:-0.30 [[ 9.99060551e-01 4.33031586e-02 1.68876746e-03 3.87120531e+01] [-4.33030853e-02 9.99061978e-01 -7.99870758e-05 -9.84453669e-01] [-1.69064705e-03 6.78309078e-06 9.99998571e-01 -2.97227449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.98, Z:-0.30 [[ 9.99085555e-01 4.27223870e-02 1.68875505e-03 3.87445623e+01] [-4.27223124e-02 9.99086982e-01 -8.02482359e-05 -9.82923429e-01] [-1.69064158e-03 8.02733253e-06 9.99998571e-01 -2.98690844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.98, Z:-0.30 [[ 9.99125930e-01 4.17675116e-02 1.68874168e-03 3.87753650e+01] [-4.17674351e-02 9.99127357e-01 -8.05285139e-05 -9.83743094e-01] [-1.69063149e-03 9.92371763e-06 9.99998571e-01 -2.98799905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.81, Y:-0.98, Z:-0.30 [[ 9.99151058e-01 4.11620048e-02 1.68873426e-03 3.88072182e+01] [-4.11619272e-02 9.99152485e-01 -8.06839145e-05 -9.84724125e-01] [-1.69062414e-03 1.11038621e-05 9.99998571e-01 -2.97574246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:-0.98, Z:-0.30 [[ 9.99178758e-01 4.04840337e-02 1.68872211e-03 3.88384445e+01] [-4.04839548e-02 9.99180185e-01 -8.09374381e-05 -9.84904075e-01] [-1.69061434e-03 1.25048196e-05 9.99998571e-01 -2.98752220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:-0.99, Z:-0.30 [[ 9.99122823e-01 4.18417510e-02 1.68872020e-03 3.88694311e+01] [-4.18416739e-02 9.99124250e-01 -8.09771093e-05 -9.85289624e-01] [-1.69062953e-03 1.02471980e-05 9.99998571e-01 -3.01224878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.90, Y:-0.99, Z:-0.30 [[ 9.99076550e-01 4.29324570e-02 1.68871831e-03 3.89004269e+01] [-4.29323814e-02 9.99077977e-01 -8.10166630e-05 -9.85677662e-01] [-1.69063951e-03 8.44114976e-06 9.99998571e-01 -3.00148644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.93, Y:-0.98, Z:-0.30 [[ 9.99029737e-01 4.40083240e-02 1.68871642e-03 3.89320945e+01] [-4.40082499e-02 9.99031164e-01 -8.10559812e-05 -9.84826182e-01] [-1.69064747e-03 6.65988146e-06 9.99998571e-01 -2.98702988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.98, Z:-0.30 [[ 9.98972558e-01 4.52877196e-02 1.68870414e-03 3.89636743e+01] [-4.52876469e-02 9.98973985e-01 -8.13110486e-05 -9.82080230e-01] [-1.69065389e-03 4.75006950e-06 9.99998571e-01 -2.98801147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.235769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.98, Z:-0.30 [[ 9.98956635e-01 4.56375943e-02 1.68870225e-03 3.89948117e+01] [-4.56375220e-02 9.98958062e-01 -8.13502379e-05 -9.82838854e-01] [-1.69065536e-03 4.19717377e-06 9.99998571e-01 -3.00778665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:-0.98, Z:-0.30 [[ 9.98958167e-01 4.56040414e-02 1.68869007e-03 3.90260709e+01] [-4.56039686e-02 9.98959594e-01 -8.16022065e-05 -9.81098306e-01] [-1.69065454e-03 4.50622162e-06 9.99998571e-01 -3.00479410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.06, Y:-0.98, Z:-0.30 [[ 9.98971803e-01 4.53043523e-02 1.68868820e-03 3.90572200e+01] [-4.53042790e-02 9.98973231e-01 -8.16408942e-05 -9.80074405e-01] [-1.69065300e-03 5.05214966e-06 9.99998571e-01 -2.98450958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.09, Y:-0.98, Z:-0.30 [[ 9.99001417e-01 4.46465745e-02 1.68868633e-03 3.90881171e+01] [-4.46465002e-02 9.99002845e-01 -8.16796916e-05 -9.75595496e-01] [-1.69064916e-03 6.20419322e-06 9.99998571e-01 -2.96924360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:-0.97, Z:-0.30 [[ 9.99000765e-01 4.46611657e-02 1.68868539e-03 3.91190728e+01] [-4.46610914e-02 9.99002192e-01 -8.16989867e-05 -9.74860839e-01] [-1.69064918e-03 6.19881752e-06 9.99998571e-01 -2.98407120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:-0.97, Z:-0.30 [[ 9.98957521e-01 4.56181831e-02 1.68868446e-03 3.91496508e+01] [-4.56181101e-02 9.98958949e-01 -8.17182284e-05 -9.72846660e-01] [-1.69065429e-03 4.59844507e-06 9.99998571e-01 -3.03228867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:-0.97, Z:-0.30 [[ 9.98904294e-01 4.67692126e-02 1.68868353e-03 3.91802062e+01] [-4.67691413e-02 9.98905722e-01 -8.17374795e-05 -9.72763808e-01] [-1.69065844e-03 2.66964067e-06 9.99998571e-01 -3.03469390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.21, Y:-0.97, Z:-0.30 [[ 9.98868976e-01 4.75175362e-02 1.68868353e-03 3.92109232e+01] [-4.75174659e-02 9.98870404e-01 -8.17374795e-05 -9.72557166e-01] [-1.69065996e-03 1.40307044e-06 9.99998571e-01 -3.03788626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:-0.97, Z:-0.30 [[ 9.98867379e-01 4.75511114e-02 1.68868257e-03 3.92412054e+01] [-4.75510411e-02 9.98868806e-01 -8.17573004e-05 -9.70393529e-01] [-1.69065999e-03 1.36608589e-06 9.99998571e-01 -2.99657760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.97, Z:-0.30 [[ 9.98870507e-01 4.74853573e-02 1.68868257e-03 3.92719661e+01] [-4.74852869e-02 9.98871934e-01 -8.17573004e-05 -9.70407442e-01] [-1.69065990e-03 1.47737969e-06 9.99998571e-01 -2.99587785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.97, Z:-0.30 [[ 9.98935982e-01 4.60874305e-02 1.68868257e-03 3.93021284e+01] [-4.60873581e-02 9.98937410e-01 -8.17573004e-05 -9.69698558e-01] [-1.69065618e-03 3.84339077e-06 9.99998571e-01 -3.00842508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.97, Z:-0.30 [[ 9.98984006e-01 4.50344725e-02 1.68868257e-03 3.93320462e+01] [-4.50343986e-02 9.98985433e-01 -8.17573004e-05 -9.70633740e-01] [-1.69065119e-03 5.62543145e-06 9.99998571e-01 -3.02139409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:-0.97, Z:-0.30 [[ 9.99066458e-01 4.31666608e-02 1.68868355e-03 3.93625358e+01] [-4.31665843e-02 9.99067885e-01 -8.17369866e-05 -9.71438917e-01] [-1.69063782e-03 8.76598069e-06 9.99998571e-01 -3.00370976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.97, Z:-0.30 [[ 9.99075177e-01 4.29643923e-02 1.68868355e-03 3.93930197e+01] [-4.29643155e-02 9.99076604e-01 -8.17369866e-05 -9.72469540e-01] [-1.69063601e-03 9.10826139e-06 9.99998571e-01 -2.98431746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:-0.97, Z:-0.30 [[ 9.99054041e-01 4.34531011e-02 1.68868355e-03 3.94232930e+01] [-4.34530250e-02 9.99055468e-01 -8.17369866e-05 -9.73305271e-01] [-1.69064026e-03 8.28125811e-06 9.99998571e-01 -2.97414728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.97, Z:-0.30 [[ 9.99030168e-01 4.39985344e-02 1.68868355e-03 3.94529753e+01] [-4.39984591e-02 9.99031596e-01 -8.17369866e-05 -9.73843046e-01] [-1.69064453e-03 7.35824125e-06 9.99998571e-01 -2.97041156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.97, Z:-0.30 [[ 9.99021471e-01 4.41955662e-02 1.68868456e-03 3.94829096e+01] [-4.41954912e-02 9.99022899e-01 -8.17162911e-05 -9.74264611e-01] [-1.69064604e-03 7.00408588e-06 9.99998571e-01 -3.00030525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.98, Z:-0.30 [[ 9.99133895e-01 4.15765242e-02 1.68868553e-03 3.95129251e+01] [-4.15764455e-02 9.99135322e-01 -8.16961186e-05 -9.77047693e-01] [-1.69062200e-03 1.14158191e-05 9.99998571e-01 -3.02338791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.98, Z:-0.30 [[ 9.99133895e-01 4.15765242e-02 1.68868553e-03 3.95438886e+01] [-4.15764455e-02 9.99135322e-01 -8.16961186e-05 -9.78545662e-01] [-1.69062200e-03 1.14158191e-05 9.99998571e-01 -3.02391201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.98, Z:-0.30 [[ 9.99186792e-01 4.02852643e-02 1.68868553e-03 3.95740691e+01] [-4.02851838e-02 9.99188219e-01 -8.16961186e-05 -9.81703496e-01] [-1.69060584e-03 1.36006757e-05 9.99998571e-01 -3.02500786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:-0.98, Z:-0.30 [[ 9.99221921e-01 3.94043374e-02 1.68868454e-03 3.96040673e+01] [-3.94042556e-02 9.99223347e-01 -8.17166124e-05 -9.84829599e-01] [-1.69059301e-03 1.51116731e-05 9.99998571e-01 -3.01754896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:-0.99, Z:-0.30 [[ 9.99250037e-01 3.86847652e-02 1.68868454e-03 3.96340531e+01] [-3.86846824e-02 9.99251464e-01 -8.17166124e-05 -9.88042057e-01] [-1.69058169e-03 1.63291029e-05 9.99998571e-01 -3.01885708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:-0.99, Z:-0.30 [[ 9.99338695e-01 3.63224655e-02 1.68868356e-03 3.96648247e+01] [-3.63223792e-02 9.99340121e-01 -8.17369122e-05 -9.91741029e-01] [-1.69053812e-03 2.03458546e-05 9.99998571e-01 -3.01697832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.99, Z:-0.30 [[ 9.99423291e-01 3.39151077e-02 1.68868162e-03 3.96962299e+01] [-3.39150180e-02 9.99424717e-01 -8.17769166e-05 -9.94763505e-01] [-1.69048362e-03 2.44580876e-05 9.99998571e-01 -2.99525484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:-1.00, Z:-0.30 [[ 9.99446633e-01 3.32201073e-02 1.68867968e-03 3.97278694e+01] [-3.32200164e-02 9.99448060e-01 -8.18168710e-05 -9.96854813e-01] [-1.69046560e-03 2.56736294e-05 9.99998571e-01 -2.98719572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:-1.00, Z:-0.30 [[ 9.99467704e-01 3.25800105e-02 1.68867775e-03 3.97576954e+01] [-3.25799187e-02 9.99469130e-01 -8.18567533e-05 -9.99086799e-01] [-1.69044818e-03 2.67961974e-05 9.99998571e-01 -2.98651693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:-1.00, Z:-0.30 [[ 9.99507715e-01 3.13285219e-02 1.68867679e-03 3.97893434e+01] [-3.13284283e-02 9.99509141e-01 -8.18765919e-05 -1.00346341e+00] [-1.69041296e-03 2.89326956e-05 9.99998571e-01 -3.00429358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.82, Y:-1.01, Z:-0.30 [[ 9.99529527e-01 3.06247003e-02 1.68867395e-03 3.98201409e+01] [-3.06246056e-02 9.99530953e-01 -8.19351053e-05 -1.00661762e+00] [-1.69039112e-03 3.01815834e-05 9.99998571e-01 -3.00913192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:-1.01, Z:-0.30 [[ 9.99538145e-01 3.03421384e-02 1.68867203e-03 3.98498845e+01] [-3.03420432e-02 9.99539571e-01 -8.19746225e-05 -1.01029915e+00] [-1.69038180e-03 3.06990023e-05 9.99998571e-01 -2.99113471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:-1.01, Z:-0.30 [[ 9.99527378e-01 3.06947849e-02 1.68867108e-03 3.98803796e+01] [-3.06946902e-02 9.99528804e-01 -8.19942778e-05 -1.01319431e+00] [-1.69039218e-03 3.01222900e-05 9.99998571e-01 -2.98695028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.91, Y:-1.02, Z:-0.30 [[ 9.99512798e-01 3.11659369e-02 1.68867108e-03 3.99102418e+01] [-3.11658428e-02 9.99514224e-01 -8.19942778e-05 -1.01693841e+00] [-1.69040619e-03 2.93254726e-05 9.99998571e-01 -2.99380619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:-1.02, Z:-0.30 [[ 9.99504154e-01 3.14419271e-02 1.68867013e-03 3.99404591e+01] [-3.14418334e-02 9.99505580e-01 -8.20137138e-05 -1.02267804e+00] [-1.69041389e-03 2.88781626e-05 9.99998571e-01 -3.01007431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:-1.03, Z:-0.30 [[ 9.99518795e-01 3.09729943e-02 1.68866920e-03 3.99719135e+01] [-3.09728999e-02 9.99520221e-01 -8.20330153e-05 -1.02804377e+00] [-1.69039982e-03 2.96905587e-05 9.99998571e-01 -2.97622831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.00, Y:-1.03, Z:-0.30 [[ 9.99527693e-01 3.06845012e-02 1.68866733e-03 4.00019781e+01] [-3.06844063e-02 9.99529119e-01 -8.20714001e-05 -1.03178205e+00] [-1.69039049e-03 3.02168828e-05 9.99998571e-01 -2.95526278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-1.04, Z:-0.30 [[ 9.99552171e-01 2.98764968e-02 1.68866640e-03 4.00331955e+01] [-2.98764007e-02 9.99553597e-01 -8.20904836e-05 -1.03575874e+00] [-1.69036515e-03 3.16024470e-05 9.99998571e-01 -2.95381720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-1.04, Z:-0.30 [[ 9.99595840e-01 2.83778836e-02 1.68866443e-03 4.00637257e+01] [-2.83777853e-02 9.99597266e-01 -8.21310010e-05 -1.04386476e+00] [-1.69031505e-03 3.41772502e-05 9.99998571e-01 -2.99772911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-1.05, Z:-0.30 [[ 9.99607017e-01 2.79814270e-02 1.68865160e-03 4.00942861e+01] [-2.79813278e-02 9.99608443e-01 -8.23940352e-05 -1.04921445e+00] [-1.69029590e-03 3.51109419e-05 9.99998571e-01 -3.02669848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.12, Y:-1.06, Z:-0.30 [[ 9.99621457e-01 2.74607253e-02 1.68863915e-03 4.01249069e+01] [-2.74606248e-02 9.99622883e-01 -8.26484502e-05 -1.05891289e+00] [-1.69027192e-03 3.62460782e-05 9.99998571e-01 -3.04836539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.375769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.16, Y:-1.07, Z:-0.30 [[ 9.99601823e-01 2.81663520e-02 1.68863730e-03 4.01562641e+01] [-2.81662525e-02 9.99603249e-01 -8.26861446e-05 -1.06543969e+00] [-1.69029630e-03 3.50906363e-05 9.99998571e-01 -3.03066184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.08, Z:-0.30 [[ 9.99533101e-01 3.05078501e-02 1.68862530e-03 4.01882616e+01] [-3.05077535e-02 9.99534527e-01 -8.29305687e-05 -1.07860592e+00] [-1.69036932e-03 3.13756842e-05 9.99998571e-01 -2.97742895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.22, Y:-1.09, Z:-0.30 [[ 9.99471250e-01 3.24710626e-02 1.68861167e-03 4.02188634e+01] [-3.24709684e-02 9.99472676e-01 -8.32071917e-05 -1.08592577e+00] [-1.69042305e-03 2.83323399e-05 9.99998571e-01 -2.97348383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.25, Y:-1.09, Z:-0.30 [[ 9.99396805e-01 3.46867964e-02 1.68860405e-03 4.02499466e+01] [-3.46867051e-02 9.99398232e-01 -8.33613616e-05 -1.09278091e+00] [-1.69047944e-03 2.47389676e-05 9.99998571e-01 -2.99741261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.28, Y:-1.10, Z:-0.31 [[ 9.99180863e-01 4.04320635e-02 1.68859081e-03 4.02817601e+01] [-4.04319799e-02 9.99182290e-01 -8.36288545e-05 -1.10452853e+00] [-1.69059132e-03 1.52872814e-05 9.99998571e-01 -3.06833361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:40.31, Y:-1.11, Z:-0.31 [[ 9.99018611e-01 4.42601789e-02 1.68857754e-03 4.03132734e+01] [-4.42601003e-02 9.99020038e-01 -8.38958455e-05 -1.11080077e+00] [-1.69063604e-03 9.07689965e-06 9.99998571e-01 -3.09836563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.35, Y:-1.12, Z:-0.31 [[ 9.98654349e-01 5.18328110e-02 1.68856335e-03 4.03461392e+01] [-5.18327428e-02 9.98655776e-01 -8.41805387e-05 -1.11995373e+00] [-1.69065686e-03 -3.45560865e-06 9.99998571e-01 -3.10050875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.38, Y:-1.12, Z:-0.31 [[ 9.98470198e-01 5.52667467e-02 1.68854775e-03 4.03783094e+01] [-5.52666829e-02 9.98471625e-01 -8.44923039e-05 -1.12431602e+00] [-1.69063663e-03 -8.95738551e-06 9.99998571e-01 -3.08206396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.41, Y:-1.13, Z:-0.30 [[ 9.98273313e-01 5.87157705e-02 1.68853316e-03 4.04107914e+01] [-5.87157111e-02 9.98274741e-01 -8.47828620e-05 -1.12798523e+00] [-1.69059809e-03 -1.45069567e-05 9.99998571e-01 -3.04271908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.44, Y:-1.13, Z:-0.30 [[ 9.97918130e-01 6.44713534e-02 1.68851814e-03 4.04426508e+01] [-6.44713017e-02 9.97919558e-01 -8.50809097e-05 -1.13175716e+00] [-1.69049056e-03 -2.39571802e-05 9.99998571e-01 -2.99361767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.48, Y:-1.13, Z:-0.30 [[ 9.97544924e-01 7.00090937e-02 1.68850414e-03 4.04758642e+01] [-7.00090494e-02 9.97546353e-01 -8.53578288e-05 -1.13334842e+00] [-1.69033697e-03 -3.30623011e-05 9.99998571e-01 -3.03165714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.13, Z:-0.30 [[ 9.97326594e-01 7.30535002e-02 1.68848878e-03 4.05074978e+01] [-7.30534598e-02 9.97328023e-01 -8.56605792e-05 -1.13405423e+00] [-1.69023498e-03 -3.79183737e-05 9.99998571e-01 -3.04730807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.54, Y:-1.13, Z:-0.31 [[ 9.97063664e-01 7.65584675e-02 1.68847441e-03 4.05399776e+01] [-7.65584316e-02 9.97065093e-01 -8.59429600e-05 -1.13422297e+00] [-1.69009856e-03 -4.35763501e-05 9.99998571e-01 -3.05198069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.13, Z:-0.30 [[ 9.96489754e-01 8.36977807e-02 1.68846010e-03 4.05729649e+01] [-8.36977546e-02 9.96491183e-01 -8.62231486e-05 -1.12890233e+00] [-1.68975229e-03 -5.53998352e-05 9.99998571e-01 -3.02236648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.61, Y:-1.13, Z:-0.30 [[ 9.96225491e-01 8.67866357e-02 1.68844470e-03 4.06056521e+01] [-8.67866136e-02 9.96226920e-01 -8.65237166e-05 -1.12569871e+00] [-1.68958316e-03 -6.03372656e-05 9.99998571e-01 -3.01405716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.64, Y:-1.12, Z:-0.30 [[ 9.95949642e-01 8.98969445e-02 1.68843029e-03 4.06377486e+01] [-8.98969263e-02 9.95951071e-01 -8.68040542e-05 -1.11775363e+00] [-1.68939737e-03 -6.53322264e-05 9.99998571e-01 -2.99149015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:40.67, Y:-1.12, Z:-0.30 [[ 9.95983720e-01 8.95185892e-02 1.68841801e-03 4.06697282e+01] [-8.95185701e-02 9.95985150e-01 -8.70422302e-05 -1.11561713e+00] [-1.68943116e-03 -6.44521215e-05 9.99998571e-01 -2.99817884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885769231000005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:40.70, Y:-1.11, Z:-0.30 [[ 9.96135572e-01 8.78127089e-02 1.68840453e-03 4.07014078e+01] [-8.78126869e-02 9.96137001e-01 -8.73028961e-05 -1.11371172e+00] [-1.68954853e-03 -6.12978180e-05 9.99998571e-01 -3.00957518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.915769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:40.74, Y:-1.11, Z:-0.30 [[ 9.96645508e-01 8.18222454e-02 1.68839490e-03 4.07350949e+01] [-8.18222145e-02 9.96646937e-01 -8.74886537e-05 -1.10866051e+00] [-1.68989213e-03 -5.09530363e-05 9.99998571e-01 -3.01359736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.77, Y:-1.11, Z:-0.30 [[ 9.96875036e-01 7.89766529e-02 1.68837926e-03 4.07668917e+01] [-7.89766174e-02 9.96876465e-01 -8.77895809e-05 -1.10628157e+00] [-1.69003887e-03 -4.58272410e-05 9.99998571e-01 -3.01894880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.80, Y:-1.10, Z:-0.30 [[ 9.97187959e-01 7.49221128e-02 1.68836655e-03 4.07989743e+01] [-7.49220711e-02 9.97189388e-01 -8.80333775e-05 -1.09858551e+00] [-1.69021685e-03 -3.87100942e-05 9.99998571e-01 -3.04637653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.83, Y:-1.09, Z:-0.31 [[ 9.97315656e-01 7.32026698e-02 1.68836449e-03 4.08309199e+01] [-7.32026256e-02 9.97317085e-01 -8.80728279e-05 -1.09488775e+00] [-1.69028192e-03 -3.57563032e-05 9.99998571e-01 -3.05759168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:40.86, Y:-1.09, Z:-0.31 [[ 9.97436330e-01 7.15396223e-02 1.68836242e-03 4.08612297e+01] [-7.15395756e-02 9.97437758e-01 -8.81125263e-05 -1.09135870e+00] [-1.69033996e-03 -3.28980959e-05 9.99998571e-01 -3.05177108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065769231000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:40.89, Y:-1.09, Z:-0.30 [[ 9.97662409e-01 6.83144722e-02 1.68835764e-03 4.08920111e+01] [-6.83144207e-02 9.97663837e-01 -8.82038747e-05 -1.08589429e+00] [-1.69043897e-03 -2.73414843e-05 9.99998571e-01 -3.00411403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.095769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:40.92, Y:-1.09, Z:-0.30 [[ 9.97837940e-01 6.57007933e-02 1.68835764e-03 4.09227887e+01] [-6.57007381e-02 9.97839368e-01 -8.82038747e-05 -1.08626060e+00] [-1.69050479e-03 -2.29131708e-05 9.99998571e-01 -2.99700749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:40.95, Y:-1.09, Z:-0.30 [[ 9.98367218e-01 5.70968226e-02 1.68835659e-03 4.09543157e+01] [-5.70967551e-02 9.98368646e-01 -8.82239423e-05 -1.08657181e+00] [-1.69063959e-03 -8.31979111e-06 9.99998571e-01 -3.04571337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:40.99, Y:-1.09, Z:-0.31 [[ 9.98653257e-01 5.18538434e-02 1.68834304e-03 4.09851693e+01] [-5.18537679e-02 9.98654685e-01 -8.84825931e-05 -1.08771347e+00] [-1.69065985e-03 8.16481777e-07 9.99998571e-01 -3.08498910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.02, Y:-1.09, Z:-0.31 [[ 9.99133433e-01 4.15876490e-02 1.68834089e-03 4.10166324e+01] [-4.15875588e-02 9.99134859e-01 -8.85235036e-05 -1.09158434e+00] [-1.69056173e-03 1.82328158e-05 9.99998571e-01 -3.12673960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.05, Y:-1.10, Z:-0.31 [[ 9.99319333e-01 3.68513216e-02 1.68832578e-03 4.10486459e+01] [-3.68512242e-02 9.99320759e-01 -8.88108252e-05 -1.09582324e+00] [-1.69045180e-03 2.65335027e-05 9.99998571e-01 -3.09646650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.08, Y:-1.10, Z:-0.31 [[ 9.99449836e-01 3.31236236e-02 1.68831078e-03 4.10802385e+01] [-3.31235203e-02 9.99451262e-01 -8.90950640e-05 -1.10004480e+00] [-1.69033549e-03 3.31232508e-05 9.99998571e-01 -3.05782649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.11, Y:-1.11, Z:-0.30 [[ 9.99589303e-01 2.86072419e-02 1.68829589e-03 4.11112565e+01] [-2.86071317e-02 9.99590728e-01 -8.93762869e-05 -1.10556195e+00] [-1.69016173e-03 4.10422774e-05 9.99998571e-01 -3.02186785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:41.14, Y:-1.11, Z:-0.30 [[ 9.99651425e-01 2.63472528e-02 1.68828206e-03 4.11419166e+01] [-2.63471389e-02 9.99652850e-01 -8.96368414e-05 -1.11249035e+00] [-1.69005766e-03 4.51241943e-05 9.99998571e-01 -3.04186826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.17, Y:-1.12, Z:-0.31 [[ 9.99669235e-01 2.56626290e-02 1.68826855e-03 4.11729405e+01] [-2.56625138e-02 9.99670659e-01 -8.98904921e-05 -1.11711580e+00] [-1.69001936e-03 4.65355445e-05 9.99998571e-01 -3.05237455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.20, Y:-1.12, Z:-0.31 [[ 9.99690793e-01 2.48086337e-02 1.68826646e-03 4.12046326e+01] [-2.48085171e-02 9.99692217e-01 -8.99297891e-05 -1.12109794e+00] [-1.68997788e-03 4.80185947e-05 9.99998571e-01 -3.05891567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.395769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:41.24, Y:-1.13, Z:-0.31 [[ 9.99709833e-01 2.40291486e-02 1.68822597e-03 4.12357486e+01] [-2.40290297e-02 9.99711257e-01 -9.06881466e-05 -1.12769485e+00] [-1.68991766e-03 5.00953999e-05 9.99998571e-01 -3.07727734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:41.27, Y:-1.13, Z:-0.31 [[ 9.99700058e-01 2.44324379e-02 1.68824928e-03 4.12677025e+01] [-2.44323203e-02 9.99701482e-01 -9.02521375e-05 -1.13196437e+00] [-1.68995038e-03 4.89772201e-05 9.99998571e-01 -3.07459520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:-1.14, Z:-0.31 [[ 9.99617905e-01 2.75897425e-02 1.68823465e-03 4.12994622e+01] [-2.75896289e-02 9.99619330e-01 -9.05249195e-05 -1.13849133e+00] [-1.69008955e-03 4.39125628e-05 9.99998571e-01 -3.06697322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.33, Y:-1.14, Z:-0.31 [[ 9.99546297e-01 3.00724021e-02 1.68821999e-03 4.13319839e+01] [-3.00722916e-02 9.99547722e-01 -9.07974987e-05 -1.14189929e+00] [-1.69018694e-03 3.99876597e-05 9.99998571e-01 -3.05975381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.36, Y:-1.15, Z:-0.30 [[ 9.99367305e-01 3.55265973e-02 1.68820501e-03 4.13641431e+01] [-3.55264941e-02 9.99368731e-01 -9.10750888e-05 -1.14623494e+00] [-1.69037489e-03 3.10414606e-05 9.99998571e-01 -3.03857640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.40, Y:-1.15, Z:-0.30 [[ 9.99250435e-01 3.86745184e-02 1.68818963e-03 4.13950774e+01] [-3.86744192e-02 9.99251861e-01 -9.13594386e-05 -1.14883618e+00] [-1.69045991e-03 2.60012054e-05 9.99998571e-01 -3.03564148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.43, Y:-1.15, Z:-0.30 [[ 9.99132186e-01 4.16175996e-02 1.68817532e-03 4.14258259e+01] [-4.16175042e-02 9.99133612e-01 -9.16230477e-05 -1.15146019e+00] [-1.69052584e-03 2.12858926e-05 9.99998571e-01 -3.03568382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.46, Y:-1.15, Z:-0.31 [[ 9.98911997e-01 4.66044209e-02 1.68816173e-03 4.14575186e+01] [-4.66043322e-02 9.98913424e-01 -9.18727816e-05 -1.15497190e+00] [-1.69060909e-03 1.30971738e-05 9.99998571e-01 -3.09645924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.49, Y:-1.16, Z:-0.31 [[ 9.98640608e-01 5.20968964e-02 1.68815785e-03 4.14899287e+01] [-5.20968154e-02 9.98642035e-01 -9.19439891e-05 -1.15818239e+00] [-1.69065539e-03 3.87135323e-06 9.99998571e-01 -3.11606574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.52, Y:-1.16, Z:-0.31 [[ 9.98631167e-01 5.22775581e-02 1.68814333e-03 4.15233733e+01] [-5.22774769e-02 9.98632594e-01 -9.22098406e-05 -1.16022234e+00] [-1.69065546e-03 3.83174676e-06 9.99998571e-01 -3.11663238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.56, Y:-1.16, Z:-0.31 [[ 9.98475437e-01 5.51720145e-02 1.68812659e-03 4.15559799e+01] [-5.51719369e-02 9.98476864e-01 -9.25152366e-05 -1.16209471e+00] [-1.69065960e-03 -7.63022555e-07 9.99998571e-01 -3.09636504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.59, Y:-1.16, Z:-0.31 [[ 9.98330937e-01 5.77277229e-02 1.68811186e-03 4.15893489e+01] [-5.77276486e-02 9.98332364e-01 -9.27833104e-05 -1.16350547e+00] [-1.69065287e-03 -4.82227883e-06 9.99998571e-01 -3.08428571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.62, Y:-1.16, Z:-0.31 [[ 9.98230285e-01 5.94428168e-02 1.68809499e-03 4.16224133e+01] [-5.94427444e-02 9.98231712e-01 -9.30892779e-05 -1.16390584e+00] [-1.69064344e-03 -7.42046237e-06 9.99998571e-01 -3.07162956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:41.65, Y:-1.17, Z:-0.31 [[ 9.98228505e-01 5.94727069e-02 1.68807722e-03 4.16541803e+01] [-5.94726339e-02 9.98229932e-01 -9.34104269e-05 -1.16564523e+00] [-1.69064457e-03 -7.14944746e-06 9.99998571e-01 -3.08237570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815769231000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.69, Y:-1.17, Z:-0.31 [[ 9.98264992e-01 5.88570877e-02 1.68806063e-03 4.16861693e+01] [-5.88570134e-02 9.98266419e-01 -9.37091911e-05 -1.16699902e+00] [-1.69064969e-03 -5.80760223e-06 9.99998571e-01 -3.11374512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.72, Y:-1.17, Z:-0.31 [[ 9.98273819e-01 5.87071787e-02 1.68804501e-03 4.17193105e+01] [-5.87071037e-02 9.98275246e-01 -9.39897436e-05 -1.16795487e+00] [-1.69065142e-03 -5.27273306e-06 9.99998571e-01 -3.12202863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.875769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:41.75, Y:-1.17, Z:-0.31 [[ 9.98214428e-01 5.97085116e-02 1.68802747e-03 4.17517825e+01] [-5.97084375e-02 9.98215855e-01 -9.43037519e-05 -1.16771069e+00] [-1.69064652e-03 -6.65411666e-06 9.99998571e-01 -3.13542020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.78, Y:-1.17, Z:-0.31 [[ 9.98187714e-01 6.01534583e-02 1.68801103e-03 4.17839942e+01] [-6.01533843e-02 9.98189141e-01 -9.45970023e-05 -1.16848584e+00] [-1.69064462e-03 -7.11401093e-06 9.99998571e-01 -3.12874753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.82, Y:-1.17, Z:-0.31 [[ 9.98174191e-01 6.03774432e-02 1.68799667e-03 4.18162575e+01] [-6.03773691e-02 9.98175618e-01 -9.48525102e-05 -1.16901542e+00] [-1.69064408e-03 -7.23747073e-06 9.99998571e-01 -3.12688313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.85, Y:-1.17, Z:-0.31 [[ 9.98213291e-01 5.97275172e-02 1.68798217e-03 4.18478625e+01] [-5.97274418e-02 9.98214718e-01 -9.51098586e-05 -1.16871349e+00] [-1.69064933e-03 -5.87893208e-06 9.99998571e-01 -3.12390524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995769231000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:41.88, Y:-1.17, Z:-0.31 [[ 9.98224243e-01 5.95441921e-02 1.68796875e-03 4.18795961e+01] [-5.95441160e-02 9.98225670e-01 -9.53475467e-05 -1.17013815e+00] [-1.69065113e-03 -5.33037437e-06 9.99998571e-01 -3.10752989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.17, Z:-0.31 [[ 9.98316712e-01 5.79732149e-02 1.68795429e-03 4.19117849e+01] [-5.79731361e-02 9.98318139e-01 -9.56028024e-05 -1.17095811e+00] [-1.69065779e-03 -2.41412861e-06 9.99998571e-01 -3.09199564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.055769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.94, Y:-1.17, Z:-0.31 [[ 9.98388087e-01 5.67307632e-02 1.68793987e-03 4.19437792e+01] [-5.67306822e-02 9.98389513e-01 -9.58567636e-05 -1.17255693e+00] [-1.69065949e-03 -5.57293940e-08 9.99998571e-01 -3.09705190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.98, Y:-1.18, Z:-0.31 [[ 9.98441719e-01 5.57788908e-02 1.68792458e-03 4.19758236e+01] [-5.57788080e-02 9.98443146e-01 -9.61253118e-05 -1.17522513e+00] [-1.69065849e-03 1.82510078e-06 9.99998571e-01 -3.11298287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.01, Y:-1.18, Z:-0.31 [[ 9.98479350e-01 5.51011580e-02 1.68790932e-03 4.20077622e+01] [-5.51010738e-02 9.98480777e-01 -9.63924659e-05 -1.17954866e+00] [-1.69065634e-03 3.24027084e-06 9.99998571e-01 -3.12327416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.04, Y:-1.18, Z:-0.31 [[ 9.98377615e-01 5.69147518e-02 1.68789296e-03 4.20394146e+01] [-5.69146697e-02 9.98379042e-01 -9.66781563e-05 -1.18164570e+00] [-1.69065936e-03 4.55437030e-07 9.99998571e-01 -3.07243411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.07, Y:-1.18, Z:-0.31 [[ 9.98274773e-01 5.86909605e-02 1.68787671e-03 4.20718252e+01] [-5.86908805e-02 9.98276200e-01 -9.69609189e-05 -1.18264307e+00] [-1.69065788e-03 -2.26933105e-06 9.99998571e-01 -3.05625842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.10, Y:-1.18, Z:-0.30 [[ 9.98148495e-01 6.08007645e-02 1.68786154e-03 4.21036181e+01] [-6.08006870e-02 9.98149922e-01 -9.72242739e-05 -1.18374785e+00] [-1.69065018e-03 -5.57887866e-06 9.99998571e-01 -3.04999481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.235769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.14, Y:-1.18, Z:-0.31 [[ 9.97954993e-01 6.38982313e-02 1.68784638e-03 4.21359941e+01] [-6.38981578e-02 9.97956420e-01 -9.74867326e-05 -1.18455637e+00] [-1.69062636e-03 -1.05629030e-05 9.99998571e-01 -3.08623152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.17, Y:-1.19, Z:-0.31 [[ 9.97912852e-01 6.45530168e-02 1.68783039e-03 4.21678091e+01] [-6.45529437e-02 9.97914279e-01 -9.77627750e-05 -1.18550064e+00] [-1.69062093e-03 -1.13956909e-05 9.99998571e-01 -3.09682954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-1.18, Z:-0.31 [[ 9.97888161e-01 6.49335761e-02 1.68781439e-03 4.21992678e+01] [-6.49335032e-02 9.97889588e-01 -9.80382415e-05 -1.18440189e+00] [-1.69061838e-03 -1.17645007e-05 9.99998571e-01 -3.12227320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.23, Y:-1.18, Z:-0.31 [[ 9.97907915e-01 6.46292780e-02 1.68779954e-03 4.22302726e+01] [-6.46292042e-02 9.97909343e-01 -9.82933637e-05 -1.18459109e+00] [-1.69062355e-03 -1.09934152e-05 9.99998571e-01 -3.13385662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.26, Y:-1.19, Z:-0.32 [[ 9.97929662e-01 6.42926185e-02 1.68779084e-03 4.22612768e+01] [-6.42925439e-02 9.97931089e-01 -9.84424692e-05 -1.18535843e+00] [-1.69062807e-03 -1.02737066e-05 9.99998571e-01 -3.15966669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.29, Y:-1.18, Z:-0.32 [[ 9.97993030e-01 6.33013672e-02 1.68777650e-03 4.22927692e+01] [-6.33012908e-02 9.97994457e-01 -9.86876694e-05 -1.18370732e+00] [-1.69063866e-03 -8.34882487e-06 9.99998571e-01 -3.21337691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.415769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.32, Y:-1.18, Z:-0.32 [[ 9.97958778e-01 6.38390787e-02 1.68777430e-03 4.23245182e+01] [-6.38390030e-02 9.97960206e-01 -9.87253544e-05 -1.17959378e+00] [-1.69063412e-03 -9.22199432e-06 9.99998571e-01 -3.18884789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.36, Y:-1.18, Z:-0.32 [[ 9.97941971e-01 6.41012830e-02 1.68777206e-03 4.23553623e+01] [-6.41012076e-02 9.97943398e-01 -9.87636523e-05 -1.17892670e+00] [-1.69063186e-03 -9.62783309e-06 9.99998571e-01 -3.15610750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.39, Y:-1.18, Z:-0.31 [[ 9.97923211e-01 6.43926663e-02 1.68777094e-03 4.23861172e+01] [-6.43925913e-02 9.97924639e-01 -9.87826941e-05 -1.17966000e+00] [-1.69062909e-03 -1.01024012e-05 9.99998571e-01 -3.12168724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.42, Y:-1.18, Z:-0.31 [[ 9.97931167e-01 6.42692535e-02 1.68777094e-03 4.24170616e+01] [-6.42691783e-02 9.97932594e-01 -9.87826941e-05 -1.18051391e+00] [-1.69063032e-03 -9.89332243e-06 9.99998571e-01 -3.11150416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.45, Y:-1.18, Z:-0.31 [[ 9.97970841e-01 6.36502364e-02 1.68777094e-03 4.24475446e+01] [-6.36501603e-02 9.97972268e-01 -9.87826941e-05 -1.18150724e+00] [-1.69063614e-03 -8.84464277e-06 9.99998571e-01 -3.10763165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.48, Y:-1.18, Z:-0.31 [[ 9.98131098e-01 6.10856944e-02 1.68777094e-03 4.24782146e+01] [-6.10856147e-02 9.98132525e-01 -9.87826941e-05 -1.18305928e+00] [-1.69065328e-03 -4.50044650e-06 9.99998571e-01 -3.10841702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:-1.19, Z:-0.31 [[ 9.98221768e-01 5.95856789e-02 1.68776569e-03 4.25091219e+01] [-5.95855969e-02 9.98223195e-01 -9.88723212e-05 -1.18587088e+00] [-1.69065823e-03 -1.87002276e-06 9.99998571e-01 -3.10381474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:-1.19, Z:-0.31 [[ 9.98353850e-01 5.73301104e-02 1.68776341e-03 4.25403817e+01] [-5.73300251e-02 9.98355277e-01 -9.89112023e-05 -1.18969152e+00] [-1.69065810e-03 1.98886084e-06 9.99998571e-01 -3.09401203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:-1.19, Z:-0.31 [[ 9.98349280e-01 5.74096455e-02 1.68776109e-03 4.25716580e+01] [-5.74095603e-02 9.98350706e-01 -9.89507419e-05 -1.19230392e+00] [-1.69065821e-03 1.89377959e-06 9.99998571e-01 -3.10148243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.60, Y:-1.20, Z:-0.31 [[ 9.98212682e-01 5.97376970e-02 1.68775869e-03 4.26020628e+01] [-5.97376150e-02 9.98214109e-01 -9.89917757e-05 -1.19624231e+00] [-1.69065808e-03 -2.00783274e-06 9.99998571e-01 -3.14206667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:-1.20, Z:-0.32 [[ 9.98119407e-01 6.12764223e-02 1.68775629e-03 4.26327313e+01] [-6.12763425e-02 9.98120834e-01 -9.90325965e-05 -1.19914415e+00] [-1.69065308e-03 -4.57317605e-06 9.99998571e-01 -3.15937966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.66, Y:-1.20, Z:-0.31 [[ 9.97883327e-01 6.50078270e-02 1.68775517e-03 4.26644506e+01] [-6.50077525e-02 9.97884754e-01 -9.90517307e-05 -1.20100056e+00] [-1.69062429e-03 -1.08750997e-05 9.99998571e-01 -3.13684518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:-1.20, Z:-0.31 [[ 9.97560076e-01 6.97928831e-02 1.68775283e-03 4.26951209e+01] [-6.97928153e-02 9.97561503e-01 -9.90916298e-05 -1.20218348e+00] [-1.69055314e-03 -1.89431676e-05 9.99998571e-01 -3.11379781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.73, Y:-1.20, Z:-0.31 [[ 9.97375742e-01 7.23794157e-02 1.68775283e-03 4.27253540e+01] [-7.23793516e-02 9.97377170e-01 -9.90916298e-05 -1.20355308e+00] [-1.69049833e-03 -2.33268674e-05 9.99998571e-01 -3.11661184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.76, Y:-1.20, Z:-0.31 [[ 9.97191763e-01 7.48714899e-02 1.68775283e-03 4.27556732e+01] [-7.48714294e-02 9.97193191e-01 -9.90916298e-05 -1.20369687e+00] [-1.69043476e-03 -2.75511096e-05 9.99998571e-01 -3.12484572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.79, Y:-1.20, Z:-0.31 [[ 9.96868386e-01 7.90605606e-02 1.68775163e-03 4.27856231e+01] [-7.90605061e-02 9.96869814e-01 -9.91120119e-05 -1.19952885e+00] [-1.69030450e-03 -3.46328666e-05 9.99998571e-01 -3.12024620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.895769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.82, Y:-1.20, Z:-0.31 [[ 9.96719924e-01 8.09107157e-02 1.68775279e-03 4.28161167e+01] [-8.09106638e-02 9.96721353e-01 -9.90923003e-05 -1.19864671e+00] [-1.69023687e-03 -3.77899284e-05 9.99998571e-01 -3.12132074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:-1.20, Z:-0.31 [[ 9.96487297e-01 8.37270429e-02 1.68775279e-03 4.28463148e+01] [-8.37269951e-02 9.96488726e-01 -9.90923003e-05 -1.19560781e+00] [-1.69012333e-03 -4.25662508e-05 9.99998571e-01 -3.12099597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.88, Y:-1.19, Z:-0.31 [[ 9.96457974e-01 8.40753136e-02 1.68775511e-03 4.28769369e+01] [-8.40752664e-02 9.96459402e-01 -9.90527734e-05 -1.19455204e+00] [-1.69010734e-03 -4.31965343e-05 9.99998571e-01 -3.11298542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.91, Y:-1.19, Z:-0.31 [[ 9.96462846e-01 8.40175413e-02 1.68775511e-03 4.29066616e+01] [-8.40174939e-02 9.96464275e-01 -9.90527734e-05 -1.18981517e+00] [-1.69010984e-03 -4.30985459e-05 9.99998571e-01 -3.12953236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:42.94, Y:-1.19, Z:-0.32 [[ 9.96455550e-01 8.41040362e-02 1.68775628e-03 4.29364345e+01] [-8.41039890e-02 9.96456978e-01 -9.90327288e-05 -1.18886646e+00] [-1.69010558e-03 -4.32653237e-05 9.99998571e-01 -3.15483882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:-1.19, Z:-0.31 [[ 9.96482494e-01 8.37841861e-02 1.68775745e-03 4.29662150e+01] [-8.37841385e-02 9.96483923e-01 -9.90129164e-05 -1.18514259e+00] [-1.69011888e-03 -4.27426656e-05 9.99998571e-01 -3.14821571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.00, Y:-1.18, Z:-0.31 [[ 9.96538920e-01 8.31103610e-02 1.68775975e-03 4.29961037e+01] [-8.31103125e-02 9.96540348e-01 -9.89736945e-05 -1.18418609e+00] [-1.69014642e-03 -4.16391013e-05 9.99998571e-01 -3.12376868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.02, Y:-1.18, Z:-0.31 [[ 9.96696267e-01 8.12016132e-02 1.68776205e-03 4.30249581e+01] [-8.12015621e-02 9.96697696e-01 -9.89343893e-05 -1.18137516e+00] [-1.69022218e-03 -3.84413783e-05 9.99998571e-01 -3.08712575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:-1.18, Z:-0.31 [[ 9.96770941e-01 8.02797830e-02 1.68776467e-03 4.30544494e+01] [-8.02797306e-02 9.96772369e-01 -9.88896081e-05 -1.18135454e+00] [-1.69025603e-03 -3.69230057e-05 9.99998571e-01 -3.07243447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:-1.18, Z:-0.31 [[ 9.96862029e-01 7.91406804e-02 1.68776701e-03 4.30835518e+01] [-7.91406264e-02 9.96863457e-01 -9.88496743e-05 -1.18102684e+00] [-1.69029629e-03 -3.50314518e-05 9.99998571e-01 -3.06693705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:-1.18, Z:-0.31 [[ 9.97052301e-01 7.67063305e-02 1.68777050e-03 4.31132271e+01] [-7.67062732e-02 9.97053729e-01 -9.87900972e-05 -1.17831070e+00] [-1.69037570e-03 -3.09636913e-05 9.99998571e-01 -3.05685460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.14, Y:-1.18, Z:-0.31 [[ 9.97196190e-01 7.48125058e-02 1.68777281e-03 4.31432455e+01] [-7.48124458e-02 9.97197617e-01 -9.87505235e-05 -1.17610997e+00] [-1.69043080e-03 -2.77927664e-05 9.99998571e-01 -3.07384049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-1.18, Z:-0.31 [[ 9.97234292e-01 7.43028769e-02 1.68777514e-03 4.31733267e+01] [-7.43028162e-02 9.97235720e-01 -9.87107361e-05 -1.17543987e+00] [-1.69044415e-03 -2.69687151e-05 9.99998571e-01 -3.07614896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.20, Y:-1.17, Z:-0.31 [[ 9.97269596e-01 7.38275328e-02 1.68777751e-03 4.32022332e+01] [-7.38274715e-02 9.97271024e-01 -9.86702161e-05 -1.17437664e+00] [-1.69045618e-03 -2.62035395e-05 9.99998571e-01 -3.06979441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.23, Y:-1.17, Z:-0.30 [[ 9.97355592e-01 7.26565544e-02 1.68777989e-03 4.32325074e+01] [-7.26564915e-02 9.97357020e-01 -9.86295451e-05 -1.17066548e+00] [-1.69048520e-03 -2.42594368e-05 9.99998571e-01 -3.04757416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:-1.17, Z:-0.30 [[ 9.97396774e-01 7.20890205e-02 1.68778223e-03 4.32617215e+01] [-7.20889568e-02 9.97398202e-01 -9.85894687e-05 -1.16941021e+00] [-1.69049818e-03 -2.33376422e-05 9.99998571e-01 -3.04424216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:-1.16, Z:-0.31 [[ 9.97550753e-01 6.99260007e-02 1.68778573e-03 4.32913025e+01] [-6.99259341e-02 9.97552181e-01 -9.85294219e-05 -1.16466892e+00] [-1.69054411e-03 -1.97318950e-05 9.99998571e-01 -3.05986833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:-1.16, Z:-0.31 [[ 9.97664964e-01 6.82771585e-02 1.68779037e-03 4.33199919e+01] [-6.82770896e-02 9.97666392e-01 -9.84500091e-05 -1.16361348e+00] [-1.69057361e-03 -1.70172893e-05 9.99998571e-01 -3.07932817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:-1.16, Z:-0.31 [[ 9.97946134e-01 6.40364276e-02 1.68779502e-03 4.33499025e+01] [-6.40363528e-02 9.97947562e-01 -9.83702376e-05 -1.16047494e+00] [-1.69063020e-03 -9.91203871e-06 9.99998571e-01 -3.09993945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:-1.16, Z:-0.31 [[ 9.98070549e-01 6.20671403e-02 1.68779737e-03 4.33782861e+01] [-6.20670628e-02 9.98071976e-01 -9.83297455e-05 -1.15967795e+00] [-1.69064631e-03 -6.61660238e-06 9.99998571e-01 -3.09821054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:-1.16, Z:-0.31 [[ 9.98275377e-01 5.86806897e-02 1.68780089e-03 4.34066409e+01] [-5.86806074e-02 9.98276804e-01 -9.82693360e-05 -1.15744524e+00] [-1.69065899e-03 -9.41323099e-07 9.99998571e-01 -3.10181536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:-1.16, Z:-0.31 [[ 9.98376184e-01 5.69398569e-02 1.68780431e-03 4.34361538e+01] [-5.69397722e-02 9.98377610e-01 -9.82106384e-05 -1.15729925e+00] [-1.69065813e-03 1.94796960e-06 9.99998571e-01 -3.11829127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:-1.16, Z:-0.31 [[ 9.98378826e-01 5.68935067e-02 1.68780658e-03 4.34654362e+01] [-5.68934220e-02 9.98380253e-01 -9.81715648e-05 -1.15891116e+00] [-1.69065808e-03 1.98731958e-06 9.99998571e-01 -3.11878711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.50, Y:-1.16, Z:-0.31 [[ 9.98461493e-01 5.54238016e-02 1.68781113e-03 4.34954809e+01] [-5.54237149e-02 9.98462920e-01 -9.80932073e-05 -1.15897367e+00] [-1.69065353e-03 4.39752709e-06 9.99998571e-01 -3.13133383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:-1.16, Z:-0.31 [[ 9.98565887e-01 5.35099998e-02 1.68781344e-03 4.35240333e+01] [-5.35099105e-02 9.98567314e-01 -9.80534878e-05 -1.15768448e+00] [-1.69064218e-03 7.59812188e-06 9.99998571e-01 -3.11469986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:43.55, Y:-1.16, Z:-0.31 [[ 9.98612544e-01 5.26320948e-02 1.68781802e-03 4.35515792e+01] [-5.26320043e-02 9.98613971e-01 -9.79745919e-05 -1.15807669e+00] [-1.69063526e-03 9.00541113e-06 9.99998571e-01 -3.09883545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.58, Y:-1.16, Z:-0.31 [[ 9.98656725e-01 5.17870388e-02 1.68782416e-03 4.35801029e+01] [-5.17869474e-02 9.98658151e-01 -9.78686432e-05 -1.15815014e+00] [-1.69062769e-03 1.03299175e-05 9.99998571e-01 -3.07953954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705769231000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.61, Y:-1.16, Z:-0.31 [[ 9.98689613e-01 5.11488737e-02 1.68782873e-03 4.36084404e+01] [-5.11487815e-02 9.98691040e-01 -9.77898172e-05 -1.15977020e+00] [-1.69062127e-03 1.13312918e-05 9.99998571e-01 -3.09323095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.64, Y:-1.16, Z:-0.31 [[ 9.98759716e-01 4.97612387e-02 1.68783332e-03 4.36359216e+01] [-4.97611446e-02 9.98761142e-01 -9.77105668e-05 -1.16285656e+00] [-1.69060453e-03 1.36008600e-05 9.99998571e-01 -3.11571444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:-1.16, Z:-0.31 [[ 9.98783989e-01 4.92716324e-02 1.68783944e-03 4.36650380e+01] [-4.92715378e-02 9.98785415e-01 -9.76046417e-05 -1.16491039e+00] [-1.69059856e-03 1.43235084e-05 9.99998571e-01 -3.09722330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:-1.17, Z:-0.31 [[ 9.98796296e-01 4.90215194e-02 1.68783857e-03 4.36938646e+01] [-4.90214244e-02 9.98797722e-01 -9.76197113e-05 -1.16648703e+00] [-1.69059479e-03 1.47619551e-05 9.99998571e-01 -3.09351619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.72, Y:-1.17, Z:-0.31 [[ 9.98756621e-01 4.98233115e-02 1.68784637e-03 4.37226086e+01] [-4.98232179e-02 9.98758048e-01 -9.74847582e-05 -1.16773167e+00] [-1.69060716e-03 1.32696104e-05 9.99998571e-01 -3.05496839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:-1.17, Z:-0.30 [[ 9.98653643e-01 5.18464369e-02 1.68785088e-03 4.37499571e+01] [-5.18463463e-02 9.98655069e-01 -9.74066494e-05 -1.16889099e+00] [-1.69063102e-03 9.76660414e-06 9.99998571e-01 -3.03495392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:-1.17, Z:-0.30 [[ 9.98589638e-01 5.30649242e-02 1.68785647e-03 4.37778846e+01] [-5.30648356e-02 9.98591064e-01 -9.73096150e-05 -1.16915288e+00] [-1.69064212e-03 7.60654712e-06 9.99998571e-01 -3.04675652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.81, Y:-1.17, Z:-0.31 [[ 9.98548374e-01 5.38358247e-02 1.68786247e-03 4.38062765e+01] [-5.38357373e-02 9.98549800e-01 -9.72054379e-05 -1.16899544e+00] [-1.69064787e-03 6.19701139e-06 9.99998571e-01 -3.06862419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-1.17, Z:-0.31 [[ 9.98545389e-01 5.38911604e-02 1.68786698e-03 4.38343161e+01] [-5.38910732e-02 9.98546816e-01 -9.71271044e-05 -1.16835594e+00] [-1.69064849e-03 6.02485944e-06 9.99998571e-01 -3.08451963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.86, Y:-1.17, Z:-0.30 [[ 9.98640993e-01 5.20895158e-02 1.68787258e-03 4.38628133e+01] [-5.20894262e-02 9.98642420e-01 -9.70297004e-05 -1.16787933e+00] [-1.69063538e-03 8.97752223e-06 9.99998571e-01 -3.02648770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.89, Y:-1.17, Z:-0.30 [[ 9.98709633e-01 5.07564744e-02 1.68787721e-03 4.38906083e+01] [-5.07563831e-02 9.98711059e-01 -9.69490232e-05 -1.16777984e+00] [-1.69062243e-03 1.11533811e-05 9.99998571e-01 -3.01578593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:-1.17, Z:-0.30 [[ 9.98772768e-01 4.94985668e-02 1.68788297e-03 4.39179962e+01] [-4.94984738e-02 9.98774195e-01 -9.68486081e-05 -1.16783910e+00] [-1.69060782e-03 1.31821213e-05 9.99998571e-01 -3.04067195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.95, Y:-1.17, Z:-0.31 [[ 9.98861431e-01 4.76759221e-02 1.68788849e-03 4.39469223e+01] [-4.76758267e-02 9.98862857e-01 -9.67523589e-05 -1.16849029e+00] [-1.69058188e-03 1.61707204e-05 9.99998571e-01 -3.07666502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-1.17, Z:-0.31 [[ 9.99082384e-01 4.27964974e-02 1.68789285e-03 4.39761262e+01] [-4.27963951e-02 9.99083810e-01 -9.66762456e-05 -1.17131207e+00] [-1.69048382e-03 2.43518047e-05 9.99998571e-01 -3.12746355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-1.18, Z:-0.31 [[ 9.99319234e-01 3.68540285e-02 1.68788979e-03 4.40059343e+01] [-3.68539176e-02 9.99320659e-01 -9.67296148e-05 -1.17709201e+00] [-1.69030802e-03 3.44584132e-05 9.99998571e-01 -3.11820187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:-1.18, Z:-0.31 [[ 9.99412382e-01 3.42350841e-02 1.68789633e-03 4.40356586e+01] [-3.42349697e-02 9.99413807e-01 -9.66154870e-05 -1.18114214e+00] [-1.69021453e-03 3.87736344e-05 9.99998571e-01 -3.11817390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.06, Y:-1.19, Z:-0.31 [[ 9.99468853e-01 3.25447856e-02 1.68789857e-03 4.40642490e+01] [-3.25446689e-02 9.99470277e-01 -9.65762617e-05 -1.18576826e+00] [-1.69014751e-03 4.15928655e-05 9.99998571e-01 -3.11788288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:-1.19, Z:-0.31 [[ 9.99492093e-01 3.18230730e-02 1.68790192e-03 4.40933240e+01] [-3.18229553e-02 9.99493517e-01 -9.65177680e-05 -1.19275461e+00] [-1.69011851e-03 4.27547186e-05 9.99998571e-01 -3.12100322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-1.20, Z:-0.31 [[ 9.99482032e-01 3.21374938e-02 1.68790425e-03 4.41222266e+01] [-3.21373766e-02 9.99483456e-01 -9.64769598e-05 -1.19872355e+00] [-1.69013290e-03 4.21821733e-05 9.99998571e-01 -3.13875498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:-1.20, Z:-0.31 [[ 9.99485755e-01 3.20215150e-02 1.68790304e-03 4.41513970e+01] [-3.20213977e-02 9.99487179e-01 -9.64980926e-05 -1.20337697e+00] [-1.69012746e-03 4.23994544e-05 9.99998571e-01 -3.14927638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:-1.21, Z:-0.31 [[ 9.99497231e-01 3.16612790e-02 1.68790409e-03 4.41812158e+01] [-3.16611612e-02 9.99498655e-01 -9.64796371e-05 -1.20811055e+00] [-1.69011254e-03 4.29901265e-05 9.99998571e-01 -3.14395928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:-1.22, Z:-0.31 [[ 9.99504083e-01 3.14442117e-02 1.68790409e-03 4.42109781e+01] [-3.14440936e-02 9.99505508e-01 -9.64796371e-05 -1.21536781e+00] [-1.69010316e-03 4.33571769e-05 9.99998571e-01 -3.13617353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:-1.22, Z:-0.31 [[ 9.99507138e-01 3.13469664e-02 1.68790409e-03 4.42403908e+01] [-3.13468481e-02 9.99508562e-01 -9.64796371e-05 -1.21923803e+00] [-1.69009894e-03 4.35216126e-05 9.99998571e-01 -3.13167044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:-1.22, Z:-0.31 [[ 9.99486400e-01 3.20013536e-02 1.68790521e-03 4.42695299e+01] [-3.20012363e-02 9.99487825e-01 -9.64601033e-05 -1.22472166e+00] [-1.69012756e-03 4.23955079e-05 9.99998571e-01 -3.12536942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:-1.23, Z:-0.31 [[ 9.99449680e-01 3.31283655e-02 1.68790632e-03 4.42996619e+01] [-3.31282498e-02 9.99451104e-01 -9.64406331e-05 -1.22776739e+00] [-1.69017476e-03 4.04701775e-05 9.99998571e-01 -3.10304599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.33, Y:-1.23, Z:-0.31 [[ 9.99394547e-01 3.47518276e-02 1.68790632e-03 4.43286429e+01] [-3.47517143e-02 9.99395972e-01 -9.64406331e-05 -1.23065954e+00] [-1.69023827e-03 3.77246047e-05 9.99998571e-01 -3.09740794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:-1.23, Z:-0.31 [[ 9.99226291e-01 3.92933753e-02 1.68790744e-03 4.43594033e+01] [-3.92932685e-02 9.99227717e-01 -9.64210821e-05 -1.23409551e+00] [-1.69039261e-03 3.00230800e-05 9.99998571e-01 -3.09270953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.39, Y:-1.24, Z:-0.31 [[ 9.99124484e-01 4.18021109e-02 1.68790744e-03 4.43893177e+01] [-4.18020077e-02 9.99125909e-01 -9.64210821e-05 -1.23639542e+00] [-1.69046266e-03 2.57787440e-05 9.99998571e-01 -3.08701705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:-1.24, Z:-0.31 [[ 9.98933007e-01 4.61519144e-02 1.68790856e-03 4.44186451e+01] [-4.61518173e-02 9.98934433e-01 -9.64014856e-05 -1.23945615e+00] [-1.69055909e-03 1.83985783e-05 9.99998571e-01 -3.06625738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:-1.24, Z:-0.31 [[ 9.98854509e-01 4.78207183e-02 1.68791082e-03 4.44467354e+01] [-4.78206238e-02 9.98855935e-01 -9.63618377e-05 -1.24183658e+00] [-1.69058784e-03 1.55345077e-05 9.99998571e-01 -3.07234892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:-1.24, Z:-0.31 [[ 9.98796967e-01 4.90078473e-02 1.68791421e-03 4.44762313e+01] [-4.90077545e-02 9.98798393e-01 -9.63024322e-05 -1.24435683e+00] [-1.69060558e-03 1.34656919e-05 9.99998571e-01 -3.09305490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.51, Y:-1.25, Z:-0.32 [[ 9.98711314e-01 5.07233817e-02 1.68791646e-03 4.45060044e+01] [-5.07232915e-02 9.98712741e-01 -9.62630884e-05 -1.24846334e+00] [-1.69062646e-03 1.05223572e-05 9.99998571e-01 -3.15471524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.54, Y:-1.25, Z:-0.32 [[ 9.98695429e-01 5.10352028e-02 1.68791869e-03 4.45350067e+01] [-5.10351130e-02 9.98696855e-01 -9.62238253e-05 -1.25135698e+00] [-1.69062989e-03 9.95517316e-06 9.99998571e-01 -3.16753580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.25, Z:-0.31 [[ 9.98675370e-01 5.14262245e-02 1.68791981e-03 4.45648889e+01] [-5.14261353e-02 9.98676796e-01 -9.62042287e-05 -1.25435550e+00] [-1.69063377e-03 9.27360111e-06 9.99998571e-01 -3.13571999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.26, Z:-0.31 [[ 9.98641143e-01 5.20866444e-02 1.68792093e-03 4.45944754e+01] [-5.20865562e-02 9.98642569e-01 -9.61845799e-05 -1.25608830e+00] [-1.69063963e-03 8.13589027e-06 9.99998571e-01 -3.11506439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.26, Z:-0.31 [[ 9.98564121e-01 5.35429396e-02 1.68792000e-03 4.46240643e+01] [-5.35428534e-02 9.98565548e-01 -9.62009398e-05 -1.25707157e+00] [-1.69064964e-03 5.68675387e-06 9.99998571e-01 -3.11301699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:-1.26, Z:-0.31 [[ 9.98496353e-01 5.47921865e-02 1.68792227e-03 4.46532058e+01] [-5.47921022e-02 9.98497780e-01 -9.61611104e-05 -1.25889188e+00] [-1.69065551e-03 3.53170863e-06 9.99998571e-01 -3.13380320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.26, Z:-0.31 [[ 9.98435773e-01 5.58852275e-02 1.68792124e-03 4.46832267e+01] [-5.58851448e-02 9.98437199e-01 -9.61791634e-05 -1.26046811e+00] [-1.69065835e-03 1.69899451e-06 9.99998571e-01 -3.13998903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:-1.26, Z:-0.31 [[ 9.98356423e-01 5.72852768e-02 1.68792349e-03 4.47125624e+01] [-5.72851962e-02 9.98357850e-01 -9.61397141e-05 -1.25998912e+00] [-1.69065905e-03 -7.11326909e-07 9.99998571e-01 -3.14200710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.74, Y:-1.26, Z:-0.31 [[ 9.98363435e-01 5.71629395e-02 1.68792460e-03 4.47424552e+01] [-5.71628587e-02 9.98364862e-01 -9.61201294e-05 -1.25955021e+00] [-1.69065912e-03 -5.23772854e-07 9.99998571e-01 -3.14090100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.77, Y:-1.26, Z:-0.32 [[ 9.98451325e-01 5.56066699e-02 1.68792685e-03 4.47716138e+01] [-5.56065869e-02 9.98452752e-01 -9.60806230e-05 -1.25762757e+00] [-1.69065793e-03 2.07197428e-06 9.99998571e-01 -3.17005890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:-1.26, Z:-0.32 [[ 9.98541810e-01 5.39574326e-02 1.68793021e-03 4.48014510e+01] [-5.39573474e-02 9.98543237e-01 -9.60214820e-05 -1.25867791e+00] [-1.69065237e-03 4.80522740e-06 9.99998571e-01 -3.18156412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:-1.26, Z:-0.32 [[ 9.98756376e-01 4.98282230e-02 1.68793248e-03 4.48312658e+01] [-4.98281319e-02 9.98757803e-01 -9.59815941e-05 -1.26044004e+00] [-1.69061833e-03 1.17557067e-05 9.99998571e-01 -3.16292182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:-1.26, Z:-0.31 [[ 9.98859096e-01 4.77248144e-02 1.68793361e-03 4.48615542e+01] [-4.77247203e-02 9.98860522e-01 -9.59617509e-05 -1.26319742e+00] [-1.69059000e-03 1.52961082e-05 9.99998571e-01 -3.14043392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:-1.27, Z:-0.31 [[ 9.99032415e-01 4.39475236e-02 1.68793361e-03 4.48916846e+01] [-4.39474241e-02 9.99033841e-01 -9.59617509e-05 -1.26860568e+00] [-1.69052008e-03 2.16885655e-05 9.99998571e-01 -3.12446776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.055769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:44.92, Y:-1.27, Z:-0.31 [[ 9.99114933e-01 4.20297589e-02 1.68793361e-03 4.49205944e+01] [-4.20296568e-02 9.99116359e-01 -9.59617509e-05 -1.27302191e+00] [-1.69047533e-03 2.49335481e-05 9.99998571e-01 -3.13305681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.95, Y:-1.28, Z:-0.31 [[ 9.99245253e-01 3.88081808e-02 1.68793474e-03 4.49503120e+01] [-3.88080740e-02 9.99246678e-01 -9.59418182e-05 -1.28131482e+00] [-1.69038651e-03 3.03639100e-05 9.99998571e-01 -3.10265476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.98, Y:-1.29, Z:-0.31 [[ 9.99287726e-01 3.76986870e-02 1.68793474e-03 4.49806586e+01] [-3.76985787e-02 9.99289151e-01 -9.59418182e-05 -1.28686756e+00] [-1.69035176e-03 3.22407406e-05 9.99998571e-01 -3.06368130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.01, Y:-1.29, Z:-0.30 [[ 9.99308088e-01 3.71550353e-02 1.68793474e-03 4.50106143e+01] [-3.71549262e-02 9.99309513e-01 -9.59418182e-05 -1.29314809e+00] [-1.69033397e-03 3.31603441e-05 9.99998571e-01 -3.03558098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:-1.30, Z:-0.31 [[ 9.99272249e-01 3.81067444e-02 1.68793362e-03 4.50407921e+01] [-3.81066366e-02 9.99273674e-01 -9.59616058e-05 -1.30366650e+00] [-1.69036441e-03 3.15702965e-05 9.99998571e-01 -3.06960724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:-1.31, Z:-0.31 [[ 9.99201060e-01 3.99298461e-02 1.68793251e-03 4.50720734e+01] [-3.99297410e-02 9.99202485e-01 -9.59811536e-05 -1.30984446e+00] [-1.69041887e-03 2.85057626e-05 9.99998571e-01 -3.09281676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.235769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.10, Y:-1.32, Z:-0.31 [[ 9.98998600e-01 4.47095995e-02 1.68793030e-03 4.51020124e+01] [-4.47095010e-02 9.99000026e-01 -9.60199572e-05 -1.31965825e+00] [-1.69053543e-03 2.04572813e-05 9.99998571e-01 -3.08961237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-1.32, Z:-0.31 [[ 9.98869439e-01 4.75078353e-02 1.68793030e-03 4.51322291e+01] [-4.75077408e-02 9.98870865e-01 -9.60199572e-05 -1.32399385e+00] [-1.69058610e-03 1.57216455e-05 9.99998571e-01 -3.07940395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-1.33, Z:-0.31 [[ 9.98464012e-01 5.53784025e-02 1.68792920e-03 4.51625498e+01] [-5.53783193e-02 9.98465439e-01 -9.60393688e-05 -1.32866616e+00] [-1.69065747e-03 2.41717153e-06 9.99998571e-01 -3.08864238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-1.33, Z:-0.31 [[ 9.98214769e-01 5.97028195e-02 1.68792920e-03 4.51925141e+01] [-5.97027425e-02 9.98216196e-01 -9.60393688e-05 -1.33171270e+00] [-1.69065208e-03 -4.90608576e-06 9.99998571e-01 -3.09903762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.22, Y:-1.34, Z:-0.31 [[ 9.97745941e-01 6.70834368e-02 1.68792920e-03 4.52227126e+01] [-6.70833703e-02 9.97747369e-01 -9.60393688e-05 -1.33639135e+00] [-1.69056956e-03 -1.74090889e-05 9.99998571e-01 -3.10251084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.34, Z:-0.31 [[ 9.97576743e-01 6.95542433e-02 1.68792920e-03 4.52519722e+01] [-6.95541804e-02 9.97578171e-01 -9.60393688e-05 -1.33899992e+00] [-1.69052126e-03 -2.15958910e-05 9.99998571e-01 -3.09315833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:-1.34, Z:-0.31 [[ 9.97182043e-01 7.50008309e-02 1.68792813e-03 4.52822113e+01] [-7.50007758e-02 9.97183471e-01 -9.60580537e-05 -1.34193482e+00] [-1.69037847e-03 -3.08085531e-05 9.99998571e-01 -3.08548768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.31, Y:-1.34, Z:-0.31 [[ 9.96908300e-01 7.85556692e-02 1.68792813e-03 4.53125826e+01] [-7.85556191e-02 9.96909728e-01 -9.60580537e-05 -1.34354832e+00] [-1.69025788e-03 -3.68351684e-05 9.99998571e-01 -3.09766935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:-1.34, Z:-0.31 [[ 9.96578421e-01 8.26353520e-02 1.68792813e-03 4.53419345e+01] [-8.26353077e-02 9.96579850e-01 -9.60580537e-05 -1.34413153e+00] [-1.69009295e-03 -4.37530771e-05 9.99998571e-01 -3.12016611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:-1.35, Z:-0.31 [[ 9.96578421e-01 8.26353519e-02 1.68792926e-03 4.53728843e+01] [-8.26353077e-02 9.96579850e-01 -9.60381804e-05 -1.34589249e+00] [-1.69009244e-03 -4.37729758e-05 9.99998571e-01 -3.12069020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:-1.34, Z:-0.31 [[ 9.95864820e-01 9.08317785e-02 1.68792926e-03 4.54014215e+01] [-9.08317461e-02 9.95866248e-01 -9.60381804e-05 -1.34229999e+00] [-1.68967510e-03 -5.76765170e-05 9.99998571e-01 -3.14694750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:-1.34, Z:-0.31 [[ 9.95533394e-01 9.43949812e-02 1.68793135e-03 4.54297480e+01] [-9.43949539e-02 9.95534823e-01 -9.60014756e-05 -1.34030607e+00] [-1.68945650e-03 -6.37595272e-05 9.99998571e-01 -3.13774438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:-1.33, Z:-0.31 [[ 9.94994073e-01 9.99196994e-02 1.68793562e-03 4.54593687e+01] [-9.99196801e-02 9.94995502e-01 -9.59263076e-05 -1.33451799e+00] [-1.68907328e-03 -7.32118800e-05 9.99998571e-01 -3.10460268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:-1.33, Z:-0.31 [[ 9.94767072e-01 1.02154899e-01 1.68793987e-03 4.54887191e+01] [-1.02154883e-01 9.94768501e-01 -9.58515445e-05 -1.33212201e+00] [-1.68890112e-03 -7.70813401e-05 9.99998571e-01 -3.08494093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:-1.33, Z:-0.31 [[ 9.94591035e-01 1.03854824e-01 1.68794431e-03 4.55173594e+01] [-1.03854810e-01 9.94592464e-01 -9.57732767e-05 -1.32972231e+00] [-1.68876321e-03 -8.00458938e-05 9.99998571e-01 -3.08348942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.55, Y:-1.32, Z:-0.31 [[ 9.94487344e-01 1.04843086e-01 1.68794874e-03 4.55457053e+01] [-1.04843075e-01 9.94488773e-01 -9.56951634e-05 -1.32226036e+00] [-1.68867905e-03 -8.18021063e-05 9.99998571e-01 -3.08926217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.31, Z:-0.31 [[ 9.94658051e-01 1.03211014e-01 1.68795423e-03 4.55737718e+01] [-1.03211000e-01 9.94659480e-01 -9.55980971e-05 -1.31445295e+00] [-1.68880646e-03 -7.91280274e-05 9.99998571e-01 -3.07245753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:-1.31, Z:-0.31 [[ 9.94830872e-01 1.01531700e-01 1.68795966e-03 4.56025644e+01] [-1.01531684e-01 9.94832301e-01 -9.55021524e-05 -1.31135368e+00] [-1.68893329e-03 -7.63728973e-05 9.99998571e-01 -3.08819283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.31, Z:-0.31 [[ 9.95086464e-01 9.89953542e-02 1.68796401e-03 4.56312914e+01] [-9.89953345e-02 9.95087893e-01 -9.54252203e-05 -1.30821907e+00] [-1.68911921e-03 -7.21442169e-05 9.99998571e-01 -3.11918471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:-1.30, Z:-0.32 [[ 9.95878703e-01 9.06794314e-02 1.68796836e-03 4.56593044e+01] [-9.06793999e-02 9.95880132e-01 -9.53481954e-05 -1.30231662e+00] [-1.68966028e-03 -5.81087210e-05 9.99998571e-01 -3.17453106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.69, Y:-1.30, Z:-0.32 [[ 9.96409046e-01 8.46531945e-02 1.68797268e-03 4.56880860e+01] [-8.46531545e-02 9.96410475e-01 -9.52716218e-05 -1.30194421e+00] [-1.68997871e-03 -4.79627067e-05 9.99998571e-01 -3.16503229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:-1.30, Z:-0.31 [[ 9.97483888e-01 7.08734429e-02 1.68797717e-03 4.57166160e+01] [-7.08733833e-02 9.97485315e-01 -9.51920351e-05 -1.30376478e+00] [-1.69047903e-03 -2.46801319e-05 9.99998571e-01 -3.10894672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.74, Y:-1.31, Z:-0.31 [[ 9.97973213e-01 6.36130168e-02 1.68798053e-03 4.57449422e+01] [-6.36129468e-02 9.97974641e-01 -9.51324340e-05 -1.30655609e+00] [-1.69061343e-03 -1.24377950e-05 9.99998571e-01 -3.09276100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:-1.31, Z:-0.31 [[ 9.98776503e-01 4.94231475e-02 1.68798290e-03 4.57747655e+01] [-4.94230573e-02 9.98777929e-01 -9.50903516e-05 -1.31266560e+00] [-1.69061973e-03 1.15487330e-05 9.99998571e-01 -3.08585801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:-1.32, Z:-0.31 [[ 9.99097704e-01 4.24373503e-02 1.68798290e-03 4.58054548e+01] [-4.24372502e-02 9.99099130e-01 -9.50903516e-05 -1.31771005e+00] [-1.69049763e-03 2.33711991e-05 9.99998571e-01 -3.08225233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.84, Y:-1.33, Z:-0.31 [[ 9.99539676e-01 3.02916862e-02 1.68798290e-03 4.58364731e+01] [-3.02915688e-02 9.99541101e-01 -9.50903516e-05 -1.32868838e+00] [-1.69008874e-03 4.39149290e-05 9.99998571e-01 -3.09907883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:-1.34, Z:-0.31 [[ 9.99657877e-01 2.61013409e-02 1.68798071e-03 4.58672443e+01] [-2.61012174e-02 9.99659301e-01 -9.51292351e-05 -1.33611308e+00] [-1.68988862e-03 5.10383377e-05 9.99998571e-01 -3.10425311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.90, Y:-1.35, Z:-0.31 [[ 9.99767118e-01 2.15141974e-02 1.68797849e-03 4.58976633e+01] [-2.15140673e-02 9.99768541e-01 -9.51685820e-05 -1.34902750e+00] [-1.68963527e-03 5.88311360e-05 9.99998571e-01 -3.08995748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.93, Y:-1.36, Z:-0.31 [[ 9.99772770e-01 2.12499202e-02 1.68797629e-03 4.59284974e+01] [-2.12497897e-02 9.99774193e-01 -9.52076851e-05 -1.35590533e+00] [-1.68961829e-03 5.93169099e-05 9.99998571e-01 -3.07883701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:-1.36, Z:-0.31 [[ 9.99742086e-01 2.26475792e-02 1.68797404e-03 4.59580238e+01] [-2.26474506e-02 9.99743509e-01 -9.52475645e-05 -1.36317369e+00] [-1.68969821e-03 5.69946902e-05 9.99998571e-01 -3.07113787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:-1.38, Z:-0.31 [[ 9.99575966e-01 2.90695438e-02 1.68797292e-03 4.59878288e+01] [-2.90694243e-02 9.99577390e-01 -9.52673770e-05 -1.37628019e+00] [-1.69002894e-03 4.61585795e-05 9.99998571e-01 -3.06430611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:-1.38, Z:-0.31 [[ 9.99436119e-01 3.35349790e-02 1.68797182e-03 4.60180945e+01] [-3.35348659e-02 9.99437544e-01 -9.52869048e-05 -1.38246133e+00] [-1.69021785e-03 3.86272658e-05 9.99998571e-01 -3.07037460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.05, Y:-1.39, Z:-0.31 [[ 9.99080349e-01 4.28439923e-02 1.68797071e-03 4.60479311e+01] [-4.28438925e-02 9.99081774e-01 -9.53064424e-05 -1.38991939e+00] [-1.69050408e-03 2.28995580e-05 9.99998571e-01 -3.07011038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:-1.39, Z:-0.31 [[ 9.98873869e-01 4.74145942e-02 1.68797087e-03 4.60787427e+01] [-4.74145008e-02 9.98875296e-01 -9.53036906e-05 -1.39439409e+00] [-1.69059119e-03 1.51620700e-05 9.99998571e-01 -3.06389012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:-1.40, Z:-0.31 [[ 9.98454803e-01 5.55441925e-02 1.68796857e-03 4.61089984e+01] [-5.55441107e-02 9.98456230e-01 -9.53443029e-05 -1.40264455e+00] [-1.69065856e-03 1.44026386e-06 9.99998571e-01 -3.08049903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:-1.41, Z:-0.31 [[ 9.98249461e-01 5.91199082e-02 1.68796743e-03 4.61411417e+01] [-5.91198314e-02 9.98250889e-01 -9.53644956e-05 -1.40700860e+00] [-1.69065293e-03 -4.59479373e-06 9.99998571e-01 -3.09697899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:-1.41, Z:-0.31 [[ 9.97817070e-01 6.60170086e-02 1.68795170e-03 4.61722715e+01] [-6.60169413e-02 9.97818498e-01 -9.56421693e-05 -1.41027202e+00] [-1.69058344e-03 -1.60000192e-05 9.99998571e-01 -3.12340158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.20, Y:-1.41, Z:-0.31 [[ 9.97582739e-01 6.94681853e-02 1.68793715e-03 4.62032227e+01] [-6.94681225e-02 9.97584167e-01 -9.58982575e-05 -1.41151544e+00] [-1.69052126e-03 -2.15913784e-05 9.99998571e-01 -3.12376973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.375769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.23, Y:-1.41, Z:-0.31 [[ 9.97093334e-01 7.61710913e-02 1.68793486e-03 4.62336401e+01] [-7.61710380e-02 9.97094762e-01 -9.59385105e-05 -1.41286531e+00] [-1.69033875e-03 -3.29121014e-05 9.99998571e-01 -3.11038702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:-1.41, Z:-0.31 [[ 9.96913406e-01 7.84908448e-02 1.68793373e-03 4.62643926e+01] [-7.84907948e-02 9.96914834e-01 -9.59584838e-05 -1.41400310e+00] [-1.69025803e-03 -3.68249611e-05 9.99998571e-01 -3.11400511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.30, Y:-1.42, Z:-0.31 [[ 9.96798013e-01 7.99429275e-02 1.68793261e-03 4.62957166e+01] [-7.99428796e-02 9.96799442e-01 -9.59781722e-05 -1.41563691e+00] [-1.69020306e-03 -3.92673418e-05 9.99998571e-01 -3.12646904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.33, Y:-1.42, Z:-0.31 [[ 9.96885101e-01 7.88495214e-02 1.68793037e-03 4.63272783e+01] [-7.88494718e-02 9.96886529e-01 -9.60174372e-05 -1.41788553e+00] [-1.69024598e-03 -3.73740659e-05 9.99998571e-01 -3.13801530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.36, Y:-1.42, Z:-0.32 [[ 9.97205491e-01 7.46884113e-02 1.68792812e-03 4.63581939e+01] [-7.46883556e-02 9.97206920e-01 -9.60570652e-05 -1.42044010e+00] [-1.69038795e-03 -3.02799428e-05 9.99998571e-01 -3.15507468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:-1.42, Z:-0.31 [[ 9.97419323e-01 7.17763585e-02 1.68792587e-03 4.63890781e+01] [-7.17762987e-02 9.97420751e-01 -9.60965759e-05 -1.42287501e+00] [-1.69046975e-03 -2.53044897e-05 9.99998571e-01 -3.14332433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.42, Y:-1.42, Z:-0.31 [[ 9.97722932e-01 6.74247827e-02 1.68792362e-03 4.64207058e+01] [-6.74247166e-02 9.97724360e-01 -9.61360269e-05 -1.42485452e+00] [-1.69056447e-03 -1.78906532e-05 9.99998571e-01 -3.11335164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.45, Y:-1.43, Z:-0.31 [[ 9.97791046e-01 6.64091817e-02 1.68790900e-03 4.64523746e+01] [-6.64091137e-02 9.97792474e-01 -9.63921462e-05 -1.42664785e+00] [-1.69058422e-03 -1.59133200e-05 9.99998571e-01 -3.10184117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:46.48, Y:-1.43, Z:-0.31 [[ 9.97843226e-01 6.56204856e-02 1.68789317e-03 4.64838799e+01] [-6.56204160e-02 9.97844653e-01 -9.66685695e-05 -1.42786218e+00] [-1.69059861e-03 -1.43001745e-05 9.99998571e-01 -3.08819382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.52, Y:-1.43, Z:-0.31 [[ 9.98009826e-01 6.30360064e-02 1.68787850e-03 4.65151029e+01] [-6.30359326e-02 9.98011253e-01 -9.69239304e-05 -1.42826730e+00] [-1.69063144e-03 -9.66596059e-06 9.99998571e-01 -3.06873139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.55, Y:-1.43, Z:-0.31 [[ 9.98163312e-01 6.05570272e-02 1.68786400e-03 4.65468241e+01] [-6.05569494e-02 9.98164739e-01 -9.71757758e-05 -1.43039774e+00] [-1.69065101e-03 -5.21460081e-06 9.99998571e-01 -3.08226050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:-1.43, Z:-0.31 [[ 9.98587741e-01 5.31006177e-02 1.68784713e-03 4.65790457e+01] [-5.31005288e-02 9.98589167e-01 -9.74678992e-05 -1.43475513e+00] [-1.69064147e-03 7.70467399e-06 9.99998571e-01 -3.11969784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:-1.44, Z:-0.31 [[ 9.98808931e-01 4.87634168e-02 1.68783508e-03 4.66107434e+01] [-4.87633213e-02 9.98810357e-01 -9.76761790e-05 -1.43833504e+00] [-1.69059018e-03 1.52553955e-05 9.99998571e-01 -3.13910308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.64, Y:-1.44, Z:-0.31 [[ 9.98998575e-01 4.47101656e-02 1.68782352e-03 4.66433411e+01] [-4.47100641e-02 9.99000000e-01 -9.78754402e-05 -1.44214298e+00] [-1.69051173e-03 2.23147274e-05 9.99998571e-01 -3.13991846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.68, Y:-1.45, Z:-0.31 [[ 9.99284450e-01 3.77854381e-02 1.68780526e-03 4.66760559e+01] [-3.77853261e-02 9.99285875e-01 -9.81894072e-05 -1.44917014e+00] [-1.69031008e-03 3.43448757e-05 9.99998571e-01 -3.13777165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.71, Y:-1.46, Z:-0.31 [[ 9.99369090e-01 3.54763898e-02 1.68778630e-03 4.67073730e+01] [-3.54762740e-02 9.99370514e-01 -9.85142039e-05 -1.45550835e+00] [-1.69021879e-03 3.85756810e-05 9.99998571e-01 -3.12490727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:-1.47, Z:-0.31 [[ 9.99433057e-01 3.36261253e-02 1.68776859e-03 4.67389014e+01] [-3.36260063e-02 9.99434481e-01 -9.88167828e-05 -1.46533629e+00] [-1.69013695e-03 4.20078422e-05 9.99998571e-01 -3.09972056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.77, Y:-1.47, Z:-0.31 [[ 9.99404828e-01 3.44549151e-02 1.68775696e-03 4.67712800e+01] [-3.44547970e-02 9.99406252e-01 -9.90149637e-05 -1.46993126e+00] [-1.69016641e-03 4.08047094e-05 9.99998571e-01 -3.09657080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.80, Y:-1.48, Z:-0.31 [[ 9.99297357e-01 3.74425353e-02 1.68774064e-03 4.68031682e+01] [-3.74424210e-02 9.99298782e-01 -9.92923124e-05 -1.47674499e+00] [-1.69027492e-03 3.60294496e-05 9.99998571e-01 -3.12117401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:-1.48, Z:-0.31 [[ 9.99231086e-01 3.91712718e-02 1.68772314e-03 4.68352273e+01] [-3.91711595e-02 9.99232511e-01 -9.95889246e-05 -1.48121358e+00] [-1.69032886e-03 3.34022770e-05 9.99998571e-01 -3.13881051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.87, Y:-1.49, Z:-0.32 [[ 9.99038173e-01 4.38164476e-02 1.68770687e-03 4.68672654e+01] [-4.38163414e-02 9.99039598e-01 -9.98639243e-05 -1.48506049e+00] [-1.69046167e-03 2.58187321e-05 9.99998571e-01 -3.15318733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:-1.49, Z:-0.32 [[ 9.98914323e-01 4.65545605e-02 1.68768944e-03 4.68993806e+01] [-4.65544577e-02 9.98915748e-01 -1.00157593e-04 -1.48653264e+00] [-1.69052235e-03 2.14793875e-05 9.99998571e-01 -3.15074133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.93, Y:-1.49, Z:-0.31 [[ 9.98794951e-01 4.90489284e-02 1.68767212e-03 4.69313954e+01] [-4.90488287e-02 9.98796377e-01 -1.00448513e-04 -1.48823774e+00] [-1.69056770e-03 1.75491265e-05 9.99998571e-01 -3.14656165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:-1.49, Z:-0.31 [[ 9.98596573e-01 5.29342559e-02 1.68765641e-03 4.69639635e+01] [-5.29341613e-02 9.98597999e-01 -1.00711799e-04 -1.48984522e+00] [-1.69062142e-03 1.12357802e-05 9.99998571e-01 -3.13623898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.00, Y:-1.49, Z:-0.31 [[ 9.98508105e-01 5.45776140e-02 1.68764022e-03 4.69958792e+01] [-5.45775213e-02 9.98509531e-01 -1.00982495e-04 -1.49027061e+00] [-1.69063622e-03 8.72461972e-06 9.99998571e-01 -3.13586741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:47.03, Y:-1.49, Z:-0.31 [[ 9.98424128e-01 5.60928992e-02 1.68762282e-03 4.70287040e+01] [-5.60928082e-02 9.98425554e-01 -1.01272388e-04 -1.48932419e+00] [-1.69064641e-03 6.44929266e-06 9.99998571e-01 -3.12838553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.06, Y:-1.49, Z:-0.31 [[ 9.98427529e-01 5.60323302e-02 1.68760412e-03 4.70609344e+01] [-5.60322385e-02 9.98428955e-01 -1.01583057e-04 -1.49215563e+00] [-1.69064475e-03 6.86308387e-06 9.99998571e-01 -3.12450030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.09, Y:-1.50, Z:-0.31 [[ 9.98496613e-01 5.47874632e-02 1.68758665e-03 4.70933007e+01] [-5.47873693e-02 9.98498039e-01 -1.01872393e-04 -1.49776483e+00] [-1.69063329e-03 9.26080644e-06 9.99998571e-01 -3.11906575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:-1.50, Z:-0.31 [[ 9.98514392e-01 5.44624822e-02 1.68756735e-03 4.71249299e+01] [-5.44623873e-02 9.98515818e-01 -1.02191076e-04 -1.50085838e+00] [-1.69062828e-03 1.01303135e-05 9.99998571e-01 -3.12861256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.16, Y:-1.50, Z:-0.31 [[ 9.98497568e-01 5.47700479e-02 1.68754933e-03 4.71577897e+01] [-5.47699529e-02 9.98498994e-01 -1.02487877e-04 -1.50331274e+00] [-1.69062957e-03 9.90689877e-06 9.99998571e-01 -3.13006978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.19, Y:-1.51, Z:-0.31 [[ 9.98324416e-01 5.78404051e-02 1.68752938e-03 4.71893113e+01] [-5.78403140e-02 9.98325842e-01 -1.02815332e-04 -1.50682493e+00] [-1.69065107e-03 5.03582763e-06 9.99998571e-01 -3.12636499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:-1.51, Z:-0.31 [[ 9.98219725e-01 5.96199031e-02 1.68751071e-03 4.72218296e+01] [-5.96198140e-02 9.98221151e-01 -1.03120836e-04 -1.50929247e+00] [-1.69065694e-03 2.32817793e-06 9.99998571e-01 -3.12062237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.25, Y:-1.51, Z:-0.31 [[ 9.98011717e-01 6.30060644e-02 1.68749103e-03 4.72539452e+01] [-6.30059796e-02 9.98013144e-01 -1.03441927e-04 -1.51022600e+00] [-1.69065569e-03 -3.08576993e-06 9.99998571e-01 -3.12805798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.51, Z:-0.31 [[ 9.97915442e-01 6.45129697e-02 1.68747261e-03 4.72869920e+01] [-6.45128865e-02 9.97916869e-01 -1.03741492e-04 -1.51227582e+00] [-1.69065006e-03 -5.33849231e-06 9.99998571e-01 -3.13771393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.51, Z:-0.31 [[ 9.97903250e-01 6.47012781e-02 1.68745296e-03 4.73204196e+01] [-6.47011947e-02 9.97904677e-01 -1.04060077e-04 -1.51453726e+00] [-1.69065003e-03 -5.33833395e-06 9.99998571e-01 -3.13828060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425769231000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.52, Z:-0.31 [[ 9.97776192e-01 6.66320021e-02 1.68743327e-03 4.73527811e+01] [-6.66319209e-02 9.97777619e-01 -1.04378500e-04 -1.51590704e+00] [-1.69063810e-03 -8.29053787e-06 9.99998571e-01 -3.14393338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.39, Y:-1.52, Z:-0.31 [[ 9.97723264e-01 6.74198803e-02 1.68741484e-03 4.73862190e+01] [-6.74197997e-02 9.97724691e-01 -1.04675497e-04 -1.51661786e+00] [-1.69063266e-03 -9.32799269e-06 9.99998571e-01 -3.14561286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.42, Y:-1.52, Z:-0.31 [[ 9.97706793e-01 6.76631942e-02 1.68739529e-03 4.74197111e+01] [-6.76631134e-02 9.97708220e-01 -1.04989718e-04 -1.51685426e+00] [-1.69063209e-03 -9.42546456e-06 9.99998571e-01 -3.14686684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-1.52, Z:-0.31 [[ 9.97726116e-01 6.73776707e-02 1.68737563e-03 4.74523226e+01] [-6.73775890e-02 9.97727543e-01 -1.05304827e-04 -1.51542120e+00] [-1.69063633e-03 -8.62592557e-06 9.99998571e-01 -3.13302082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.49, Y:-1.52, Z:-0.31 [[ 9.97766963e-01 6.67700608e-02 1.68735726e-03 4.74851847e+01] [-6.67699777e-02 9.97768389e-01 -1.05598269e-04 -1.51571123e+00] [-1.69064254e-03 -7.30234280e-06 9.99998571e-01 -3.11849154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:-1.52, Z:-0.31 [[ 9.97778544e-01 6.65967794e-02 1.68733754e-03 4.75168248e+01] [-6.65966955e-02 9.97779970e-01 -1.05912530e-04 -1.51673915e+00] [-1.69064503e-03 -6.69385383e-06 9.99998571e-01 -3.12308069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.55, Y:-1.52, Z:-0.31 [[ 9.97787023e-01 6.64696130e-02 1.68731904e-03 4.75501391e+01] [-6.64695284e-02 9.97788450e-01 -1.06206441e-04 -1.51791080e+00] [-1.69064695e-03 -6.18389234e-06 9.99998571e-01 -3.11870054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:-1.52, Z:-0.31 [[ 9.97849059e-01 6.55317304e-02 1.68729818e-03 4.75821515e+01] [-6.55316439e-02 9.97850486e-01 -1.06536743e-04 -1.51775693e+00] [-1.69065285e-03 -4.26383465e-06 9.99998571e-01 -3.11823227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:-1.52, Z:-0.31 [[ 9.97970078e-01 6.36622096e-02 1.68727862e-03 4.76136939e+01] [-6.36621200e-02 9.97971504e-01 -1.06845623e-04 -1.51888786e+00] [-1.69065801e-03 -7.86999926e-07 9.99998571e-01 -3.11522019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.65, Y:-1.52, Z:-0.31 [[ 9.98085603e-01 6.18246061e-02 1.68726046e-03 4.76467252e+01] [-6.18245133e-02 9.98087029e-01 -1.07131656e-04 -1.52115653e+00] [-1.69065615e-03 2.61250647e-06 9.99998571e-01 -3.11635626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.68, Y:-1.52, Z:-0.31 [[ 9.98233640e-01 5.93864658e-02 1.68724099e-03 4.76798606e+01] [-5.93863691e-02 9.98235066e-01 -1.07437469e-04 -1.52381420e+00] [-1.69064345e-03 7.04857926e-06 9.99998571e-01 -3.11914988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.71, Y:-1.53, Z:-0.31 [[ 9.98521172e-01 5.43380364e-02 1.68722023e-03 4.77116990e+01] [-5.43379319e-02 9.98522597e-01 -1.07762535e-04 -1.52838748e+00] [-1.69058313e-03 1.59231145e-05 9.99998571e-01 -3.13505885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:47.74, Y:-1.53, Z:-0.31 [[ 9.98658210e-01 5.17584049e-02 1.68720079e-03 4.77434297e+01] [-5.17582962e-02 9.98659635e-01 -1.08066072e-04 -1.53267855e+00] [-1.69053265e-03 2.05944319e-05 9.99998571e-01 -3.13894176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.78, Y:-1.54, Z:-0.31 [[ 9.98821111e-01 4.85133165e-02 1.68718241e-03 4.77758764e+01] [-4.85132027e-02 9.98822536e-01 -1.08352253e-04 -1.53929534e+00] [-1.69045234e-03 2.63738951e-05 9.99998571e-01 -3.12221468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.81, Y:-1.54, Z:-0.31 [[ 9.98823891e-01 4.84560544e-02 1.68716209e-03 4.78079780e+01] [-4.84559399e-02 9.98825315e-01 -1.08667730e-04 -1.54236370e+00] [-1.69044581e-03 2.67868999e-05 9.99998571e-01 -3.10491052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.84, Y:-1.54, Z:-0.31 [[ 9.98780885e-01 4.93345525e-02 1.68714433e-03 4.78403791e+01] [-4.93344389e-02 9.98782309e-01 -1.08942678e-04 -1.54473285e+00] [-1.69046455e-03 2.55755457e-05 9.99998571e-01 -3.09325734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:-1.55, Z:-0.31 [[ 9.98635915e-01 5.21868143e-02 1.68712529e-03 4.78727684e+01] [-5.21867042e-02 9.98637340e-01 -1.09236770e-04 -1.54727559e+00] [-1.69052703e-03 2.10422534e-05 9.99998571e-01 -3.09050499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:-1.55, Z:-0.31 [[ 9.98574213e-01 5.33544254e-02 1.68711270e-03 4.79050175e+01] [-5.33543166e-02 9.98575638e-01 -1.09430871e-04 -1.55184220e+00] [-1.69054826e-03 1.92601002e-05 9.99998571e-01 -3.10228668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:-1.56, Z:-0.31 [[ 9.98575584e-01 5.33287538e-02 1.68709407e-03 4.79373820e+01] [-5.33286445e-02 9.98577009e-01 -1.09717414e-04 -1.55566662e+00] [-1.69054444e-03 1.95906909e-05 9.99998571e-01 -3.11001770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:-1.56, Z:-0.31 [[ 9.98596139e-01 5.29424644e-02 1.68707349e-03 4.79697000e+01] [-5.29423541e-02 9.98597564e-01 -1.10032875e-04 -1.55950672e+00] [-1.69053289e-03 2.05607616e-05 9.99998571e-01 -3.13462448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:-1.56, Z:-0.32 [[ 9.98696486e-01 5.10145312e-02 1.68705293e-03 4.80010024e+01] [-5.10144175e-02 9.98697911e-01 -1.10347260e-04 -1.56460541e+00] [-1.69048555e-03 2.41393985e-05 9.99998571e-01 -3.20033222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:-1.57, Z:-0.32 [[ 9.98761884e-01 4.97177395e-02 1.68703651e-03 4.80335748e+01] [-4.97176236e-02 9.98763308e-01 -1.10597665e-04 -1.56787090e+00] [-1.69044883e-03 2.65852855e-05 9.99998571e-01 -3.18283874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.06, Y:-1.57, Z:-0.31 [[ 9.98891315e-01 4.70456748e-02 1.68701540e-03 4.80642540e+01] [-4.70455545e-02 9.98892739e-01 -1.10918772e-04 -1.57090639e+00] [-1.69036568e-03 3.14292232e-05 9.99998571e-01 -3.13578393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:-1.57, Z:-0.31 [[ 9.98911176e-01 4.66220616e-02 1.68699828e-03 4.80960587e+01] [-4.66219403e-02 9.98912600e-01 -1.11178495e-04 -1.57424966e+00] [-1.69034721e-03 3.24063078e-05 9.99998571e-01 -3.11458049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.58, Z:-0.31 [[ 9.98941210e-01 4.59740555e-02 1.68697876e-03 4.81291426e+01] [-4.59739328e-02 9.98942634e-01 -1.11473919e-04 -1.58008864e+00] [-1.69031992e-03 3.37988427e-05 9.99998571e-01 -3.14333617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.16, Y:-1.58, Z:-0.32 [[ 9.98944627e-01 4.58997412e-02 1.68695713e-03 4.81610706e+01] [-4.58996178e-02 9.98946051e-01 -1.11800300e-04 -1.58442723e+00] [-1.69031077e-03 3.42516214e-05 9.99998571e-01 -3.18422877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:-1.59, Z:-0.32 [[ 9.98953677e-01 4.57023568e-02 1.68694367e-03 4.81936982e+01] [-4.57022328e-02 9.98955101e-01 -1.12003116e-04 -1.58831833e+00] [-1.69029979e-03 3.47888325e-05 9.99998571e-01 -3.20571326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:-1.59, Z:-0.32 [[ 9.98976095e-01 4.52096915e-02 1.68692312e-03 4.82259123e+01] [-4.52095663e-02 9.98977519e-01 -1.12311661e-04 -1.59272990e+00] [-1.69027585e-03 3.59316021e-05 9.99998571e-01 -3.22667137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:-1.60, Z:-0.32 [[ 9.98965445e-01 4.54443987e-02 1.68690386e-03 4.82589668e+01] [-4.54442733e-02 9.98966869e-01 -1.12600288e-04 -1.59655325e+00] [-1.69027812e-03 3.58236774e-05 9.99998571e-01 -3.22133314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:-1.60, Z:-0.32 [[ 9.98919405e-01 4.64454228e-02 1.68688318e-03 4.82913367e+01] [-4.64452983e-02 9.98920828e-01 -1.12909195e-04 -1.60211682e+00] [-1.69030686e-03 3.44393936e-05 9.99998571e-01 -3.19012825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:-1.61, Z:-0.32 [[ 9.98880119e-01 4.72827856e-02 1.68686189e-03 4.83241036e+01] [-4.72826618e-02 9.98881543e-01 -1.13226472e-04 -1.60612680e+00] [-1.69032887e-03 3.33403520e-05 9.99998571e-01 -3.17317731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:-1.61, Z:-0.32 [[ 9.98826459e-01 4.84030898e-02 1.68684017e-03 4.83572451e+01] [-4.84029671e-02 9.98827883e-01 -1.13549145e-04 -1.61075567e+00] [-1.69035912e-03 3.17678211e-05 9.99998571e-01 -3.16353722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:-1.62, Z:-0.32 [[ 9.98718170e-01 5.05882633e-02 1.68681818e-03 4.83896067e+01] [-5.05881431e-02 9.98719594e-01 -1.13874787e-04 -1.61940240e+00] [-1.69041910e-03 2.83958195e-05 9.99998571e-01 -3.16380381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:-1.63, Z:-0.32 [[ 9.98659213e-01 5.17390580e-02 1.68679599e-03 4.84214069e+01] [-5.17389389e-02 9.98660638e-01 -1.14202541e-04 -1.62508633e+00] [-1.69044549e-03 2.67763846e-05 9.99998571e-01 -3.16825888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:-1.63, Z:-0.32 [[ 9.98562393e-01 5.35751928e-02 1.68678212e-03 4.84530627e+01] [-5.35750760e-02 9.98563818e-01 -1.14407027e-04 -1.63330564e+00] [-1.69048897e-03 2.38730748e-05 9.99998571e-01 -3.15379002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.64, Z:-0.32 [[ 9.98495879e-01 5.48008552e-02 1.68676143e-03 4.84862714e+01] [-5.48007396e-02 9.98497304e-01 -1.14711273e-04 -1.63863619e+00] [-1.69051302e-03 2.21029596e-05 9.99998571e-01 -3.15287038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-1.65, Z:-0.31 [[ 9.98335621e-01 5.76467015e-02 1.68673974e-03 4.85186126e+01] [-5.76465894e-02 9.98337046e-01 -1.15029279e-04 -1.64783932e+00] [-1.69056583e-03 1.76030332e-05 9.99998571e-01 -3.14649627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-1.65, Z:-0.31 [[ 9.98220332e-01 5.96097556e-02 1.68671796e-03 4.85513954e+01] [-5.96096458e-02 9.98221757e-01 -1.15347802e-04 -1.65338336e+00] [-1.69059442e-03 1.45978605e-05 9.99998571e-01 -3.14840174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:-1.66, Z:-0.32 [[ 9.97970585e-01 6.36542679e-02 1.68669615e-03 4.85834119e+01] [-6.36541633e-02 9.97972011e-01 -1.15665904e-04 -1.66061037e+00] [-1.69063817e-03 8.06593810e-06 9.99998571e-01 -3.17212489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:-1.67, Z:-0.32 [[ 9.97818297e-01 6.59984928e-02 1.68667577e-03 4.86159368e+01] [-6.59983911e-02 9.97819723e-01 -1.15962286e-04 -1.66623930e+00] [-1.69065169e-03 4.39140354e-06 9.99998571e-01 -3.17110130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:-1.67, Z:-0.31 [[ 9.97578147e-01 6.95341364e-02 1.68665377e-03 4.86471303e+01] [-6.95340391e-02 9.97579573e-01 -1.16281425e-04 -1.67363327e+00] [-1.69065687e-03 -1.28004096e-06 9.99998571e-01 -3.14586833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:-1.68, Z:-0.31 [[ 9.97420578e-01 7.17589437e-02 1.68663321e-03 4.86801264e+01] [-7.17588492e-02 9.97422004e-01 -1.16578864e-04 -1.67727440e+00] [-1.69065065e-03 -4.75270045e-06 9.99998571e-01 -3.13301875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:-1.68, Z:-0.31 [[ 9.96921191e-01 7.83919223e-02 1.68661127e-03 4.87132622e+01] [-7.83918367e-02 9.96922618e-01 -1.16895369e-04 -1.68036713e+00] [-1.69058458e-03 -1.56810855e-05 9.99998571e-01 -3.12127401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:-1.68, Z:-0.31 [[ 9.96556145e-01 8.29035884e-02 1.68658922e-03 4.87453824e+01] [-8.29035087e-02 9.96557572e-01 -1.17212774e-04 -1.68225549e+00] [-1.69050061e-03 -2.30150530e-05 9.99998571e-01 -3.11682366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:-1.68, Z:-0.31 [[ 9.96140010e-01 8.77623816e-02 1.68656864e-03 4.87779303e+01] [-8.77623084e-02 9.96141437e-01 -1.17508080e-04 -1.68339481e+00] [-1.69037370e-03 -3.09626570e-05 9.99998571e-01 -3.11692540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.81, Y:-1.68, Z:-0.31 [[ 9.95288698e-01 9.69410292e-02 1.68654714e-03 4.88105144e+01] [-9.69409687e-02 9.95290126e-01 -1.17815898e-04 -1.68049216e+00] [-1.69002491e-03 -4.62346812e-05 9.99998571e-01 -3.13966544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.84, Y:-1.68, Z:-0.31 [[ 9.94686421e-01 1.02937258e-01 1.68653376e-03 4.88434175e+01] [-1.02937205e-01 9.94687849e-01 -1.18007075e-04 -1.67684740e+00] [-1.68972196e-03 -5.62270365e-05 9.99998571e-01 -3.14903962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.88, Y:-1.68, Z:-0.31 [[ 9.94521080e-01 1.04522617e-01 1.68651260e-03 4.88766323e+01] [-1.04522567e-01 9.94522508e-01 -1.18308744e-04 -1.67660083e+00] [-1.68964068e-03 -5.86180856e-05 9.99998571e-01 -3.13562975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:-1.67, Z:-0.31 [[ 9.94574852e-01 1.04009709e-01 1.68649134e-03 4.89095869e+01] [-1.04009657e-01 9.94576280e-01 -1.18611020e-04 -1.67405676e+00] [-1.68968098e-03 -5.74438480e-05 9.99998571e-01 -3.12016228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:-1.67, Z:-0.31 [[ 9.94747268e-01 1.02347586e-01 1.68646996e-03 4.89422854e+01] [-1.02347532e-01 9.94748696e-01 -1.18914282e-04 -1.67407985e+00] [-1.68978438e-03 -5.43163796e-05 9.99998571e-01 -3.12169228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:-1.67, Z:-0.31 [[ 9.94907751e-01 1.00775609e-01 1.68644749e-03 4.89741908e+01] [-1.00775552e-01 9.94909179e-01 -1.19232052e-04 -1.67392863e+00] [-1.68987777e-03 -5.13277834e-05 9.99998571e-01 -3.12417075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.01, Y:-1.67, Z:-0.31 [[ 9.95186803e-01 9.79815488e-02 1.68642639e-03 4.90079428e+01] [-9.79814868e-02 9.95188230e-01 -1.19529816e-04 -1.67061972e+00] [-1.69002341e-03 -4.62840697e-05 9.99998571e-01 -3.12299168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:-1.67, Z:-0.31 [[ 9.95229464e-01 9.75472758e-02 1.68640389e-03 4.90403840e+01] [-9.75472127e-02 9.95230891e-01 -1.19846385e-04 -1.67063808e+00] [-1.69005193e-03 -4.52293449e-05 9.99998571e-01 -3.12781484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.07, Y:-1.67, Z:-0.32 [[ 9.95161477e-01 9.82384419e-02 1.68638286e-03 4.90732903e+01] [-9.82383793e-02 9.95162904e-01 -1.20141612e-04 -1.67064786e+00] [-1.69002819e-03 -4.61072141e-05 9.99998571e-01 -3.15416342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:-1.67, Z:-0.32 [[ 9.95093262e-01 9.89270201e-02 1.68636050e-03 4.91066726e+01] [-9.89269579e-02 9.95094690e-01 -1.20454630e-04 -1.67214929e+00] [-1.69000459e-03 -4.69629235e-05 9.99998571e-01 -3.15983835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:-1.67, Z:-0.31 [[ 9.95061446e-01 9.92465345e-02 1.68633805e-03 4.91383387e+01] [-9.92464722e-02 9.95062874e-01 -1.20768096e-04 -1.67157601e+00] [-1.68999820e-03 -4.71914256e-05 9.99998571e-01 -3.14640033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.17, Y:-1.67, Z:-0.32 [[ 9.95088760e-01 9.89723004e-02 1.68631700e-03 4.91717966e+01] [-9.89722373e-02 9.95090188e-01 -1.21061312e-04 -1.67322936e+00] [-1.69001921e-03 -4.64318153e-05 9.99998571e-01 -3.15424886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.20, Y:-1.68, Z:-0.32 [[ 9.95210771e-01 9.77377992e-02 1.68629471e-03 4.92032505e+01] [-9.77377337e-02 9.95212199e-01 -1.21370923e-04 -1.67537131e+00] [-1.69008360e-03 -4.40249736e-05 9.99998571e-01 -3.20342450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:-1.68, Z:-0.32 [[ 9.95267354e-01 9.71599225e-02 1.68627666e-03 4.92363150e+01] [-9.71598558e-02 9.95268782e-01 -1.21621181e-04 -1.67782658e+00] [-1.69011523e-03 -4.27928065e-05 9.99998571e-01 -3.20262810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:-1.68, Z:-0.32 [[ 9.95312261e-01 9.66988062e-02 1.68625350e-03 4.92685032e+01] [-9.66987383e-02 9.95313689e-01 -1.21941508e-04 -1.67987873e+00] [-1.69014279e-03 -4.16887078e-05 9.99998571e-01 -3.19291307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:-1.68, Z:-0.31 [[ 9.95324608e-01 9.65716360e-02 1.68623180e-03 4.93004737e+01] [-9.65715674e-02 9.95326036e-01 -1.22240805e-04 -1.68138691e+00] [-1.69015541e-03 -4.11727668e-05 9.99998571e-01 -3.14239752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:-1.68, Z:-0.31 [[ 9.95252950e-01 9.73073619e-02 1.68621107e-03 4.93335717e+01] [-9.73072939e-02 9.95254377e-01 -1.22526125e-04 -1.68379232e+00] [-1.69013164e-03 -4.21361492e-05 9.99998571e-01 -3.14066441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-1.69, Z:-0.32 [[ 9.95061287e-01 9.92481365e-02 1.68618892e-03 4.93664661e+01] [-9.92480707e-02 9.95062714e-01 -1.22830168e-04 -1.68501347e+00] [-1.69005439e-03 -4.51274526e-05 9.99998571e-01 -3.18035812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:-1.69, Z:-0.32 [[ 9.95042725e-01 9.94340629e-02 1.68616591e-03 4.93998632e+01] [-9.94339969e-02 9.95044152e-01 -1.23145229e-04 -1.68763880e+00] [-1.69005436e-03 -4.51274518e-05 9.99998571e-01 -3.18092480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:-1.69, Z:-0.32 [[ 9.94931154e-01 1.00544295e-01 1.68614284e-03 4.94320414e+01] [-1.00544230e-01 9.94932582e-01 -1.23460286e-04 -1.68867929e+00] [-1.69001168e-03 -4.66974491e-05 9.99998571e-01 -3.19804723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:-1.69, Z:-0.32 [[ 9.94872887e-01 1.01119212e-01 1.68612127e-03 4.94648144e+01] [-1.01119147e-01 9.94874315e-01 -1.23754157e-04 -1.68868344e+00] [-1.68999267e-03 -4.73794898e-05 9.99998571e-01 -3.17437272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:-1.69, Z:-0.32 [[ 9.94956382e-01 1.00294340e-01 1.68609835e-03 4.94963489e+01] [-1.00294273e-01 9.94957810e-01 -1.24065745e-04 -1.69119101e+00] [-1.69003981e-03 -4.56660037e-05 9.99998571e-01 -3.16537853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.53, Y:-1.69, Z:-0.32 [[ 9.95142868e-01 9.84267736e-02 1.68607691e-03 4.95288188e+01] [-9.84267041e-02 9.95144295e-01 -1.24356345e-04 -1.69441478e+00] [-1.69012982e-03 -4.22026636e-05 9.99998571e-01 -3.17134141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.70, Z:-0.32 [[ 9.95647589e-01 9.31828047e-02 1.68606710e-03 4.95618077e+01] [-9.31827274e-02 9.95649016e-01 -1.24489214e-04 -1.70003870e+00] [-1.69033131e-03 -3.31649457e-05 9.99998571e-01 -3.18825331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.59, Y:-1.71, Z:-0.32 [[ 9.96153103e-01 8.76136515e-02 1.68604388e-03 4.95947078e+01] [-8.76135658e-02 9.96154530e-01 -1.24802955e-04 -1.70628540e+00] [-1.69049469e-03 -2.33974650e-05 9.99998571e-01 -3.19644037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.63, Y:-1.71, Z:-0.32 [[ 9.96350388e-01 8.53408590e-02 1.68601945e-03 4.96273229e+01] [-8.53407695e-02 9.96351814e-01 -1.25132197e-04 -1.71048419e+00] [-1.69054742e-03 -1.92106835e-05 9.99998571e-01 -3.20163233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.555769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.66, Y:-1.72, Z:-0.32 [[ 9.96603032e-01 8.23380527e-02 1.68599506e-03 4.96585600e+01] [-8.23379582e-02 9.96604458e-01 -1.25459851e-04 -1.71605091e+00] [-1.69060032e-03 -1.37877236e-05 9.99998571e-01 -3.21437813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:49.69, Y:-1.72, Z:-0.32 [[ 9.96652219e-01 8.17405094e-02 1.68597225e-03 4.96912921e+01] [-8.17404136e-02 9.96653645e-01 -1.25765689e-04 -1.72029982e+00] [-1.69061054e-03 -1.24674159e-05 9.99998571e-01 -3.21283613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:49.72, Y:-1.73, Z:-0.32 [[ 9.96597543e-01 8.24044548e-02 1.68594809e-03 4.97226027e+01] [-8.24043594e-02 9.96598969e-01 -1.26088781e-04 -1.72598008e+00] [-1.69060440e-03 -1.32697025e-05 9.99998571e-01 -3.21356776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:49.75, Y:-1.73, Z:-0.32 [[ 9.96471913e-01 8.39099797e-02 1.68592549e-03 4.97539898e+01] [-8.39098859e-02 9.96473339e-01 -1.26390252e-04 -1.72996278e+00] [-1.69058520e-03 -1.55214791e-05 9.99998571e-01 -3.21930761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:49.79, Y:-1.74, Z:-0.32 [[ 9.96187986e-01 8.72161376e-02 1.68590328e-03 4.97864258e+01] [-8.72160481e-02 9.96189412e-01 -1.26685705e-04 -1.73507105e+00] [-1.69052804e-03 -2.08350449e-05 9.99998571e-01 -3.21599354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705769231000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.82, Y:-1.74, Z:-0.32 [[ 9.96049395e-01 8.87849094e-02 1.68587936e-03 4.98189716e+01] [-8.87848216e-02 9.96050822e-01 -1.27003262e-04 -1.73822476e+00] [-1.69049750e-03 -2.31789756e-05 9.99998571e-01 -3.21039788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.85, Y:-1.74, Z:-0.32 [[ 9.95926818e-01 9.01494953e-02 1.68585531e-03 4.98518491e+01] [-9.01494089e-02 9.95928244e-01 -1.27321675e-04 -1.73999062e+00] [-1.69046891e-03 -2.51757896e-05 9.99998571e-01 -3.19663765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765769231 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:49.88, Y:-1.74, Z:-0.31 [[ 9.95679995e-01 9.28359077e-02 1.68583105e-03 4.98837226e+01] [-9.28358246e-02 9.95681422e-01 -1.27642159e-04 -1.73955485e+00] [-1.69040043e-03 -2.94147715e-05 9.99998571e-01 -3.14269585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:49.92, Y:-1.74, Z:-0.31 [[ 9.95496192e-01 9.47865456e-02 1.68580829e-03 4.99153525e+01] [-9.47864648e-02 9.95497619e-01 -1.27941970e-04 -1.74206203e+00] [-1.69034532e-03 -3.24260643e-05 9.99998571e-01 -3.12801650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.95, Y:-1.74, Z:-0.31 [[ 9.95447978e-01 9.52915622e-02 1.68579346e-03 4.99477441e+01] [-9.52914818e-02 9.95449405e-01 -1.28137119e-04 -1.74486959e+00] [-1.69033248e-03 -3.30879205e-05 9.99998571e-01 -3.14919349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855769231000004 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:49.98, Y:-1.75, Z:-0.32 [[ 9.95373086e-01 9.60706903e-02 1.68576992e-03 4.99798073e+01] [-9.60706105e-02 9.95374513e-01 -1.28446043e-04 -1.74653783e+00] [-1.69031232e-03 -3.41012114e-05 9.99998571e-01 -3.17996674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885769231000005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:50.01, Y:-1.75, Z:-0.32 [[ 9.95301924e-01 9.68051570e-02 1.68574783e-03 5.00129879e+01] [-9.68050778e-02 9.95303351e-01 -1.28735361e-04 -1.74839592e+00] [-1.69029271e-03 -3.50583971e-05 9.99998571e-01 -3.16863209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.915769231000006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:50.05, Y:-1.75, Z:-0.32 [[ 9.95172621e-01 9.81254952e-02 1.68572449e-03 5.00463815e+01] [-9.81254173e-02 9.95174048e-01 -1.29040274e-04 -1.75040145e+00] [-1.69025140e-03 -3.69950709e-05 9.99998571e-01 -3.15351169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:50.08, Y:-1.75, Z:-0.32 [[ 9.94841811e-01 1.01424502e-01 1.68570118e-03 5.00792146e+01] [-1.01424428e-01 9.94843238e-01 -1.29344016e-04 -1.75278299e+00] [-1.69012707e-03 -4.22944437e-05 9.99998571e-01 -3.15260756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:50.11, Y:-1.75, Z:-0.32 [[ 9.94682736e-01 1.02972873e-01 1.68567788e-03 5.01112051e+01] [-1.02972801e-01 9.94684164e-01 -1.29647041e-04 -1.75443939e+00] [-1.69006722e-03 -4.46212989e-05 9.99998571e-01 -3.17039744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:50.14, Y:-1.75, Z:-0.32 [[ 9.94531000e-01 1.04428196e-01 1.68566335e-03 5.01441590e+01] [-1.04428126e-01 9.94532428e-01 -1.29835669e-04 -1.75329130e+00] [-1.69000537e-03 -4.69050673e-05 9.99998571e-01 -3.19693790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.75, Z:-0.32 [[ 9.94503159e-01 1.04693001e-01 1.68564018e-03 5.01774646e+01] [-1.04692931e-01 9.94504587e-01 -1.30135784e-04 -1.75432096e+00] [-1.69000119e-03 -4.70541618e-05 9.99998571e-01 -3.19846297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065769231000004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.75, Z:-0.32 [[ 9.94437449e-01 1.05315334e-01 1.68561705e-03 5.02109515e+01] [-1.05315264e-01 9.94438876e-01 -1.30434625e-04 -1.75294901e+00] [-1.68997989e-03 -4.78121288e-05 9.99998571e-01 -3.18163904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095769231000006 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:50.24, Y:-1.75, Z:-0.32 [[ 9.94438042e-01 1.05309726e-01 1.68559385e-03 5.02441190e+01] [-1.05309656e-01 9.94439470e-01 -1.30733830e-04 -1.75277096e+00] [-1.68998859e-03 -4.75026146e-05 9.99998571e-01 -3.17370416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:50.28, Y:-1.75, Z:-0.32 [[ 9.94637124e-01 1.03412526e-01 1.68557014e-03 5.02763039e+01] [-1.03412452e-01 9.94638551e-01 -1.31038763e-04 -1.74939118e+00] [-1.69008409e-03 -4.39729231e-05 9.99998571e-01 -3.20619008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155769231 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:50.31, Y:-1.75, Z:-0.32 [[ 9.94777848e-01 1.02049947e-01 1.68555532e-03 5.03095864e+01] [-1.02049871e-01 9.94779275e-01 -1.31229170e-04 -1.74979503e+00] [-1.69014743e-03 -4.14668314e-05 9.99998571e-01 -3.21843334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:50.34, Y:-1.75, Z:-0.32 [[ 9.95087233e-01 9.89876658e-02 1.68553250e-03 5.03427367e+01] [-9.89875849e-02 9.95088660e-01 -1.31521516e-04 -1.74856934e+00] [-1.69027329e-03 -3.59714106e-05 9.99998571e-01 -3.20501172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:50.38, Y:-1.75, Z:-0.32 [[ 9.95224816e-01 9.75947009e-02 1.68550969e-03 5.03756471e+01] [-9.75946176e-02 9.95226242e-01 -1.31813286e-04 -1.74893742e+00] [-1.69032775e-03 -3.33128199e-05 9.99998571e-01 -3.19596065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245769231000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:50.41, Y:-1.75, Z:-0.32 [[ 9.95541187e-01 9.43127996e-02 1.68548693e-03 5.04092172e+01] [-9.43127111e-02 9.95542613e-01 -1.32103613e-04 -1.74739550e+00] [-1.69043313e-03 -2.74482547e-05 9.99998571e-01 -3.20096102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275769231000005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:50.44, Y:-1.75, Z:-0.32 [[ 9.95683492e-01 9.27984041e-02 1.68546238e-03 5.04417177e+01] [-9.27983129e-02 9.95684918e-01 -1.32416135e-04 -1.74920660e+00] [-1.69047748e-03 -2.45635053e-05 9.99998571e-01 -3.21617261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.47, Y:-1.75, Z:-0.32 [[ 9.95813539e-01 9.13923132e-02 1.68543745e-03 5.04740223e+01] [-9.13922194e-02 9.95814965e-01 -1.32732703e-04 -1.75166034e+00] [-1.69051458e-03 -2.18588461e-05 9.99998571e-01 -3.24206177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.51, Y:-1.75, Z:-0.33 [[ 9.96050651e-01 8.87708271e-02 1.68541409e-03 5.05068353e+01] [-8.87707291e-02 9.96052077e-01 -1.33028691e-04 -1.75326801e+00] [-1.69056927e-03 -1.71121228e-05 9.99998571e-01 -3.25693024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365769231 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:50.54, Y:-1.76, Z:-0.32 [[ 9.96266501e-01 8.63146429e-02 1.68538960e-03 5.05385743e+01] [-8.63145409e-02 9.96267927e-01 -1.33338136e-04 -1.75627151e+00] [-1.69060864e-03 -1.26333113e-05 9.99998571e-01 -3.23349338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.395769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:50.57, Y:-1.76, Z:-0.32 [[ 9.96328903e-01 8.55913385e-02 1.68536662e-03 5.05704835e+01] [-8.55912349e-02 9.96330328e-01 -1.33628060e-04 -1.76028919e+00] [-1.69061928e-03 -1.11151112e-05 9.99998571e-01 -3.20872831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425769231000004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:50.60, Y:-1.76, Z:-0.32 [[ 9.96374033e-01 8.50643622e-02 1.68534550e-03 5.06034186e+01] [-8.50642574e-02 9.96375458e-01 -1.33893890e-04 -1.76383145e+00] [-1.69062649e-03 -9.95426776e-06 9.99998571e-01 -3.18056838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455769231000005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:50.64, Y:-1.77, Z:-0.31 [[ 9.96446833e-01 8.42072915e-02 1.68531995e-03 5.06355121e+01] [-8.42071849e-02 9.96448259e-01 -1.34214675e-04 -1.76514445e+00] [-1.69063599e-03 -8.17826078e-06 9.99998571e-01 -3.14304059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:50.67, Y:-1.77, Z:-0.31 [[ 9.96445133e-01 8.42274115e-02 1.68529605e-03 5.06688121e+01] [-8.42273045e-02 9.96446558e-01 -1.34514124e-04 -1.76690399e+00] [-1.69063723e-03 -7.91199908e-06 9.99998571e-01 -3.13291644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515769231 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:50.70, Y:-1.77, Z:-0.31 [[ 9.96435293e-01 8.43437371e-02 1.68527046e-03 5.07015928e+01] [-8.43436297e-02 9.96436718e-01 -1.34833974e-04 -1.76863674e+00] [-1.69063777e-03 -7.78849683e-06 9.99998571e-01 -3.14338304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:50.73, Y:-1.77, Z:-0.32 [[ 9.96401458e-01 8.47425141e-02 1.68524459e-03 5.07336355e+01] [-8.47424067e-02 9.96402883e-01 -1.35156504e-04 -1.77136948e+00] [-1.69063607e-03 -8.14154526e-06 9.99998571e-01 -3.16511796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575769231 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.77, Y:-1.77, Z:-0.32 [[ 9.96379073e-01 8.50053065e-02 1.68522038e-03 5.07660634e+01] [-8.50051990e-02 9.96380499e-01 -1.35457800e-04 -1.77187886e+00] [-1.69063535e-03 -8.28517567e-06 9.99998571e-01 -3.22489553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605769231000004 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:50.80, Y:-1.77, Z:-0.32 [[ 9.96395547e-01 8.48119975e-02 1.68519807e-03 5.07981946e+01] [-8.48118892e-02 9.96396972e-01 -1.35734731e-04 -1.77332733e+00] [-1.69063819e-03 -7.67935025e-06 9.99998571e-01 -3.23250790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635769231000005 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:50.83, Y:-1.78, Z:-0.32 [[ 9.96603255e-01 8.23353642e-02 1.68517557e-03 5.08305475e+01] [-8.23352519e-02 9.96604680e-01 -1.36013491e-04 -1.77622701e+00] [-1.69065258e-03 -3.19786705e-06 9.99998571e-01 -3.18756083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665769231000006 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:50.86, Y:-1.78, Z:-0.32 [[ 9.96811830e-01 7.97705210e-02 1.68515155e-03 5.08624534e+01] [-7.97704046e-02 9.96813254e-01 -1.36310496e-04 -1.78036610e+00] [-1.69065496e-03 1.45069402e-06 9.99998571e-01 -3.15778499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:50.90, Y:-1.79, Z:-0.31 [[ 9.97399805e-01 7.20471321e-02 1.68512771e-03 5.08952058e+01] [-7.20470041e-02 9.97401228e-01 -1.36604592e-04 -1.78731133e+00] [-1.69059041e-03 1.48409905e-05 9.99998571e-01 -3.14857199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:50.93, Y:-1.79, Z:-0.32 [[ 9.97682807e-01 6.80159996e-02 1.68510226e-03 5.09274259e+01] [-6.80158653e-02 9.97684230e-01 -1.36917778e-04 -1.79240429e+00] [-1.69051255e-03 2.19868247e-05 9.99998571e-01 -3.17258908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:50.96, Y:-1.80, Z:-0.32 [[ 9.97927313e-01 6.43291400e-02 1.68507671e-03 5.09595005e+01] [-6.43290000e-02 9.97928735e-01 -1.37231465e-04 -1.79866347e+00] [-1.69041445e-03 2.85477273e-05 9.99998571e-01 -3.20727411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:50.99, Y:-1.81, Z:-0.33 [[ 9.98303772e-01 5.81956977e-02 1.68505295e-03 5.09916240e+01] [-5.81955484e-02 9.98305193e-01 -1.37522566e-04 -1.81110370e+00] [-1.69020034e-03 3.92267153e-05 9.99998571e-01 -3.25145887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815769231000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:51.02, Y:-1.82, Z:-0.33 [[ 9.98403287e-01 5.64627106e-02 1.68502712e-03 5.10238824e+01] [-5.64625584e-02 9.98404708e-01 -1.37838363e-04 -1.81967849e+00] [-1.69012174e-03 4.24773323e-05 9.99998571e-01 -3.25346768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845769231000006 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:51.06, Y:-1.83, Z:-0.32 [[ 9.98455364e-01 5.55341943e-02 1.68500139e-03 5.10553440e+01] [-5.55340402e-02 9.98456785e-01 -1.38152189e-04 -1.83396714e+00] [-1.69007324e-03 4.43638595e-05 9.99998571e-01 -3.23887569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.875769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.84, Z:-0.32 [[ 9.98418317e-01 5.61963012e-02 1.68497502e-03 5.10866000e+01] [-5.61961475e-02 9.98419738e-01 -1.38473093e-04 -1.84234886e+00] [-1.69009399e-03 4.35649681e-05 9.99998571e-01 -3.23157214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:51.12, Y:-1.86, Z:-0.32 [[ 9.98210638e-01 5.97719342e-02 1.68495037e-03 5.11183714e+01] [-5.97717850e-02 9.98212059e-01 -1.38772434e-04 -1.85663411e+00] [-1.69023247e-03 3.78116283e-05 9.99998571e-01 -3.22969374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:51.15, Y:-1.86, Z:-0.32 [[ 9.98039359e-01 6.25667493e-02 1.68492414e-03 5.11503356e+01] [-6.25666036e-02 9.98040781e-01 -1.39090149e-04 -1.86444269e+00] [-1.69032542e-03 3.33974630e-05 9.99998571e-01 -3.20885965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:51.18, Y:-1.87, Z:-0.32 [[ 9.97797185e-01 6.63169630e-02 1.68488354e-03 5.11821228e+01] [-6.63168219e-02 9.97798607e-01 -1.39580871e-04 -1.87152069e+00] [-1.69043103e-03 2.75372783e-05 9.99998571e-01 -3.20781728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995769231000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.21, Y:-1.88, Z:-0.32 [[ 9.97197906e-01 7.47896890e-02 1.68489111e-03 5.12145657e+01] [-7.47895600e-02 9.97199329e-01 -1.39489410e-04 -1.88088037e+00] [-1.69060466e-03 1.30862824e-05 9.99998571e-01 -3.18606052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025769231000005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:51.25, Y:-1.89, Z:-0.32 [[ 9.96713999e-01 8.09837370e-02 1.68486493e-03 5.12458797e+01] [-8.09836164e-02 9.96715423e-01 -1.39804946e-04 -1.88803336e+00] [-1.69065279e-03 2.89909167e-06 9.99998571e-01 -3.18638463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.055769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:51.28, Y:-1.89, Z:-0.32 [[ 9.96519192e-01 8.33466291e-02 1.68484046e-03 5.12778968e+01] [-8.33465114e-02 9.96520617e-01 -1.40099254e-04 -1.89259541e+00] [-1.69065505e-03 -8.13979182e-07 9.99998571e-01 -3.20358455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:51.31, Y:-1.90, Z:-0.32 [[ 9.96337978e-01 8.54856436e-02 1.68481633e-03 5.13101672e+01] [-8.54855284e-02 9.96339402e-01 -1.40388785e-04 -1.89686832e+00] [-1.69065012e-03 -4.15273618e-06 9.99998571e-01 -3.21006900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:51.34, Y:-1.90, Z:-0.32 [[ 9.95971838e-01 8.96507582e-02 1.68479173e-03 5.13433400e+01] [-8.96506485e-02 9.95973263e-01 -1.40683443e-04 -1.90084448e+00] [-1.69061989e-03 -1.09259234e-05 9.99998571e-01 -3.20763154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:51.38, Y:-1.90, Z:-0.32 [[ 9.95569927e-01 9.40089443e-02 1.68476626e-03 5.13764966e+01] [-9.40088403e-02 9.95571353e-01 -1.40987802e-04 -1.90271832e+00] [-1.69055914e-03 -1.80197064e-05 9.99998571e-01 -3.17454155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175769231000004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:51.41, Y:-1.90, Z:-0.32 [[ 9.95359397e-01 9.62124355e-02 1.68473950e-03 5.14085106e+01] [-9.62123341e-02 9.95360822e-01 -1.41306814e-04 -1.90417939e+00] [-1.69051917e-03 -2.14416548e-05 9.99998571e-01 -3.16653936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205769231000005 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:51.44, Y:-1.91, Z:-0.32 [[ 9.95342065e-01 9.63915745e-02 1.68471457e-03 5.14418682e+01] [-9.63914728e-02 9.95343490e-01 -1.41603382e-04 -1.90718201e+00] [-1.69051906e-03 -2.14483166e-05 9.99998571e-01 -3.16710602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.235769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:51.48, Y:-1.91, Z:-0.32 [[ 9.95181544e-01 9.80349785e-02 1.68468903e-03 5.14752560e+01] [-9.80348788e-02 9.95182969e-01 -1.41906584e-04 -1.90879461e+00] [-1.69048564e-03 -2.39354714e-05 9.99998571e-01 -3.16377848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:51.51, Y:-1.91, Z:-0.32 [[ 9.94956003e-01 1.00298124e-01 1.68466238e-03 5.15070228e+01] [-1.00298027e-01 9.94957429e-01 -1.42222261e-04 -1.90751474e+00] [-1.69043198e-03 -2.74634209e-05 9.99998571e-01 -3.20004568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:51.54, Y:-1.91, Z:-0.32 [[ 9.94860238e-01 1.01243613e-01 1.68463741e-03 5.15398319e+01] [-1.01243517e-01 9.94861664e-01 -1.42517492e-04 -1.90917043e+00] [-1.69041016e-03 -2.87736298e-05 9.99998571e-01 -3.22601805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:51.57, Y:-1.91, Z:-0.33 [[ 9.94850976e-01 1.01334587e-01 1.68460986e-03 5.15706026e+01] [-1.01334490e-01 9.94852401e-01 -1.42842354e-04 -1.90934709e+00] [-1.69041304e-03 -2.86022260e-05 9.99998571e-01 -3.25948384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355769231000004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.60, Y:-1.91, Z:-0.33 [[ 9.94909115e-01 1.00762172e-01 1.68458751e-03 5.16038826e+01] [-1.00762074e-01 9.94910541e-01 -1.43105441e-04 -1.91064392e+00] [-1.69043349e-03 -2.73656249e-05 9.99998571e-01 -3.25425952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385769231000005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:51.64, Y:-1.91, Z:-0.32 [[ 9.94989044e-01 9.99698207e-02 1.68456055e-03 5.16360250e+01] [-9.99697211e-02 9.94990469e-01 -1.43422180e-04 -1.91128865e+00] [-1.69045958e-03 -2.57015501e-05 9.99998571e-01 -3.24498507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.415769231000006 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:51.67, Y:-1.91, Z:-0.32 [[ 9.95149180e-01 9.83629567e-02 1.68453536e-03 5.16697736e+01] [-9.83628543e-02 9.95150606e-01 -1.43717347e-04 -1.90816092e+00] [-1.69050285e-03 -2.26755065e-05 9.99998571e-01 -3.23300928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:51.70, Y:-1.91, Z:-0.32 [[ 9.95195845e-01 9.78896963e-02 1.68450943e-03 5.17014017e+01] [-9.78895927e-02 9.95197270e-01 -1.44020682e-04 -1.90807832e+00] [-1.69051733e-03 -2.15671573e-05 9.99998571e-01 -3.24021183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:51.73, Y:-1.91, Z:-0.32 [[ 9.95393594e-01 9.58579960e-02 1.68448512e-03 5.17347509e+01] [-9.58578890e-02 9.95395019e-01 -1.44304487e-04 -1.90525104e+00] [-1.69056083e-03 -1.78314254e-05 9.99998571e-01 -3.21848124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:51.77, Y:-1.91, Z:-0.32 [[ 9.95532163e-01 9.44080257e-02 1.68445817e-03 5.17671437e+01] [-9.44079162e-02 9.95533588e-01 -1.44618338e-04 -1.90520183e+00] [-1.69058782e-03 -1.50539792e-05 9.99998571e-01 -3.20689671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:51.80, Y:-1.90, Z:-0.32 [[ 9.95876203e-01 9.07069513e-02 1.68443286e-03 5.17998967e+01] [-9.07068359e-02 9.95877627e-01 -1.44912528e-04 -1.90364301e+00] [-1.69063358e-03 -8.47463669e-06 9.99998571e-01 -3.23123192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565769231000004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:51.83, Y:-1.90, Z:-0.33 [[ 9.96095366e-01 8.82676840e-02 1.68440591e-03 5.18315379e+01] [-8.82675646e-02 9.96096790e-01 -1.45225183e-04 -1.90492181e+00] [-1.69065001e-03 -4.02027546e-06 9.99998571e-01 -3.25027919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595769231000006 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:51.86, Y:-1.91, Z:-0.33 [[ 9.96555878e-01 8.29068495e-02 1.68438063e-03 5.18649921e+01] [-8.29067220e-02 9.96557301e-01 -1.45517802e-04 -1.90647111e+00] [-1.69064623e-03 5.37014514e-06 9.99998571e-01 -3.25263272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:51.90, Y:-1.91, Z:-0.32 [[ 9.96777686e-01 8.01960578e-02 1.68435237e-03 5.18967192e+01] [-8.01959259e-02 9.96779109e-01 -1.45844117e-04 -1.90935586e+00] [-1.69062338e-03 1.02959637e-05 9.99998571e-01 -3.23541509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:51.93, Y:-1.91, Z:-0.32 [[ 9.96975342e-01 7.77002637e-02 1.68432584e-03 5.19294556e+01] [-7.77001277e-02 9.96976764e-01 -1.46149890e-04 -1.91239269e+00] [-1.69058961e-03 1.48355037e-05 9.99998571e-01 -3.21045863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:51.96, Y:-1.92, Z:-0.32 [[ 9.97246553e-01 7.41382249e-02 1.68429907e-03 5.19621556e+01] [-7.41380833e-02 9.97247975e-01 -1.46457687e-04 -1.91665389e+00] [-1.69052195e-03 2.11837180e-05 9.99998571e-01 -3.19141556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:52.00, Y:-1.92, Z:-0.32 [[ 9.97284658e-01 7.36238709e-02 1.68427217e-03 5.19951209e+01] [-7.36237280e-02 9.97286080e-01 -1.46766484e-04 -1.92036836e+00] [-1.69050670e-03 2.23655674e-05 9.99998571e-01 -3.21460045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745769231000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.03, Y:-1.92, Z:-0.33 [[ 9.97191590e-01 7.48738723e-02 1.68424499e-03 5.20265338e+01] [-7.48737307e-02 9.97193012e-01 -1.47077730e-04 -1.92354892e+00] [-1.69052961e-03 2.05589694e-05 9.99998571e-01 -3.27262634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775769231000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.06, Y:-1.93, Z:-0.33 [[ 9.97055249e-01 7.66680763e-02 1.68422302e-03 5.20596546e+01] [-7.66679368e-02 9.97056671e-01 -1.47328777e-04 -1.92644595e+00] [-1.69056122e-03 1.77690263e-05 9.99998571e-01 -3.27404547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.09, Y:-1.93, Z:-0.33 [[ 9.96884070e-01 7.88626352e-02 1.68419562e-03 5.20913783e+01] [-7.88624983e-02 9.96885492e-01 -1.47641393e-04 -1.92920341e+00] [-1.69059357e-03 1.43614782e-05 9.99998571e-01 -3.27868415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.12, Y:-1.93, Z:-0.33 [[ 9.96636720e-01 8.19293164e-02 1.68417004e-03 5.21245231e+01] [-8.19291834e-02 9.96638142e-01 -1.47932597e-04 -1.93291657e+00] [-1.69062812e-03 9.45238223e-06 9.99998571e-01 -3.26910620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:52.16, Y:-1.94, Z:-0.33 [[ 9.96622315e-01 8.21043578e-02 1.68414321e-03 5.21572394e+01] [-8.21042245e-02 9.96623738e-01 -1.48237439e-04 -1.93615567e+00] [-1.69062804e-03 9.46146769e-06 9.99998571e-01 -3.25038857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.895769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:52.19, Y:-1.94, Z:-0.32 [[ 9.96632371e-01 8.19822022e-02 1.68411532e-03 5.21901642e+01] [-8.19820683e-02 9.96633794e-01 -1.48553580e-04 -1.94126839e+00] [-1.69062499e-03 9.98604879e-06 9.99998571e-01 -3.23721246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925769231000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:52.22, Y:-1.95, Z:-0.32 [[ 9.96617565e-01 8.21619881e-02 1.68408707e-03 5.22214847e+01] [-8.21618538e-02 9.96618988e-01 -1.48873152e-04 -1.94571069e+00] [-1.69062487e-03 1.00018823e-05 9.99998571e-01 -3.24344110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955769231000005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.25, Y:-1.95, Z:-0.32 [[ 9.96497076e-01 8.36106554e-02 1.68406075e-03 5.22543210e+01] [-8.36105227e-02 9.96498499e-01 -1.49170357e-04 -1.95165205e+00] [-1.69063624e-03 7.84262564e-06 9.99998571e-01 -3.23992810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:52.29, Y:-1.96, Z:-0.32 [[ 9.96374761e-01 8.50558664e-02 1.68403303e-03 5.22873091e+01] [-8.50557353e-02 9.96376184e-01 -1.49482564e-04 -1.95606129e+00] [-1.69064478e-03 5.70398637e-06 9.99998571e-01 -3.23943797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.32, Y:-1.96, Z:-0.33 [[ 9.96023177e-01 8.90785886e-02 1.68400466e-03 5.23185444e+01] [-8.90784627e-02 9.96024601e-01 -1.49801543e-04 -1.96239310e+00] [-1.69065418e-03 -8.02737444e-07 9.99998571e-01 -3.26137562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:52.35, Y:-1.97, Z:-0.33 [[ 9.95798917e-01 9.15515174e-02 1.68397819e-03 5.23513037e+01] [-9.15513945e-02 9.95800341e-01 -1.50098514e-04 -1.96769135e+00] [-1.69064780e-03 -4.70261392e-06 9.99998571e-01 -3.27259034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.38, Y:-1.97, Z:-0.33 [[ 9.95565702e-01 9.40536906e-02 1.68395016e-03 5.23843544e+01] [-9.40535707e-02 9.95567126e-01 -1.50412270e-04 -1.97320530e+00] [-1.69063226e-03 -8.63622869e-06 9.99998571e-01 -3.27103185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105769231000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.42, Y:-1.98, Z:-0.32 [[ 9.95160674e-01 9.82466098e-02 1.68392213e-03 5.24169686e+01] [-9.82464954e-02 9.95162099e-01 -1.50725464e-04 -1.97945223e+00] [-1.69058375e-03 -1.54433939e-05 9.99998571e-01 -3.22542005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:-1.98, Z:-0.32 [[ 9.94946717e-01 1.00390214e-01 1.68389422e-03 5.24494488e+01] [-1.00390102e-01 9.94948142e-01 -1.51036594e-04 -1.98362635e+00] [-1.69055003e-03 -1.87729502e-05 9.99998571e-01 -3.20202281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165769231000006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.48, Y:-1.99, Z:-0.32 [[ 9.94297049e-01 1.06632745e-01 1.68386621e-03 5.24807521e+01] [-1.06632642e-01 9.94298475e-01 -1.51348319e-04 -1.98821172e+00] [-1.69040429e-03 -2.90699151e-05 9.99998571e-01 -3.20003222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:52.51, Y:-1.99, Z:-0.32 [[ 9.93826073e-01 1.10936470e-01 1.68383996e-03 5.25139083e+01] [-1.10936372e-01 9.93827499e-01 -1.51639768e-04 -1.99025754e+00] [-1.69026884e-03 -3.60955416e-05 9.99998571e-01 -3.21487546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:52.55, Y:-1.99, Z:-0.32 [[ 9.92617627e-01 1.21274113e-01 1.68381218e-03 5.25476648e+01] [-1.21274029e-01 9.92619054e-01 -1.51947624e-04 -1.98605189e+00] [-1.68981136e-03 -5.33767979e-05 9.99998571e-01 -3.24404464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:52.58, Y:-1.98, Z:-0.32 [[ 9.92006567e-01 1.26175023e-01 1.68378437e-03 5.25804638e+01] [-1.26174946e-01 9.92007994e-01 -1.52255205e-04 -1.98476156e+00] [-1.68953835e-03 -6.14132377e-05 9.99998571e-01 -3.24054709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:52.61, Y:-1.98, Z:-0.32 [[ 9.91228078e-01 1.32151663e-01 1.68375665e-03 5.26142285e+01] [-1.32151594e-01 9.91229506e-01 -1.52561035e-04 -1.98020454e+00] [-1.68915047e-03 -7.12883450e-05 9.99998571e-01 -3.22267750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.65, Y:-1.98, Z:-0.32 [[ 9.91136701e-01 1.32835254e-01 1.68372821e-03 5.26472445e+01] [-1.32835186e-01 9.91138129e-01 -1.52874295e-04 -1.97940508e+00] [-1.68911433e-03 -7.21390264e-05 9.99998571e-01 -3.22882030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345769231000006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:52.68, Y:-1.98, Z:-0.32 [[ 9.91181921e-01 1.32497411e-01 1.68369955e-03 5.26794739e+01] [-1.32497342e-01 9.91183349e-01 -1.53189279e-04 -1.97780602e+00] [-1.68915215e-03 -7.12472717e-05 9.99998571e-01 -3.24475916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.375769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:52.71, Y:-1.97, Z:-0.33 [[ 9.91296994e-01 1.31633712e-01 1.68367277e-03 5.27122040e+01] [-1.31633641e-01 9.91298422e-01 -1.53483076e-04 -1.96878840e+00] [-1.68922571e-03 -6.94806657e-05 9.99998571e-01 -3.26461884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:52.74, Y:-1.96, Z:-0.33 [[ 9.91364588e-01 1.31123680e-01 1.68364758e-03 5.27437797e+01] [-1.31123608e-01 9.91366015e-01 -1.53758885e-04 -1.96466786e+00] [-1.68927243e-03 -6.83348317e-05 9.99998571e-01 -3.25977355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:52.78, Y:-1.95, Z:-0.32 [[ 9.91722601e-01 1.28387879e-01 1.68362424e-03 5.27757972e+01] [-1.28387803e-01 9.91724028e-01 -1.54014092e-04 -1.95372685e+00] [-1.68946415e-03 -6.34175608e-05 9.99998571e-01 -3.19597426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:52.81, Y:-1.95, Z:-0.32 [[ 9.91995503e-01 1.26261980e-01 1.68362424e-03 5.28072099e+01] [-1.26261900e-01 9.91996930e-01 -1.54014092e-04 -1.94982234e+00] [-1.68959620e-03 -5.97963090e-05 9.99998571e-01 -3.17512593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:52.84, Y:-1.94, Z:-0.32 [[ 9.92708103e-01 1.20531274e-01 1.68362424e-03 5.28378137e+01] [-1.20531186e-01 9.92709529e-01 -1.54014092e-04 -1.94216918e+00] [-1.68991334e-03 -5.00381886e-05 9.99998571e-01 -3.21142733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525769231000005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:52.87, Y:-1.94, Z:-0.32 [[ 9.93162851e-01 1.16724959e-01 1.68362602e-03 5.28680160e+01] [-1.16724866e-01 9.93164277e-01 -1.53994608e-04 -1.94159949e+00] [-1.69009223e-03 -4.35792975e-05 9.99998571e-01 -3.24804359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.555769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:52.90, Y:-1.94, Z:-0.33 [[ 9.93622843e-01 1.12742231e-01 1.68362427e-03 5.28978154e+01] [-1.12742131e-01 9.93624269e-01 -1.54013742e-04 -1.94117389e+00] [-1.69025379e-03 -3.67838170e-05 9.99998571e-01 -3.26553475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:52.93, Y:-1.94, Z:-0.32 [[ 9.94472894e-01 1.04980134e-01 1.68362602e-03 5.29290678e+01] [-1.04980024e-01 9.94474319e-01 -1.53994596e-04 -1.93777501e+00] [-1.69048921e-03 -2.36036480e-05 9.99998571e-01 -3.23530073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.96, Y:-1.94, Z:-0.32 [[ 9.95097964e-01 9.88797639e-02 1.68362602e-03 5.29597838e+01] [-9.88796449e-02 9.95099388e-01 -1.53994596e-04 -1.93515874e+00] [-1.69060217e-03 -1.32366342e-05 9.99998571e-01 -3.15824646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:52.99, Y:-1.94, Z:-0.31 [[ 9.95358925e-01 9.62173385e-02 1.68362602e-03 5.29898419e+01] [-9.62172156e-02 9.95360349e-01 -1.53994596e-04 -1.93639409e+00] [-1.69063153e-03 -8.71391253e-06 9.99998571e-01 -3.14104585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:-1.94, Z:-0.32 [[ 9.95598700e-01 9.37037525e-02 1.68361702e-03 5.30198906e+01] [-9.37036259e-02 9.95600124e-01 -1.54092915e-04 -1.93829954e+00] [-1.69064840e-03 -4.34631326e-06 9.99998571e-01 -3.15732281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705769231000005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:53.05, Y:-1.94, Z:-0.32 [[ 9.95953965e-01 8.98491227e-02 1.68361702e-03 5.30515670e+01] [-8.98489905e-02 9.95955388e-01 -1.54092915e-04 -1.94115758e+00] [-1.69065256e-03 2.19816017e-06 9.99998571e-01 -3.22059651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.08, Y:-1.94, Z:-0.32 [[ 9.96108087e-01 8.81240308e-02 1.68361340e-03 5.30807065e+01] [-8.81238961e-02 9.96109510e-01 -1.54132467e-04 -1.94440043e+00] [-1.69064609e-03 5.16602390e-06 9.99998571e-01 -3.23882361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.11, Y:-1.95, Z:-0.32 [[ 9.96398769e-01 8.47741594e-02 1.68361520e-03 5.31119464e+01] [-8.47740200e-02 9.96400192e-01 -1.54112791e-04 -1.94804241e+00] [-1.69061929e-03 1.08309665e-05 9.99998571e-01 -3.24229114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.14, Y:-1.95, Z:-0.32 [[ 9.96521254e-01 8.33220013e-02 1.68361163e-03 5.31418598e+01] [-8.33218598e-02 9.96522676e-01 -1.54151759e-04 -1.95113930e+00] [-1.69060140e-03 1.33338513e-05 9.99998571e-01 -3.24674568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.17, Y:-1.96, Z:-0.32 [[ 9.96598882e-01 8.23883088e-02 1.68361163e-03 5.31718196e+01] [-8.23881659e-02 9.96600304e-01 -1.54151759e-04 -1.95520340e+00] [-1.69058817e-03 1.49177956e-05 9.99998571e-01 -3.24298374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.20, Y:-1.96, Z:-0.32 [[ 9.96620787e-01 8.21229059e-02 1.68361163e-03 5.32021318e+01] [-8.21227626e-02 9.96622209e-01 -1.54151759e-04 -1.96295928e+00] [-1.69058414e-03 1.53680084e-05 9.99998571e-01 -3.22715699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885769231000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.23, Y:-1.97, Z:-0.32 [[ 9.96597960e-01 8.23994583e-02 1.68360788e-03 5.32318782e+01] [-8.23993153e-02 9.96599382e-01 -1.54192730e-04 -1.96843377e+00] [-1.69058797e-03 1.49400230e-05 9.99998571e-01 -3.23200564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.915769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.26, Y:-1.98, Z:-0.32 [[ 9.96563399e-01 8.28164068e-02 1.68360601e-03 5.32625390e+01] [-8.28162644e-02 9.96564821e-01 -1.54213200e-04 -1.97623993e+00] [-1.69059390e-03 1.42532702e-05 9.99998571e-01 -3.23838266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:-1.98, Z:-0.32 [[ 9.96512134e-01 8.34310077e-02 1.68360240e-03 5.32939386e+01] [-8.34308662e-02 9.96513556e-01 -1.54252609e-04 -1.98208226e+00] [-1.69060206e-03 1.32501904e-05 9.99998571e-01 -3.24491489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.32, Y:-1.99, Z:-0.33 [[ 9.96429718e-01 8.44096144e-02 1.68359876e-03 5.33236208e+01] [-8.44094742e-02 9.96431140e-01 -1.54292325e-04 -1.98791998e+00] [-1.69061398e-03 1.16297717e-05 9.99998571e-01 -3.25349388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.35, Y:-2.00, Z:-0.33 [[ 9.96064461e-01 8.86157766e-02 1.68359028e-03 5.33544193e+01] [-8.86156423e-02 9.96065883e-01 -1.54384773e-04 -1.99556074e+00] [-1.69064777e-03 4.58475148e-06 9.99998571e-01 -3.26615066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.39, Y:-2.00, Z:-0.33 [[ 9.95561718e-01 9.40958656e-02 1.68358664e-03 5.33851188e+01] [-9.40957390e-02 9.95563141e-01 -1.54424441e-04 -2.00108438e+00] [-1.69064751e-03 -4.67926734e-06 9.99998571e-01 -3.25357480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.42, Y:-2.01, Z:-0.32 [[ 9.95324166e-01 9.65762449e-02 1.68358299e-03 5.34163572e+01] [-9.65761218e-02 9.95325589e-01 -1.54464275e-04 -2.00500335e+00] [-1.69063081e-03 -8.85188998e-06 9.99998571e-01 -3.24826738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095769231000006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:53.45, Y:-2.01, Z:-0.33 [[ 9.95090846e-01 9.89513707e-02 1.68357931e-03 5.34475042e+01] [-9.89512509e-02 9.95092270e-01 -1.54504326e-04 -2.00891557e+00] [-1.69060517e-03 -1.28464384e-05 9.99998571e-01 -3.25735826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:53.48, Y:-2.01, Z:-0.33 [[ 9.95088672e-01 9.89732310e-02 1.68355559e-03 5.34792002e+01] [-9.89731108e-02 9.95090096e-01 -1.54762351e-04 -2.01187646e+00] [-1.69060682e-03 -1.26244716e-05 9.99998571e-01 -3.25789662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.51, Y:-2.02, Z:-0.33 [[ 9.94729150e-01 1.02523577e-01 1.68355219e-03 5.35106942e+01] [-1.02523462e-01 9.94730574e-01 -1.54799335e-04 -2.01626867e+00] [-1.69055142e-03 -1.86201880e-05 9.99998571e-01 -3.27402408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:-2.02, Z:-0.33 [[ 9.94536447e-01 1.04376347e-01 1.68354857e-03 5.35414873e+01] [-1.04376235e-01 9.94537871e-01 -1.54838706e-04 -2.01993411e+00] [-1.69051431e-03 -2.17297248e-05 9.99998571e-01 -3.28367780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:53.57, Y:-2.02, Z:-0.33 [[ 9.94564018e-01 1.04113306e-01 1.68354488e-03 5.35721428e+01] [-1.04113193e-01 9.94565442e-01 -1.54878795e-04 -2.02358048e+00] [-1.69052050e-03 -2.12423560e-05 9.99998571e-01 -3.28435097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245769231000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.60, Y:-2.03, Z:-0.33 [[ 9.94696009e-01 1.02844618e-01 1.68352107e-03 5.36037777e+01] [-1.02844502e-01 9.94697434e-01 -1.55137244e-04 -2.02811607e+00] [-1.69054911e-03 -1.88264882e-05 9.99998571e-01 -3.27068377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275769231000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.64, Y:-2.04, Z:-0.33 [[ 9.94988339e-01 9.99768554e-02 1.68349434e-03 5.36352540e+01] [-9.99767356e-02 9.94989763e-01 -1.55426746e-04 -2.03567626e+00] [-1.69059871e-03 -1.36624686e-05 9.99998571e-01 -3.25078750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.67, Y:-2.04, Z:-0.33 [[ 9.95074905e-01 9.91115535e-02 1.68346572e-03 5.36670381e+01] [-9.91114318e-02 9.95076329e-01 -1.55736081e-04 -2.04040514e+00] [-1.69061213e-03 -1.18816324e-05 9.99998571e-01 -3.25097734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:-2.05, Z:-0.32 [[ 9.95017080e-01 9.96904052e-02 1.68343811e-03 5.36985041e+01] [-9.96902839e-02 9.95018504e-01 -1.56034027e-04 -2.04587193e+00] [-1.69060716e-03 -1.25659010e-05 9.99998571e-01 -3.24619873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:-2.05, Z:-0.32 [[ 9.94859409e-01 1.01251777e-01 1.68341213e-03 5.37299453e+01] [-1.01251658e-01 9.94860833e-01 -1.56313716e-04 -2.05021245e+00] [-1.69058784e-03 -1.49380987e-05 9.99998571e-01 -3.24157446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.76, Y:-2.05, Z:-0.32 [[ 9.94565185e-01 1.04102161e-01 1.68338615e-03 5.37615847e+01] [-1.04102045e-01 9.94566609e-01 -1.56593020e-04 -2.05479568e+00] [-1.69054133e-03 -1.95019751e-05 9.99998571e-01 -3.24654724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425769231000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.79, Y:-2.06, Z:-0.33 [[ 9.94427229e-01 1.05411820e-01 1.68336032e-03 5.37936506e+01] [-1.05411705e-01 9.94428654e-01 -1.56870187e-04 -2.05847679e+00] [-1.69051771e-03 -2.14498973e-05 9.99998571e-01 -3.25235376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.83, Y:-2.06, Z:-0.33 [[ 9.94330488e-01 1.06320494e-01 1.68333272e-03 5.38250786e+01] [-1.06320380e-01 9.94331912e-01 -1.57165809e-04 -2.06211750e+00] [-1.69050139e-03 -2.26978196e-05 9.99998571e-01 -3.25239925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485769231000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.86, Y:-2.07, Z:-0.32 [[ 9.94320261e-01 1.06416090e-01 1.68330539e-03 5.38574347e+01] [-1.06415976e-01 9.94321686e-01 -1.57457984e-04 -2.06691712e+00] [-1.69050312e-03 -2.25669234e-05 9.99998571e-01 -3.23874016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:-2.07, Z:-0.32 [[ 9.94364135e-01 1.06005347e-01 1.68327567e-03 5.38890852e+01] [-1.06005232e-01 9.94365559e-01 -1.57775103e-04 -2.07139449e+00] [-1.69051636e-03 -2.15501237e-05 9.99998571e-01 -3.23246518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.92, Y:-2.08, Z:-0.32 [[ 9.94669012e-01 1.03105400e-01 1.68324784e-03 5.39210936e+01] [-1.03105280e-01 9.94670436e-01 -1.58071459e-04 -2.07772037e+00] [-1.69057488e-03 -1.63229578e-05 9.99998571e-01 -3.24727232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:-2.08, Z:-0.33 [[ 9.94881255e-01 1.01036897e-01 1.68322013e-03 5.39528732e+01] [-1.01036774e-01 9.94882679e-01 -1.58366008e-04 -2.08386384e+00] [-1.69060736e-03 -1.25117579e-05 9.99998571e-01 -3.26668311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:-2.09, Z:-0.33 [[ 9.95326726e-01 9.65498634e-02 1.68319253e-03 5.39854198e+01] [-9.65497332e-02 9.95328149e-01 -1.58658726e-04 -2.09492307e+00] [-1.69064739e-03 -4.59452000e-06 9.99998571e-01 -3.28382870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:-2.10, Z:-0.33 [[ 9.95484899e-01 9.49051216e-02 1.68316306e-03 5.40178572e+01] [-9.49049885e-02 9.95486322e-01 -1.58970771e-04 -2.10221817e+00] [-1.69065295e-03 -1.48756868e-06 9.99998571e-01 -3.27225835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.05, Y:-2.11, Z:-0.33 [[ 9.95553675e-01 9.41809255e-02 1.68313339e-03 5.40506385e+01] [-9.41807908e-02 9.95555098e-01 -1.59284301e-04 -2.10909754e+00] [-1.69065357e-03 5.72375593e-08 9.99998571e-01 -3.26054901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:-2.12, Z:-0.33 [[ 9.95355043e-01 9.62574914e-02 1.68310257e-03 5.40822341e+01] [-9.62573591e-02 9.95356466e-01 -1.59609336e-04 -2.11813196e+00] [-1.69065062e-03 -3.14305032e-06 9.99998571e-01 -3.27227153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:-2.12, Z:-0.33 [[ 9.95086850e-01 9.89915556e-02 1.68307374e-03 5.41134889e+01] [-9.89914267e-02 9.95088273e-01 -1.59912736e-04 -2.12368201e+00] [-1.69063695e-03 -7.48281033e-06 9.99998571e-01 -3.28042297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.15, Y:-2.13, Z:-0.33 [[ 9.94366362e-01 1.05984461e-01 1.68304634e-03 5.41462247e+01] [-1.05984342e-01 9.94367786e-01 -1.60200584e-04 -2.12987615e+00] [-1.69054584e-03 -1.90784868e-05 9.99998571e-01 -3.25824613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.18, Y:-2.13, Z:-0.33 [[ 9.93948534e-01 1.09833871e-01 1.68301596e-03 5.41777274e+01] [-1.09833756e-01 9.93949959e-01 -1.60519140e-04 -2.13387412e+00] [-1.69046408e-03 -2.53042011e-05 9.99998571e-01 -3.25584430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:-2.14, Z:-0.33 [[ 9.93127421e-01 1.17026035e-01 1.68298767e-03 5.42108536e+01] [-1.17025930e-01 9.93128847e-01 -1.60815231e-04 -2.13860432e+00] [-1.69024317e-03 -3.72431817e-05 9.99998571e-01 -3.26466662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:-2.14, Z:-0.33 [[ 9.92681366e-01 1.20751290e-01 1.68295748e-03 5.42425775e+01] [-1.20751190e-01 9.92682791e-01 -1.61130537e-04 -2.14260419e+00] [-1.69009965e-03 -4.32678366e-05 9.99998571e-01 -3.27169290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:-2.15, Z:-0.33 [[ 9.92287593e-01 1.23945553e-01 1.68292946e-03 5.42741824e+01] [-1.23945458e-01 9.92289019e-01 -1.61422691e-04 -2.14558775e+00] [-1.68996004e-03 -4.84137279e-05 9.99998571e-01 -3.27516323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:-2.15, Z:-0.33 [[ 9.91562457e-01 1.29618910e-01 1.68290162e-03 5.43078396e+01] [-1.29618822e-01 9.91563883e-01 -1.61712401e-04 -2.14542050e+00] [-1.68966545e-03 -5.77877804e-05 9.99998571e-01 -3.26283397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:-2.15, Z:-0.33 [[ 9.91260688e-01 1.31906850e-01 1.68287204e-03 5.43398708e+01] [-1.31906764e-01 9.91262114e-01 -1.62019669e-04 -2.14643662e+00] [-1.68953880e-03 -6.13784769e-05 9.99998571e-01 -3.25251042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:-2.15, Z:-0.32 [[ 9.91017835e-01 1.33719178e-01 1.68284444e-03 5.43717816e+01] [-1.33719095e-01 9.91019262e-01 -1.62305738e-04 -2.14545762e+00] [-1.68943465e-03 -6.41805556e-05 9.99998571e-01 -3.23617309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:-2.15, Z:-0.32 [[ 9.91014261e-01 1.33745665e-01 1.68281700e-03 5.44053313e+01] [-1.33745581e-01 9.91015688e-01 -1.62589834e-04 -2.14630985e+00] [-1.68944373e-03 -6.39404930e-05 9.99998571e-01 -3.24426757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-2.15, Z:-0.33 [[ 9.91029488e-01 1.33632791e-01 1.68278791e-03 5.44376209e+01] [-1.33632707e-01 9.91030914e-01 -1.62890276e-04 -2.14716980e+00] [-1.68946233e-03 -6.34464371e-05 9.99998571e-01 -3.26153521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.055769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:54.47, Y:-2.15, Z:-0.33 [[ 9.91225754e-01 1.32169108e-01 1.68276246e-03 5.44702536e+01] [-1.32169021e-01 9.91227180e-01 -1.63152761e-04 -2.14528629e+00] [-1.68956365e-03 -6.06878489e-05 9.99998571e-01 -3.28378202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:-2.15, Z:-0.33 [[ 9.91351414e-01 1.31223253e-01 1.68273348e-03 5.45029746e+01] [-1.31223164e-01 9.91352841e-01 -1.63451205e-04 -2.14579889e+00] [-1.68963121e-03 -5.87760275e-05 9.99998571e-01 -3.28552193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-2.14, Z:-0.33 [[ 9.91658695e-01 1.28880568e-01 1.68270812e-03 5.45341992e+01] [-1.28880476e-01 9.91660121e-01 -1.63711870e-04 -2.14296719e+00] [-1.68977381e-03 -5.45219229e-05 9.99998571e-01 -3.28490360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.14, Z:-0.33 [[ 9.91777099e-01 1.27966225e-01 1.68268468e-03 5.45660352e+01] [-1.27966131e-01 9.91778525e-01 -1.63952428e-04 -2.14314912e+00] [-1.68983090e-03 -5.27223847e-05 9.99998571e-01 -3.28250702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.60, Y:-2.14, Z:-0.33 [[ 9.92042612e-01 1.25891319e-01 1.68265815e-03 5.45985179e+01] [-1.25891221e-01 9.92044038e-01 -1.64224228e-04 -2.14009366e+00] [-1.68994539e-03 -4.89144571e-05 9.99998571e-01 -3.27339170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:-2.14, Z:-0.33 [[ 9.92150930e-01 1.25034795e-01 1.68263142e-03 5.46307223e+01] [-1.25034695e-01 9.92152356e-01 -1.64497631e-04 -2.14132535e+00] [-1.68999466e-03 -4.71808290e-05 9.99998571e-01 -3.26895970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.235769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:-2.14, Z:-0.33 [[ 9.92285290e-01 1.23963998e-01 1.68260460e-03 5.46621794e+01] [-1.23963897e-01 9.92286715e-01 -1.64771556e-04 -2.14279156e+00] [-1.69005193e-03 -4.50818308e-05 9.99998571e-01 -3.26025279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:-2.14, Z:-0.33 [[ 9.92603222e-01 1.21391978e-01 1.68257980e-03 5.46940355e+01] [-1.21391872e-01 9.92604647e-01 -1.65024421e-04 -2.14086439e+00] [-1.69016917e-03 -4.04477391e-05 9.99998571e-01 -3.25573806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:-2.14, Z:-0.33 [[ 9.92767477e-01 1.20041270e-01 1.68257598e-03 5.47251199e+01] [-1.20041162e-01 9.92768902e-01 -1.65063296e-04 -2.14078079e+00] [-1.69022352e-03 -3.81089046e-05 9.99998571e-01 -3.26095418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.14, Z:-0.32 [[ 9.93101941e-01 1.17242075e-01 1.68257218e-03 5.47570991e+01] [-1.17241964e-01 9.93103366e-01 -1.65102068e-04 -2.13753930e+00] [-1.69032500e-03 -3.33048818e-05 9.99998571e-01 -3.24522358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:-2.14, Z:-0.32 [[ 9.93252145e-01 1.15962689e-01 1.68256833e-03 5.47888394e+01] [-1.15962575e-01 9.93253570e-01 -1.65141310e-04 -2.13729516e+00] [-1.69036723e-03 -3.10879956e-05 9.99998571e-01 -3.23174227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.82, Y:-2.14, Z:-0.32 [[ 9.93368593e-01 1.14960895e-01 1.68256441e-03 5.48193633e+01] [-1.14960781e-01 9.93370017e-01 -1.65181159e-04 -2.13727228e+00] [-1.69039842e-03 -2.93431429e-05 9.99998571e-01 -3.22632361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.415769231000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.85, Y:-2.14, Z:-0.33 [[ 9.93628428e-01 1.12693019e-01 1.68256441e-03 5.48501507e+01] [-1.12692901e-01 9.93629852e-01 -1.65181159e-04 -2.13620681e+00] [-1.69046099e-03 -2.54843691e-05 9.99998571e-01 -3.25879980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.88, Y:-2.14, Z:-0.33 [[ 9.93781292e-01 1.11336935e-01 1.68255469e-03 5.48794277e+01] [-1.11336815e-01 9.93782716e-01 -1.65280190e-04 -2.13731788e+00] [-1.69049555e-03 -2.30779193e-05 9.99998571e-01 -3.27492234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.91, Y:-2.14, Z:-0.33 [[ 9.94174760e-01 1.07766950e-01 1.68255662e-03 5.49099845e+01] [-1.07766825e-01 9.94176184e-01 -1.65260528e-04 -2.13537535e+00] [-1.69056734e-03 -1.70259382e-05 9.99998571e-01 -3.27033846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:-2.14, Z:-0.33 [[ 9.94360411e-01 1.06040288e-01 1.68255662e-03 5.49397921e+01] [-1.06040160e-01 9.94361834e-01 -1.65260528e-04 -2.13581905e+00] [-1.69059436e-03 -1.40900472e-05 9.99998571e-01 -3.26960729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.97, Y:-2.14, Z:-0.33 [[ 9.94616878e-01 1.03607114e-01 1.68255855e-03 5.49699395e+01] [-1.03606983e-01 9.94618302e-01 -1.65240824e-04 -2.13642171e+00] [-1.69062365e-03 -9.97350228e-06 9.99998571e-01 -3.26619730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.14, Z:-0.32 [[ 9.95078934e-01 9.90711016e-02 1.68256239e-03 5.50007817e+01] [-9.90709639e-02 9.95080357e-01 -1.65201782e-04 -2.13691542e+00] [-1.69065150e-03 -2.30426450e-06 9.99998571e-01 -3.24418659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-2.14, Z:-0.32 [[ 9.95477913e-01 9.49783812e-02 1.68256239e-03 5.50312748e+01] [-9.49782377e-02 9.95479335e-01 -1.65201782e-04 -2.13613758e+00] [-1.69064668e-03 4.64791467e-06 9.99998571e-01 -3.24038921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:-2.14, Z:-0.33 [[ 9.95722087e-01 9.23834150e-02 1.68256239e-03 5.50618074e+01] [-9.23832677e-02 9.95723508e-01 -1.65201782e-04 -2.13775047e+00] [-1.69062883e-03 9.05445128e-06 9.99998571e-01 -3.25793414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.09, Y:-2.14, Z:-0.33 [[ 9.95988004e-01 8.94710299e-02 1.68256239e-03 5.50920429e+01] [-8.94708785e-02 9.95989425e-01 -1.65201782e-04 -2.14039177e+00] [-1.69059512e-03 1.39986579e-05 9.99998571e-01 -3.27005680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.12, Y:-2.14, Z:-0.33 [[ 9.96560224e-01 8.28546238e-02 1.68255296e-03 5.51227925e+01] [-8.28544628e-02 9.96561644e-01 -1.65297725e-04 -2.14497164e+00] [-1.69046342e-03 2.53221159e-05 9.99998571e-01 -3.29253292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:-2.15, Z:-0.33 [[ 9.96843169e-01 7.93779904e-02 1.68254922e-03 5.51535204e+01] [-7.93778243e-02 9.96844589e-01 -1.65335815e-04 -2.14901095e+00] [-1.69036411e-03 3.12567818e-05 9.99998571e-01 -3.29852170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:-2.15, Z:-0.33 [[ 9.97267384e-01 7.38575187e-02 1.68254550e-03 5.51841147e+01] [-7.38573448e-02 9.97268803e-01 -1.65373674e-04 -2.15411858e+00] [-1.69016422e-03 4.06534286e-05 9.99998571e-01 -3.30287840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:-2.16, Z:-0.33 [[ 9.97381355e-01 7.23021630e-02 1.68252139e-03 5.52147099e+01] [-7.23019864e-02 9.97382773e-01 -1.65618529e-04 -2.15854601e+00] [-1.69009243e-03 4.35351938e-05 9.99998571e-01 -3.31030884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.24, Y:-2.16, Z:-0.33 [[ 9.97444976e-01 7.14191140e-02 1.68251769e-03 5.52444334e+01] [-7.14189361e-02 9.97446394e-01 -1.65656193e-04 -2.16302696e+00] [-1.69005222e-03 4.50693144e-05 9.99998571e-01 -3.31364140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:-2.17, Z:-0.33 [[ 9.97454233e-01 7.12897057e-02 1.68251583e-03 5.52751078e+01] [-7.12895276e-02 9.97455651e-01 -1.65675002e-04 -2.16995608e+00] [-1.69004585e-03 4.53074733e-05 9.99998571e-01 -3.31047452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.31, Y:-2.18, Z:-0.33 [[ 9.97452844e-01 7.13091320e-02 1.68251215e-03 5.53059415e+01] [-7.13089538e-02 9.97454262e-01 -1.65712422e-04 -2.17563314e+00] [-1.69004572e-03 4.53121459e-05 9.99998571e-01 -3.32297433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.895769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.34, Y:-2.19, Z:-0.34 [[ 9.97507188e-01 7.05448730e-02 1.68250846e-03 5.53368652e+01] [-7.05446937e-02 9.97508606e-01 -1.65749820e-04 -2.18605263e+00] [-1.69000947e-03 4.66445930e-05 9.99998571e-01 -3.35085281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.37, Y:-2.19, Z:-0.33 [[ 9.97572709e-01 6.96122105e-02 1.68248198e-03 5.53682043e+01] [-6.96120294e-02 9.97574126e-01 -1.66018163e-04 -2.19309288e+00] [-1.68995739e-03 4.84942031e-05 9.99998571e-01 -3.34610256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:-2.20, Z:-0.33 [[ 9.97662167e-01 6.83181503e-02 1.68245494e-03 5.53998866e+01] [-6.83179669e-02 9.97663584e-01 -1.66291740e-04 -2.20000964e+00] [-1.68988477e-03 5.09610761e-05 9.99998571e-01 -3.33321264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:-2.21, Z:-0.33 [[ 9.97897545e-01 6.47893436e-02 1.68242803e-03 5.54297891e+01] [-6.47891548e-02 9.97898962e-01 -1.66563623e-04 -2.21039943e+00] [-1.68968473e-03 5.72103408e-05 9.99998571e-01 -3.29258383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.46, Y:-2.21, Z:-0.33 [[ 9.97885980e-01 6.49672300e-02 1.68241331e-03 5.54631128e+01] [-6.49670411e-02 9.97887396e-01 -1.66712104e-04 -2.21390217e+00] [-1.68968987e-03 5.70582562e-05 9.99998571e-01 -3.29315040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.50, Y:-2.22, Z:-0.33 [[ 9.97996575e-01 6.32455980e-02 1.68238354e-03 5.54957536e+01] [-6.32454062e-02 9.97997991e-01 -1.67012009e-04 -2.22171736e+00] [-1.68957817e-03 6.02743829e-05 9.99998571e-01 -3.27815168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:-2.23, Z:-0.33 [[ 9.98166396e-01 6.05063222e-02 1.68235327e-03 5.55273676e+01] [-6.05061261e-02 9.98167812e-01 -1.67316361e-04 -2.23380283e+00] [-1.68939458e-03 6.52168898e-05 9.99998571e-01 -3.28440827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:-2.24, Z:-0.33 [[ 9.98181015e-01 6.02646715e-02 1.68232178e-03 5.55590584e+01] [-6.02644745e-02 9.98182431e-01 -1.67632448e-04 -2.24154282e+00] [-1.68936636e-03 6.59432892e-05 9.99998571e-01 -3.29307570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-2.25, Z:-0.33 [[ 9.98149826e-01 6.07790633e-02 1.68229233e-03 5.55902242e+01] [-6.07788665e-02 9.98151242e-01 -1.67927485e-04 -2.24942471e+00] [-1.68938865e-03 6.53689692e-05 9.99998571e-01 -3.30175860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:-2.26, Z:-0.33 [[ 9.97964460e-01 6.37503405e-02 1.68226420e-03 5.56211891e+01] [-6.37501474e-02 9.97965876e-01 -1.68208743e-04 -2.26150703e+00] [-1.68956564e-03 6.06217566e-05 9.99998571e-01 -3.31531977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:-2.27, Z:-0.33 [[ 9.97779476e-01 6.65829383e-02 1.68224555e-03 5.56538168e+01] [-6.65827489e-02 9.97780892e-01 -1.68395077e-04 -2.26875322e+00] [-1.68972471e-03 5.60126186e-05 9.99998571e-01 -3.31991326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:-2.28, Z:-0.33 [[ 9.97335427e-01 7.29329598e-02 1.68221386e-03 5.56858915e+01] [-7.29327790e-02 9.97336844e-01 -1.68711040e-04 -2.27872928e+00] [-1.69003846e-03 4.55729650e-05 9.99998571e-01 -3.32146169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.72, Y:-2.28, Z:-0.33 [[ 9.97077215e-01 7.63819199e-02 1.68218184e-03 5.57177434e+01] [-7.63817433e-02 9.97078633e-01 -1.69029726e-04 -2.28489732e+00] [-1.69017839e-03 4.00477068e-05 9.99998571e-01 -3.31208946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:-2.29, Z:-0.33 [[ 9.96825664e-01 7.95975268e-02 1.68214985e-03 5.57491311e+01] [-7.95973543e-02 9.96827083e-01 -1.69347544e-04 -2.29066322e+00] [-1.69029217e-03 3.49153003e-05 9.99998571e-01 -3.30773633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:-2.30, Z:-0.33 [[ 9.96303513e-01 8.58864347e-02 1.68212981e-03 5.57815525e+01] [-8.58862708e-02 9.96304933e-01 -1.69546312e-04 -2.29872429e+00] [-1.69047596e-03 2.44477298e-05 9.99998571e-01 -3.32502447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:-2.30, Z:-0.33 [[ 9.96055337e-01 8.87182927e-02 1.68209880e-03 5.58139080e+01] [-8.87181324e-02 9.96056757e-01 -1.69853439e-04 -2.30404884e+00] [-1.69053498e-03 1.99507602e-05 9.99998571e-01 -3.32990994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:-2.31, Z:-0.33 [[ 9.95659065e-01 9.30601810e-02 1.68206672e-03 5.58459466e+01] [-9.30600263e-02 9.95660486e-01 -1.70170563e-04 -2.30881612e+00] [-1.69060347e-03 1.28986911e-05 9.99998571e-01 -3.34017206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:-2.31, Z:-0.33 [[ 9.95547717e-01 9.42439088e-02 1.68204673e-03 5.58786170e+01] [-9.42437555e-02 9.95549138e-01 -1.70367897e-04 -2.31194883e+00] [-1.69061631e-03 1.10869699e-05 9.99998571e-01 -3.34051925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:-2.32, Z:-0.33 [[ 9.95477637e-01 9.49812833e-02 1.68201506e-03 5.59103110e+01] [-9.49811305e-02 9.95479058e-01 -1.70679955e-04 -2.31631965e+00] [-1.69062217e-03 1.01483863e-05 9.99998571e-01 -3.33784889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:-2.32, Z:-0.33 [[ 9.95489349e-01 9.48584552e-02 1.68199528e-03 5.59426572e+01] [-9.48583018e-02 9.95490770e-01 -1.70874665e-04 -2.32167878e+00] [-1.69061969e-03 1.05526924e-05 9.99998571e-01 -3.33537360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.97, Y:-2.33, Z:-0.33 [[ 9.95573979e-01 9.39660733e-02 1.68196381e-03 5.59747058e+01] [-9.39659182e-02 9.95575400e-01 -1.71183851e-04 -2.32726032e+00] [-1.69060727e-03 1.23789137e-05 9.99998571e-01 -3.33729233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.01, Y:-2.34, Z:-0.33 [[ 9.95817474e-01 9.13494881e-02 1.68194418e-03 5.60060797e+01] [-9.13493289e-02 9.95818895e-01 -1.71376510e-04 -2.33512909e+00] [-1.69056695e-03 1.70152511e-05 9.99998571e-01 -3.33798705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.34, Z:-0.33 [[ 9.95946883e-01 8.99276185e-02 1.68192469e-03 5.60385882e+01] [-8.99274570e-02 9.95948303e-01 -1.71567661e-04 -2.34086390e+00] [-1.69053871e-03 1.96210678e-05 9.99998571e-01 -3.33783195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:-2.35, Z:-0.33 [[ 9.96162265e-01 8.75095036e-02 1.68189341e-03 5.60711423e+01] [-8.75093382e-02 9.96163684e-01 -1.71873732e-04 -2.35047140e+00] [-1.69048172e-03 2.40327472e-05 9.99998571e-01 -3.31155418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.36, Z:-0.33 [[ 9.96226727e-01 8.67725754e-02 1.68186212e-03 5.61031708e+01] [-8.67724083e-02 9.96228146e-01 -1.72179315e-04 -2.35692646e+00] [-1.69045883e-03 2.55904081e-05 9.99998571e-01 -3.29984071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.14, Y:-2.36, Z:-0.33 [[ 9.96181844e-01 8.72863379e-02 1.68183082e-03 5.61350050e+01] [-8.72861710e-02 9.96183264e-01 -1.72484530e-04 -2.36477773e+00] [-1.69046726e-03 2.50253840e-05 9.99998571e-01 -3.28105382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:-2.37, Z:-0.33 [[ 9.96023839e-01 8.90712308e-02 1.68180156e-03 5.61668888e+01] [-8.90710661e-02 9.96025258e-01 -1.72769349e-04 -2.37003783e+00] [-1.69050561e-03 2.22825317e-05 9.99998571e-01 -3.27430121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:-2.38, Z:-0.33 [[ 9.95798390e-01 9.15572968e-02 1.68177245e-03 5.61991376e+01] [-9.15571351e-02 9.95799810e-01 -1.73052253e-04 -2.37539471e+00] [-1.69055288e-03 1.83468874e-05 9.99998571e-01 -3.26503683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.735769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:-2.38, Z:-0.33 [[ 9.95214732e-01 9.76975429e-02 1.68174157e-03 5.62321637e+01] [-9.76973895e-02 9.95216152e-01 -1.73351836e-04 -2.37966627e+00] [-1.69063242e-03 8.22053952e-06 9.99998571e-01 -3.25047274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:-2.38, Z:-0.33 [[ 9.94939974e-01 1.00457051e-01 1.68171075e-03 5.62636008e+01] [-1.00456901e-01 9.94941396e-01 -1.73650351e-04 -2.38252656e+00] [-1.69064804e-03 3.83222573e-06 9.99998571e-01 -3.26586317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.30, Y:-2.39, Z:-0.33 [[ 9.94455656e-01 1.05143329e-01 1.68169157e-03 5.62961519e+01] [-1.05143186e-01 9.94457078e-01 -1.73835839e-04 -2.38752603e+00] [-1.69064777e-03 -3.94637655e-06 9.99998571e-01 -3.29465877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.33, Y:-2.39, Z:-0.33 [[ 9.94273048e-01 1.06856348e-01 1.68166095e-03 5.63274657e+01] [-1.06856206e-01 9.94274470e-01 -1.74131542e-04 -2.39099575e+00] [-1.69063961e-03 -6.56161041e-06 9.99998571e-01 -3.30732894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:-2.39, Z:-0.33 [[ 9.94101315e-01 1.08442371e-01 1.68163243e-03 5.63601802e+01] [-1.08442231e-01 9.94102737e-01 -1.74406605e-04 -2.39390936e+00] [-1.69062846e-03 -8.98213723e-06 9.99998571e-01 -3.31776180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:-2.40, Z:-0.33 [[ 9.93862395e-01 1.10610630e-01 1.68160196e-03 5.63925076e+01] [-1.10610492e-01 9.93863818e-01 -1.74699880e-04 -2.39508380e+00] [-1.69060701e-03 -1.23751793e-05 9.99998571e-01 -3.30782284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.915769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.43, Y:-2.40, Z:-0.33 [[ 9.93503209e-01 1.13791677e-01 1.68157358e-03 5.64258334e+01] [-1.13791544e-01 9.93504632e-01 -1.74972621e-04 -2.39680549e+00] [-1.69056157e-03 -1.75129929e-05 9.99998571e-01 -3.28016513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:-2.40, Z:-0.33 [[ 9.93196606e-01 1.16437422e-01 1.68154366e-03 5.64592397e+01] [-1.16437292e-01 9.93198030e-01 -1.75259714e-04 -2.39860408e+00] [-1.69051264e-03 -2.17270369e-05 9.99998571e-01 -3.26731021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:56.49, Y:-2.40, Z:-0.33 [[ 9.92840434e-01 1.19436365e-01 1.68151374e-03 5.64918212e+01] [-1.19436239e-01 9.92841857e-01 -1.75546249e-04 -2.39946866e+00] [-1.69044383e-03 -2.65442637e-05 9.99998571e-01 -3.27421438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:-2.40, Z:-0.33 [[ 9.92131982e-01 1.25185075e-01 1.68148396e-03 5.65238947e+01] [-1.25184956e-01 9.92133406e-01 -1.75831095e-04 -2.39667448e+00] [-1.69026783e-03 -3.60488429e-05 9.99998571e-01 -3.33527381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.56, Y:-2.40, Z:-0.34 [[ 9.91795623e-01 1.27822593e-01 1.68145992e-03 5.65558845e+01] [-1.27822478e-01 9.91797047e-01 -1.76060648e-04 -2.39743962e+00] [-1.69017151e-03 -4.03121940e-05 9.99998571e-01 -3.36204655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.59, Y:-2.39, Z:-0.34 [[ 9.91340498e-01 1.31305710e-01 1.68143225e-03 5.65879386e+01] [-1.31305600e-01 9.91341923e-01 -1.76324498e-04 -2.39490483e+00] [-1.69002670e-03 -4.59838554e-05 9.99998571e-01 -3.39229451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.62, Y:-2.40, Z:-0.34 [[ 9.91144217e-01 1.32779189e-01 1.68140665e-03 5.66204482e+01] [-1.32779081e-01 9.91145642e-01 -1.76568260e-04 -2.39573236e+00] [-1.68996347e-03 -4.82510200e-05 9.99998571e-01 -3.35490630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:-2.40, Z:-0.33 [[ 9.91019883e-01 1.33704021e-01 1.68137910e-03 5.66537909e+01] [-1.33703913e-01 9.91021308e-01 -1.76830306e-04 -2.39662695e+00] [-1.68992543e-03 -4.95646154e-05 9.99998571e-01 -3.33385339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.69, Y:-2.40, Z:-0.33 [[ 9.90989481e-01 1.33929164e-01 1.68134734e-03 5.66875488e+01] [-1.33929056e-01 9.90990906e-01 -1.77131707e-04 -2.39539666e+00] [-1.68992303e-03 -4.96456042e-05 9.99998571e-01 -3.33464176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:-2.40, Z:-0.34 [[ 9.91014339e-01 1.33745106e-01 1.68131465e-03 5.67204428e+01] [-1.33744997e-01 9.91015764e-01 -1.77441491e-04 -2.39666185e+00] [-1.68994125e-03 -4.90203609e-05 9.99998571e-01 -3.35973367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:-2.40, Z:-0.34 [[ 9.91136274e-01 1.32838475e-01 1.68128186e-03 5.67532711e+01] [-1.32838365e-01 9.91137698e-01 -1.77751591e-04 -2.39562179e+00] [-1.68999409e-03 -4.71626843e-05 9.99998571e-01 -3.39405371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:-2.40, Z:-0.34 [[ 9.91200876e-01 1.32355571e-01 1.68125321e-03 5.67854987e+01] [-1.32355460e-01 9.91202301e-01 -1.78022210e-04 -2.39744159e+00] [-1.69002428e-03 -4.60672707e-05 9.99998571e-01 -3.39183881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:-2.40, Z:-0.34 [[ 9.91252681e-01 1.31967022e-01 1.68122253e-03 5.68180457e+01] [-1.31966909e-01 9.91254106e-01 -1.78311510e-04 -2.39974353e+00] [-1.69004997e-03 -4.51139783e-05 9.99998571e-01 -3.37246150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:-2.40, Z:-0.33 [[ 9.91436220e-01 1.30580991e-01 1.68118888e-03 5.68489471e+01] [-1.30580876e-01 9.91437644e-01 -1.78628132e-04 -2.39966631e+00] [-1.69011939e-03 -4.24327173e-05 9.99998571e-01 -3.34531230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:-2.40, Z:-0.33 [[ 9.91555539e-01 1.29671843e-01 1.68116154e-03 5.68815126e+01] [-1.29671726e-01 9.91556963e-01 -1.78885096e-04 -2.40121167e+00] [-1.69016379e-03 -4.06246107e-05 9.99998571e-01 -3.31984398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:-2.40, Z:-0.33 [[ 9.91653598e-01 1.28919799e-01 1.68113339e-03 5.69142484e+01] [-1.28919681e-01 9.91655023e-01 -1.79149314e-04 -2.40119805e+00] [-1.69020026e-03 -3.90771169e-05 9.99998571e-01 -3.29943003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:-2.40, Z:-0.33 [[ 9.91633650e-01 1.29073148e-01 1.68110534e-03 5.69459621e+01] [-1.29073030e-01 9.91635074e-01 -1.79412138e-04 -2.40306625e+00] [-1.69020030e-03 -3.90742458e-05 9.99998571e-01 -3.29778485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:-2.40, Z:-0.33 [[ 9.91594798e-01 1.29371287e-01 1.68107737e-03 5.69777022e+01] [-1.29371168e-01 9.91596223e-01 -1.79673841e-04 -2.40416294e+00] [-1.69019460e-03 -3.93192958e-05 9.99998571e-01 -3.28539440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.01, Y:-2.40, Z:-0.33 [[ 9.91615992e-01 1.29208739e-01 1.68104825e-03 5.70094228e+01] [-1.29208619e-01 9.91617416e-01 -1.79945861e-04 -2.40281982e+00] [-1.69020730e-03 -3.87687294e-05 9.99998571e-01 -3.27386469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.04, Y:-2.40, Z:-0.33 [[ 9.91661578e-01 1.28858403e-01 1.68102127e-03 5.70415995e+01] [-1.28858282e-01 9.91663003e-01 -1.80197568e-04 -2.40469427e+00] [-1.69022657e-03 -3.79185081e-05 9.99998571e-01 -3.27069891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:-2.41, Z:-0.33 [[ 9.91815844e-01 1.27665603e-01 1.68099215e-03 5.70734892e+01] [-1.27665480e-01 9.91817268e-01 -1.80468781e-04 -2.40614806e+00] [-1.69027670e-03 -3.56128734e-05 9.99998571e-01 -3.29656599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:-2.41, Z:-0.33 [[ 9.91946686e-01 1.26644963e-01 1.68096220e-03 5.71042643e+01] [-1.26644838e-01 9.91948110e-01 -1.80747305e-04 -2.40846184e+00] [-1.69031801e-03 -3.35934955e-05 9.99998571e-01 -3.31947793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:-2.41, Z:-0.33 [[ 9.92104234e-01 1.25404796e-01 1.68093446e-03 5.71365877e+01] [-1.25404670e-01 9.92105658e-01 -1.81004929e-04 -2.41139795e+00] [-1.69036347e-03 -3.12212745e-05 9.99998571e-01 -3.32048473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-2.42, Z:-0.33 [[ 9.92304985e-01 1.23806262e-01 1.68090448e-03 5.71671350e+01] [-1.23806132e-01 9.92306409e-01 -1.81282899e-04 -2.41555473e+00] [-1.69041625e-03 -2.82183583e-05 9.99998571e-01 -3.32562065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:-2.42, Z:-0.33 [[ 9.92011100e-01 1.26139419e-01 1.68088777e-03 5.71970281e+01] [-1.26139293e-01 9.92012523e-01 -1.81437672e-04 -2.42021966e+00] [-1.69034816e-03 -3.20378105e-05 9.99998571e-01 -3.29681620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:-2.42, Z:-0.33 [[ 9.91661220e-01 1.28861165e-01 1.68087875e-03 5.72286620e+01] [-1.28861042e-01 9.91662644e-01 -1.81521224e-04 -2.42370326e+00] [-1.69025570e-03 -3.65922295e-05 9.99998571e-01 -3.28940955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.43, Z:-0.33 [[ 9.91328127e-01 1.31399087e-01 1.68087459e-03 5.72596846e+01] [-1.31398968e-01 9.91329551e-01 -1.81559753e-04 -2.42621000e+00] [-1.69015744e-03 -4.08798958e-05 9.99998571e-01 -3.29625362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:57.29, Y:-2.43, Z:-0.33 [[ 9.90905400e-01 1.34549855e-01 1.68087023e-03 5.72897779e+01] [-1.34549741e-01 9.90906824e-01 -1.81600109e-04 -2.42813110e+00] [-1.69002005e-03 -4.62121249e-05 9.99998571e-01 -3.31326578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:-2.43, Z:-0.33 [[ 9.90909687e-01 1.34518276e-01 1.68086806e-03 5.73199302e+01] [-1.34518161e-01 9.90911112e-01 -1.81620149e-04 -2.43100100e+00] [-1.69002207e-03 -4.61381157e-05 9.99998571e-01 -3.32323825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:-2.44, Z:-0.33 [[ 9.91171010e-01 1.32579043e-01 1.68086608e-03 5.73505745e+01] [-1.32578926e-01 9.91172435e-01 -1.81638496e-04 -2.43582396e+00] [-1.69010958e-03 -4.28126076e-05 9.99998571e-01 -3.32970947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:-2.44, Z:-0.33 [[ 9.91332538e-01 1.31365802e-01 1.68086194e-03 5.73826694e+01] [-1.31365682e-01 9.91333962e-01 -1.81676837e-04 -2.44085098e+00] [-1.69016165e-03 -4.07054156e-05 9.99998571e-01 -3.33221012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:-2.45, Z:-0.34 [[ 9.91450855e-01 1.30469828e-01 1.68083105e-03 5.74131335e+01] [-1.30469707e-01 9.91452279e-01 -1.81962132e-04 -2.44570154e+00] [-1.69020435e-03 -3.88910238e-05 9.99998571e-01 -3.35182918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:-2.45, Z:-0.34 [[ 9.91547879e-01 1.29730409e-01 1.68081372e-03 5.74454823e+01] [-1.29730286e-01 9.91549303e-01 -1.82122114e-04 -2.45018835e+00] [-1.69023645e-03 -3.74696491e-05 9.99998571e-01 -3.37421965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:-2.45, Z:-0.34 [[ 9.91276830e-01 1.31785513e-01 1.68080293e-03 5.74754977e+01] [-1.31785393e-01 9.91278254e-01 -1.82221573e-04 -2.45160998e+00] [-1.69015756e-03 -4.08732518e-05 9.99998571e-01 -3.38226435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:-2.46, Z:-0.34 [[ 9.91273920e-01 1.31807398e-01 1.68080079e-03 5.75071403e+01] [-1.31807278e-01 9.91275344e-01 -1.82241366e-04 -2.45508740e+00] [-1.69015714e-03 -4.08906637e-05 9.99998571e-01 -3.38280256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.54, Y:-2.46, Z:-0.34 [[ 9.90977643e-01 1.34016740e-01 1.68079676e-03 5.75370970e+01] [-1.34016624e-01 9.90979067e-01 -1.82278474e-04 -2.45780907e+00] [-1.69006278e-03 -4.46208149e-05 9.99998571e-01 -3.36763567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:-2.46, Z:-0.34 [[ 9.90618313e-01 1.36647473e-01 1.68079676e-03 5.75670341e+01] [-1.36647361e-01 9.90619738e-01 -1.82278474e-04 -2.46110012e+00] [-1.68993834e-03 -4.91080472e-05 9.99998571e-01 -3.35219636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.60, Y:-2.47, Z:-0.33 [[ 9.90154700e-01 1.39967301e-01 1.68079676e-03 5.75970811e+01] [-1.39967193e-01 9.90156125e-01 -1.82278474e-04 -2.46546071e+00] [-1.68976424e-03 -5.47725175e-05 9.99998571e-01 -3.33441131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.055769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:-2.47, Z:-0.33 [[ 9.90115107e-01 1.40247100e-01 1.68079676e-03 5.76277679e+01] [-1.40246992e-01 9.90116532e-01 -1.82278474e-04 -2.46903944e+00] [-1.68974869e-03 -5.52500204e-05 9.99998571e-01 -3.31997713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:-2.47, Z:-0.33 [[ 9.90458122e-01 1.37803788e-01 1.68079252e-03 5.76592851e+01] [-1.37803677e-01 9.90459547e-01 -1.82317605e-04 -2.47225965e+00] [-1.68988105e-03 -5.10414364e-05 9.99998571e-01 -3.32764584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:-2.48, Z:-0.33 [[ 9.90699300e-01 1.36059077e-01 1.68076231e-03 5.76904336e+01] [-1.36058963e-01 9.90700724e-01 -1.82595676e-04 -2.47620323e+00] [-1.68997624e-03 -4.77853674e-05 9.99998571e-01 -3.34977278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:-2.48, Z:-0.34 [[ 9.91017306e-01 1.33723127e-01 1.68073431e-03 5.77222600e+01] [-1.33723009e-01 9.91018730e-01 -1.82853038e-04 -2.48065804e+00] [-1.69009086e-03 -4.35423246e-05 9.99998571e-01 -3.35735940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.75, Y:-2.48, Z:-0.34 [[ 9.91001281e-01 1.33841835e-01 1.68070377e-03 5.77533864e+01] [-1.33841717e-01 9.91002705e-01 -1.83133293e-04 -2.48344204e+00] [-1.69009288e-03 -4.34629508e-05 9.99998571e-01 -3.35769859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:-2.49, Z:-0.33 [[ 9.90872651e-01 1.34790820e-01 1.68067547e-03 5.77848828e+01] [-1.34790702e-01 9.90874075e-01 -1.83392710e-04 -2.48554475e+00] [-1.69005740e-03 -4.48206060e-05 9.99998571e-01 -3.34777895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.235769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:-2.48, Z:-0.33 [[ 9.90357978e-01 1.38521661e-01 1.68067118e-03 5.78157283e+01] [-1.38521549e-01 9.90359403e-01 -1.83431970e-04 -2.48494389e+00] [-1.68987781e-03 -5.11458601e-05 9.99998571e-01 -3.31513503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:-2.49, Z:-0.33 [[ 9.90090096e-01 1.40423564e-01 1.68066905e-03 5.78463031e+01] [-1.40423455e-01 9.90091521e-01 -1.83451451e-04 -2.48573802e+00] [-1.68977709e-03 -5.43718913e-05 9.99998571e-01 -3.30471166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:-2.48, Z:-0.33 [[ 9.89736782e-01 1.42892539e-01 1.68066905e-03 5.78765506e+01] [-1.42892433e-01 9.89738207e-01 -1.83451451e-04 -2.48384801e+00] [-1.68963622e-03 -5.85862425e-05 9.99998571e-01 -3.33192839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:-2.48, Z:-0.34 [[ 9.89757674e-01 1.42747760e-01 1.68067117e-03 5.79063088e+01] [-1.42747654e-01 9.89759099e-01 -1.83432064e-04 -2.48485222e+00] [-1.68964410e-03 -5.83585742e-05 9.99998571e-01 -3.35172530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:-2.49, Z:-0.34 [[ 9.89940754e-01 1.41472536e-01 1.68067527e-03 5.79364946e+01] [-1.41472428e-01 9.89942179e-01 -1.83394465e-04 -2.48602065e+00] [-1.68971662e-03 -5.62195568e-05 9.99998571e-01 -3.36229519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:-2.49, Z:-0.33 [[ 9.90612061e-01 1.36692797e-01 1.68067527e-03 5.79668263e+01] [-1.36692683e-01 9.90613485e-01 -1.83394465e-04 -2.48579272e+00] [-1.68996829e-03 -4.80632432e-05 9.99998571e-01 -3.34603944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.415769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:-2.49, Z:-0.33 [[ 9.91042772e-01 1.33534266e-01 1.68067527e-03 5.79972203e+01] [-1.33534147e-01 9.91044196e-01 -1.83394465e-04 -2.48729480e+00] [-1.69011292e-03 -4.26757807e-05 9.99998571e-01 -3.33141093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.03, Y:-2.49, Z:-0.33 [[ 9.91927397e-01 1.26795958e-01 1.68067527e-03 5.80285765e+01] [-1.26795829e-01 9.91928820e-01 -1.83394465e-04 -2.48824858e+00] [-1.69036392e-03 -3.11886203e-05 9.99998571e-01 -3.32258224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:-2.49, Z:-0.33 [[ 9.92271940e-01 1.24070837e-01 1.68067102e-03 5.80576966e+01] [-1.24070705e-01 9.92273363e-01 -1.83433468e-04 -2.49123684e+00] [-1.69044383e-03 -2.65061544e-05 9.99998571e-01 -3.34631008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:-2.49, Z:-0.34 [[ 9.92554561e-01 1.21789241e-01 1.68066895e-03 5.80881486e+01] [-1.21789105e-01 9.92555983e-01 -1.83452388e-04 -2.49466763e+00] [-1.69050055e-03 -2.26006638e-05 9.99998571e-01 -3.37498922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.12, Y:-2.50, Z:-0.34 [[ 9.92922335e-01 1.18753578e-01 1.68066895e-03 5.81176968e+01] [-1.18753438e-01 9.92923757e-01 -1.83452388e-04 -2.49937307e+00] [-1.69056176e-03 -1.74312429e-05 9.99998571e-01 -3.40939143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:-2.50, Z:-0.34 [[ 9.93033981e-01 1.17816330e-01 1.68066682e-03 5.81484614e+01] [-1.17816188e-01 9.93035403e-01 -1.83471870e-04 -2.50397854e+00] [-1.69057764e-03 -1.58159578e-05 9.99998571e-01 -3.39755650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.18, Y:-2.51, Z:-0.34 [[ 9.93101763e-01 1.17243611e-01 1.68066237e-03 5.81788264e+01] [-1.17243468e-01 9.93103185e-01 -1.83512696e-04 -2.50978616e+00] [-1.69058684e-03 -1.47999031e-05 9.99998571e-01 -3.38749611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:-2.51, Z:-0.34 [[ 9.93107356e-01 1.17196225e-01 1.68065155e-03 5.82097397e+01] [-1.17196082e-01 9.93108778e-01 -1.83611707e-04 -2.51436384e+00] [-1.69058841e-03 -1.46196407e-05 9.99998571e-01 -3.38653595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:-2.52, Z:-0.34 [[ 9.93113595e-01 1.17143346e-01 1.68064724e-03 5.82411084e+01] [-1.17143203e-01 9.93115017e-01 -1.83651153e-04 -2.51852813e+00] [-1.69058952e-03 -1.44899439e-05 9.99998571e-01 -3.38695316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:-2.52, Z:-0.34 [[ 9.92970351e-01 1.18351418e-01 1.68064291e-03 5.82707607e+01] [-1.18351276e-01 9.92971773e-01 -1.83690774e-04 -2.52234516e+00] [-1.69057103e-03 -1.65067413e-05 9.99998571e-01 -3.36835117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:-2.53, Z:-0.34 [[ 9.92639260e-01 1.21096969e-01 1.68064075e-03 5.82997207e+01] [-1.21096831e-01 9.92640682e-01 -1.83710511e-04 -2.52567091e+00] [-1.69051917e-03 -2.11620033e-05 9.99998571e-01 -3.35566592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745769231000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.33, Y:-2.53, Z:-0.34 [[ 9.92365182e-01 1.23322833e-01 1.68064283e-03 5.83300084e+01] [-1.23322699e-01 9.92366605e-01 -1.83691494e-04 -2.52799359e+00] [-1.69046717e-03 -2.49723667e-05 9.99998571e-01 -3.35619705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.36, Y:-2.53, Z:-0.34 [[ 9.92060390e-01 1.25751176e-01 1.68064283e-03 5.83603700e+01] [-1.25751045e-01 9.92061813e-01 -1.83691494e-04 -2.52933098e+00] [-1.69040099e-03 -2.91095374e-05 9.99998571e-01 -3.36284655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:-2.53, Z:-0.34 [[ 9.91486515e-01 1.30198566e-01 1.68064283e-03 5.83890799e+01] [-1.30198441e-01 9.91487938e-01 -1.83691494e-04 -2.52747067e+00] [-1.69025346e-03 -3.66894383e-05 9.99998571e-01 -3.35220946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:-2.53, Z:-0.33 [[ 9.91228189e-01 1.32150870e-01 1.68064931e-03 5.84192432e+01] [-1.32150749e-01 9.91229613e-01 -1.83632205e-04 -2.52827677e+00] [-1.69017652e-03 -4.00776466e-05 9.99998571e-01 -3.33762433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:-2.53, Z:-0.33 [[ 9.90814071e-01 1.35220757e-01 1.68064931e-03 5.84480957e+01] [-1.35220640e-01 9.90815495e-01 -1.83632205e-04 -2.52555151e+00] [-1.69004426e-03 -4.53131024e-05 9.99998571e-01 -3.33437967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:-2.52, Z:-0.33 [[ 9.90623967e-01 1.36606483e-01 1.68065387e-03 5.84757541e+01] [-1.36606368e-01 9.90625392e-01 -1.83590399e-04 -2.52462110e+00] [-1.68997804e-03 -4.77189728e-05 9.99998571e-01 -3.34682594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.51, Y:-2.52, Z:-0.33 [[ 9.90395645e-01 1.38252094e-01 1.68066433e-03 5.85050461e+01] [-1.38251982e-01 9.90397070e-01 -1.83494671e-04 -2.52281150e+00] [-1.68989355e-03 -5.06228510e-05 9.99998571e-01 -3.34629715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:-2.52, Z:-0.33 [[ 9.89785126e-01 1.42557284e-01 1.68067270e-03 5.85347011e+01] [-1.42557178e-01 9.89786551e-01 -1.83417963e-04 -2.51519198e+00] [-1.68965480e-03 -5.80475848e-05 9.99998571e-01 -3.31287397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:-2.51, Z:-0.33 [[ 9.89517343e-01 1.44404303e-01 1.68068124e-03 5.85638124e+01] [-1.44404199e-01 9.89518769e-01 -1.83339632e-04 -2.51282569e+00] [-1.68954067e-03 -6.12796829e-05 9.99998571e-01 -3.29149680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:-2.50, Z:-0.33 [[ 9.89106137e-01 1.47194513e-01 1.68068985e-03 5.85928400e+01] [-1.47194413e-01 9.89107563e-01 -1.83260652e-04 -2.50432098e+00] [-1.68935801e-03 -6.61239220e-05 9.99998571e-01 -3.26790268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:-2.50, Z:-0.33 [[ 9.89015892e-01 1.47799665e-01 1.68070053e-03 5.86222622e+01] [-1.47799567e-01 9.89017318e-01 -1.83162705e-04 -2.50149970e+00] [-1.68931332e-03 -6.72559846e-05 9.99998571e-01 -3.27315836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:-2.49, Z:-0.33 [[ 9.88951310e-01 1.48231176e-01 1.68070897e-03 5.86518080e+01] [-1.48231078e-01 9.88952736e-01 -1.83085185e-04 -2.49301273e+00] [-1.68928067e-03 -6.80709695e-05 9.99998571e-01 -3.28873627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:-2.49, Z:-0.33 [[ 9.88967967e-01 1.48120003e-01 1.68072181e-03 5.86792560e+01] [-1.48119905e-01 9.88969393e-01 -1.82967230e-04 -2.49013755e+00] [-1.68928354e-03 -6.79996264e-05 9.99998571e-01 -3.28583860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:-2.49, Z:-0.33 [[ 9.89007321e-01 1.47857005e-01 1.68073671e-03 5.87073728e+01] [-1.47856907e-01 9.89008747e-01 -1.82830305e-04 -2.48759624e+00] [-1.68929605e-03 -6.76880222e-05 9.99998571e-01 -3.28142484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:-2.48, Z:-0.33 [[ 9.89083707e-01 1.47345161e-01 1.68074937e-03 5.87361620e+01] [-1.47345063e-01 9.89085132e-01 -1.82713876e-04 -2.48014979e+00] [-1.68932621e-03 -6.69308022e-05 9.99998571e-01 -3.26936703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:-2.47, Z:-0.33 [[ 9.89141100e-01 1.46959382e-01 1.68076204e-03 5.87643785e+01] [-1.46959284e-01 9.89142525e-01 -1.82597170e-04 -2.47436845e+00] [-1.68934758e-03 -6.63892207e-05 9.99998571e-01 -3.30533868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:-2.47, Z:-0.33 [[ 9.89209683e-01 1.46497024e-01 1.68077673e-03 5.87931019e+01] [-1.46496926e-01 9.89211109e-01 -1.82461852e-04 -2.47374801e+00] [-1.68937314e-03 -6.57355936e-05 9.99998571e-01 -3.31208099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:-2.47, Z:-0.33 [[ 9.89359698e-01 1.45480453e-01 1.68078952e-03 5.88203338e+01] [-1.45480353e-01 9.89361124e-01 -1.82344030e-04 -2.47334830e+00] [-1.68943530e-03 -6.41180170e-05 9.99998571e-01 -3.31306071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:-2.47, Z:-0.33 [[ 9.90001422e-01 1.41047367e-01 1.68080882e-03 5.88490018e+01] [-1.41047260e-01 9.90002847e-01 -1.82165889e-04 -2.47026153e+00] [-1.68969954e-03 -5.67289908e-05 9.99998571e-01 -3.29281012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:-2.47, Z:-0.33 [[ 9.90436504e-01 1.37959078e-01 1.68082184e-03 5.88766206e+01] [-1.37958967e-01 9.90437929e-01 -1.82045746e-04 -2.47022577e+00] [-1.68986456e-03 -5.15796917e-05 9.99998571e-01 -3.29170146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345769231000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.90, Y:-2.47, Z:-0.33 [[ 9.91267928e-01 1.31852456e-01 1.68083697e-03 5.89045625e+01] [-1.31852337e-01 9.91269352e-01 -1.81905915e-04 -2.46894041e+00] [-1.69014691e-03 -4.13047839e-05 9.99998571e-01 -3.30141705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:-2.47, Z:-0.33 [[ 9.91674152e-01 1.28761607e-01 1.68084974e-03 5.89321920e+01] [-1.28761484e-01 9.91675576e-01 -1.81787853e-04 -2.47027148e+00] [-1.69026493e-03 -3.61543915e-05 9.99998571e-01 -3.31665969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:-2.47, Z:-0.33 [[ 9.92434503e-01 1.22763727e-01 1.68086272e-03 5.89590968e+01] [-1.22763595e-01 9.92435926e-01 -1.81667742e-04 -2.46960452e+00] [-1.69045076e-03 -2.60554150e-05 9.99998571e-01 -3.33398724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:-2.47, Z:-0.33 [[ 9.92784768e-01 1.19898207e-01 1.68088251e-03 5.89876282e+01] [-1.19898071e-01 9.92786190e-01 -1.81484420e-04 -2.47038346e+00] [-1.69051660e-03 -2.13596035e-05 9.99998571e-01 -3.33525620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:-2.47, Z:-0.33 [[ 9.93074939e-01 1.17470595e-01 1.68089549e-03 5.90144858e+01] [-1.17470456e-01 9.93076361e-01 -1.81364163e-04 -2.47141478e+00] [-1.69056253e-03 -1.73473546e-05 9.99998571e-01 -3.33635678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:-2.47, Z:-0.33 [[ 9.93645920e-01 1.12538701e-01 1.68091052e-03 5.90427026e+01] [-1.12538556e-01 9.93647342e-01 -1.81224783e-04 -2.47149649e+00] [-1.69062707e-03 -9.09397503e-06 9.99998571e-01 -3.31100310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:-2.47, Z:-0.33 [[ 9.93895733e-01 1.10310683e-01 1.68092106e-03 5.90709631e+01] [-1.10310535e-01 9.93897154e-01 -1.81126917e-04 -2.47329053e+00] [-1.69064289e-03 -5.40203065e-06 9.99998571e-01 -3.29103285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.555769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:-2.47, Z:-0.33 [[ 9.94278689e-01 1.06803854e-01 1.68093367e-03 5.90987854e+01] [-1.06803701e-01 9.94280110e-01 -1.81009817e-04 -2.47355892e+00] [-1.69065146e-03 4.44266406e-07 9.99998571e-01 -3.30554195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:-2.48, Z:-0.33 [[ 9.94454121e-01 1.05157858e-01 1.68094658e-03 5.91265240e+01] [-1.05157703e-01 9.94455542e-01 -1.80889817e-04 -2.47500949e+00] [-1.69064863e-03 3.12214249e-06 9.99998571e-01 -3.32697490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.48, Z:-0.33 [[ 9.94805457e-01 1.01780532e-01 1.68095959e-03 5.91557386e+01] [-1.01780372e-01 9.94806877e-01 -1.80768852e-04 -2.47564627e+00] [-1.69062891e-03 8.74114843e-06 9.99998571e-01 -3.34747929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:-2.48, Z:-0.34 [[ 9.94985086e-01 1.00009262e-01 1.68096825e-03 5.91833513e+01] [-1.00009099e-01 9.94986506e-01 -1.80688267e-04 -2.47751705e+00] [-1.69061123e-03 1.16700099e-05 9.99998571e-01 -3.35423844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:-2.48, Z:-0.33 [[ 9.95201734e-01 9.78298625e-02 1.68097902e-03 5.92117881e+01] [-9.78296970e-02 9.95203154e-01 -1.80588074e-04 -2.47980160e+00] [-1.69058253e-03 1.52718961e-05 9.99998571e-01 -3.33643628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:-2.48, Z:-0.33 [[ 9.95616263e-01 9.35170064e-02 1.68098746e-03 5.92393922e+01] [-9.35168349e-02 9.95617682e-01 -1.80509502e-04 -2.48360559e+00] [-1.69050154e-03 2.25175696e-05 9.99998571e-01 -3.30392887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.735769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:-2.49, Z:-0.33 [[ 9.95812395e-01 9.14048544e-02 1.68100019e-03 5.92668700e+01] [-9.14046801e-02 9.95813814e-01 -1.80390826e-04 -2.48782945e+00] [-1.69045181e-03 2.59841359e-05 9.99998571e-01 -3.29912409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:-2.49, Z:-0.33 [[ 9.95962599e-01 8.97534103e-02 1.68101075e-03 5.92944838e+01] [-8.97532338e-02 9.95964018e-01 -1.80292369e-04 -2.49240441e+00] [-1.69040808e-03 2.86883054e-05 9.99998571e-01 -3.31367330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:-2.50, Z:-0.34 [[ 9.96217904e-01 8.68738278e-02 1.68102331e-03 5.93217804e+01] [-8.68736474e-02 9.96219322e-01 -1.80175198e-04 -2.49712644e+00] [-1.69032041e-03 3.34571320e-05 9.99998571e-01 -3.36476174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:-2.50, Z:-0.34 [[ 9.96221879e-01 8.68282370e-02 1.68103373e-03 5.93509488e+01] [-8.68280567e-02 9.96223296e-01 -1.80077872e-04 -2.50016240e+00] [-1.69032081e-03 3.34366234e-05 9.99998571e-01 -3.36525760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:-2.51, Z:-0.34 [[ 9.96314992e-01 8.57531987e-02 1.68104197e-03 5.93791996e+01] [-8.57530171e-02 9.96316409e-01 -1.80000941e-04 -2.50526896e+00] [-1.69028536e-03 3.51832153e-05 9.99998571e-01 -3.38450972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:-2.51, Z:-0.34 [[ 9.96316630e-01 8.57341614e-02 1.68105018e-03 5.94081563e+01] [-8.57339798e-02 9.96318048e-01 -1.79924278e-04 -2.50954163e+00] [-1.69028629e-03 3.51384286e-05 9.99998571e-01 -3.37926319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.915769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:-2.51, Z:-0.34 [[ 9.96304868e-01 8.58707373e-02 1.68105847e-03 5.94366603e+01] [-8.58705560e-02 9.96306286e-01 -1.79846737e-04 -2.51431149e+00] [-1.69029270e-03 3.48287535e-05 9.99998571e-01 -3.37914911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:-2.52, Z:-0.34 [[ 9.96306495e-01 8.58518582e-02 1.68106687e-03 5.94634616e+01] [-8.58516771e-02 9.96307913e-01 -1.79768232e-04 -2.52183888e+00] [-1.69029366e-03 3.47818469e-05 9.99998571e-01 -3.39528732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:-2.53, Z:-0.34 [[ 9.96359001e-01 8.52403360e-02 1.68107731e-03 5.94917308e+01] [-8.52401542e-02 9.96360419e-01 -1.79670531e-04 -2.52708389e+00] [-1.69027407e-03 3.57210612e-05 9.99998571e-01 -3.38921142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:-2.53, Z:-0.34 [[ 9.96574444e-01 8.26834461e-02 1.68108557e-03 5.95184904e+01] [-8.26832607e-02 9.96575861e-01 -1.79593265e-04 -2.53455266e+00] [-1.69017868e-03 3.99804222e-05 9.99998571e-01 -3.37021940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:-2.54, Z:-0.34 [[ 9.96713448e-01 8.09905947e-02 1.68109582e-03 5.95463743e+01] [-8.09904071e-02 9.96714865e-01 -1.79497178e-04 -2.54002474e+00] [-1.69011078e-03 4.27546160e-05 9.99998571e-01 -3.36208701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:-2.55, Z:-0.33 [[ 9.96993664e-01 7.74648839e-02 1.68110584e-03 5.95733385e+01] [-7.74646915e-02 9.96995080e-01 -1.79403304e-04 -2.54829769e+00] [-1.68995171e-03 4.86376117e-05 9.99998571e-01 -3.33828202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:-2.55, Z:-0.33 [[ 9.97110894e-01 7.59410254e-02 1.68111717e-03 5.96017198e+01] [-7.59408309e-02 9.97112310e-01 -1.79297067e-04 -2.55382048e+00] [-1.68987863e-03 5.11136234e-05 9.99998571e-01 -3.33277898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:-2.56, Z:-0.33 [[ 9.97188051e-01 7.49210540e-02 1.68112507e-03 5.96287635e+01] [-7.49208582e-02 9.97189467e-01 -1.79222986e-04 -2.56145298e+00] [-1.68982779e-03 5.27676872e-05 9.99998571e-01 -3.33000411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:-2.57, Z:-0.33 [[ 9.97158171e-01 7.53177001e-02 1.68113536e-03 5.96569928e+01] [-7.53175051e-02 9.97159587e-01 -1.79126448e-04 -2.56652226e+00] [-1.68985163e-03 5.19984806e-05 9.99998571e-01 -3.32916562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:-2.57, Z:-0.33 [[ 9.97075918e-01 7.63988679e-02 1.68114328e-03 5.96846762e+01] [-7.63986745e-02 9.97077334e-01 -1.79052068e-04 -2.57171433e+00] [-1.68990923e-03 5.00913873e-05 9.99998571e-01 -3.33178037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:-2.58, Z:-0.33 [[ 9.96872675e-01 7.90066071e-02 1.68115391e-03 5.97124640e+01] [-7.90064176e-02 9.96874091e-01 -1.78952238e-04 -2.57963627e+00] [-1.69003718e-03 4.55706488e-05 9.99998571e-01 -3.31456960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:-2.59, Z:-0.33 [[ 9.96769269e-01 8.03006684e-02 1.68116175e-03 5.97412339e+01] [-8.03004808e-02 9.96770686e-01 -1.78878504e-04 -2.58517563e+00] [-1.69009682e-03 4.33024992e-05 9.99998571e-01 -3.30608072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:-2.59, Z:-0.33 [[ 9.96450508e-01 8.41638786e-02 1.68116964e-03 5.97685124e+01] [-8.41636967e-02 9.96451926e-01 -1.78804297e-04 -2.59266528e+00] [-1.69025359e-03 3.66761806e-05 9.99998571e-01 -3.32627057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:-2.60, Z:-0.33 [[ 9.96250963e-01 8.64938877e-02 1.68117943e-03 5.97969161e+01] [-8.64937093e-02 9.96252381e-01 -1.78712255e-04 -2.59779865e+00] [-1.69033653e-03 3.26308115e-05 9.99998571e-01 -3.33424309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:-2.60, Z:-0.33 [[ 9.95792339e-01 9.16230976e-02 1.68118727e-03 5.98252160e+01] [-9.16229265e-02 9.95793757e-01 -1.78638416e-04 -2.60440834e+00] [-1.69048320e-03 2.38514677e-05 9.99998571e-01 -3.33944308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:-2.61, Z:-0.33 [[ 9.95520975e-01 9.45259829e-02 1.68120110e-03 5.98531864e+01] [-9.45258163e-02 9.95522395e-01 -1.78508222e-04 -2.60849429e+00] [-1.69054701e-03 1.87917731e-05 9.99998571e-01 -3.34046295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.88, Y:-2.61, Z:-0.33 [[ 9.94962131e-01 1.00237379e-01 1.68121180e-03 5.98818041e+01] [-1.00237220e-01 9.94963551e-01 -1.78407350e-04 -2.61394947e+00] [-1.69062755e-03 8.98855993e-06 9.99998571e-01 -3.33778468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:-2.62, Z:-0.34 [[ 9.94708371e-01 1.02725018e-01 1.68122044e-03 5.99094246e+01] [-1.02724864e-01 9.94709792e-01 -1.78325876e-04 -2.61787976e+00] [-1.69064497e-03 4.67910057e-06 9.99998571e-01 -3.35510896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455769231000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.94, Y:-2.62, Z:-0.34 [[ 9.94210276e-01 1.07438823e-01 1.68123122e-03 5.99376131e+01] [-1.07438675e-01 9.94211697e-01 -1.78224251e-04 -2.62134690e+00] [-1.69064795e-03 -3.43687291e-06 9.99998571e-01 -3.35752443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:-2.62, Z:-0.34 [[ 9.93944931e-01 1.09866498e-01 1.68123929e-03 5.99649485e+01] [-1.09866354e-01 9.93946353e-01 -1.78148023e-04 -2.62427332e+00] [-1.69063416e-03 -7.64230726e-06 9.99998571e-01 -3.35587693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:-2.63, Z:-0.33 [[ 9.93403591e-01 1.14658098e-01 1.68124937e-03 5.99929029e+01] [-1.14657961e-01 9.93405013e-01 -1.78052842e-04 -2.62720688e+00] [-1.69057676e-03 -1.58902928e-05 9.99998571e-01 -3.34889934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:-2.63, Z:-0.33 [[ 9.93194654e-01 1.16454077e-01 1.68125897e-03 6.00211892e+01] [-1.16453943e-01 9.93196077e-01 -1.77962161e-04 -2.62939829e+00] [-1.69054424e-03 -1.90381696e-05 9.99998571e-01 -3.34520120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:-2.63, Z:-0.34 [[ 9.93005173e-01 1.18058883e-01 1.68126754e-03 6.00488617e+01] [-1.18058751e-01 9.93006596e-01 -1.77881214e-04 -2.63106427e+00] [-1.69051021e-03 -2.18513793e-05 9.99998571e-01 -3.36485140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605769231000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:-2.63, Z:-0.34 [[ 9.92768575e-01 1.20032205e-01 1.68127819e-03 6.00773380e+01] [-1.20032076e-01 9.92769998e-01 -1.77780459e-04 -2.63230210e+00] [-1.69046193e-03 -2.53124594e-05 9.99998571e-01 -3.36602024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635769231000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:-2.63, Z:-0.34 [[ 9.92739505e-01 1.20272389e-01 1.68128673e-03 6.01047498e+01] [-1.20272260e-01 9.92740929e-01 -1.77699654e-04 -2.63333171e+00] [-1.69045451e-03 -2.58026886e-05 9.99998571e-01 -3.38373307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665769231000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.13, Y:-2.63, Z:-0.34 [[ 9.92844709e-01 1.19400824e-01 1.68129735e-03 6.01329984e+01] [-1.19400694e-01 9.92846132e-01 -1.77599174e-04 -2.63475383e+00] [-1.69047505e-03 -2.44196702e-05 9.99998571e-01 -3.39730281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.16, Y:-2.64, Z:-0.34 [[ 9.92984924e-01 1.18229073e-01 1.68130741e-03 6.01614644e+01] [-1.18228941e-01 9.92986347e-01 -1.77503856e-04 -2.63635247e+00] [-1.69050142e-03 -2.25205424e-05 9.99998571e-01 -3.38402104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.19, Y:-2.64, Z:-0.34 [[ 9.93386611e-01 1.14805110e-01 1.68131581e-03 6.01891599e+01] [-1.14804974e-01 9.93388034e-01 -1.77424219e-04 -2.63863220e+00] [-1.69056822e-03 -1.67725746e-05 9.99998571e-01 -3.39083952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:60.22, Y:-2.64, Z:-0.34 [[ 9.93675708e-01 1.12275382e-01 1.68132625e-03 6.02175687e+01] [-1.12275243e-01 9.93677130e-01 -1.77325267e-04 -2.64136318e+00] [-1.69060470e-03 -1.25675022e-05 9.99998571e-01 -3.37232869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:60.25, Y:-2.64, Z:-0.34 [[ 9.94252801e-01 1.07044575e-01 1.68133489e-03 6.02458303e+01] [-1.07044428e-01 9.94254223e-01 -1.77243308e-04 -2.64345591e+00] [-1.69064725e-03 -3.75287580e-06 9.99998571e-01 -3.37153042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815769231000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:60.27, Y:-2.65, Z:-0.34 [[ 9.94502998e-01 1.04694602e-01 1.68134564e-03 6.02741337e+01] [-1.04694452e-01 9.94504419e-01 -1.77141270e-04 -2.64651248e+00] [-1.69065140e-03 1.39964324e-07 9.99998571e-01 -3.37973375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845769231000006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:60.30, Y:-2.65, Z:-0.34 [[ 9.94683781e-01 1.02962853e-01 1.68135393e-03 6.03024859e+01] [-1.02962701e-01 9.94685202e-01 -1.77062541e-04 -2.64972028e+00] [-1.69064874e-03 3.00449605e-06 9.99998571e-01 -3.39262407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:60.33, Y:-2.65, Z:-0.34 [[ 9.94810619e-01 1.01730060e-01 1.68136229e-03 6.03300057e+01] [-1.01729906e-01 9.94812040e-01 -1.76983145e-04 -2.65359459e+00] [-1.69064395e-03 5.01988518e-06 9.99998571e-01 -3.40777971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.36, Y:-2.66, Z:-0.34 [[ 9.94813035e-01 1.01706432e-01 1.68137266e-03 6.03582851e+01] [-1.01706279e-01 9.94814456e-01 -1.76884545e-04 -2.65667140e+00] [-1.69064412e-03 4.96089456e-06 9.99998571e-01 -3.39866888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.39, Y:-2.66, Z:-0.34 [[ 9.94800140e-01 1.01832484e-01 1.68138097e-03 6.03867965e+01] [-1.01832331e-01 9.94801561e-01 -1.76805532e-04 -2.66073929e+00] [-1.69064496e-03 4.66722463e-06 9.99998571e-01 -3.38672240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:60.41, Y:-2.66, Z:-0.34 [[ 9.94738352e-01 1.02434289e-01 1.68138923e-03 6.04148615e+01] [-1.02434136e-01 9.94739773e-01 -1.76726915e-04 -2.66467381e+00] [-1.69064764e-03 3.56538602e-06 9.99998571e-01 -3.38158658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995769231000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:60.44, Y:-2.67, Z:-0.34 [[ 9.94566454e-01 1.04090068e-01 1.68139952e-03 6.04426321e+01] [-1.04089918e-01 9.94567875e-01 -1.76629021e-04 -2.66830346e+00] [-1.69065127e-03 6.52561880e-07 9.99998571e-01 -3.35835422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025769231000005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:60.47, Y:-2.67, Z:-0.33 [[ 9.94468711e-01 1.05019786e-01 1.68140960e-03 6.04710789e+01] [-1.05019638e-01 9.94470133e-01 -1.76532948e-04 -2.67094187e+00] [-1.69065108e-03 -1.02453434e-06 9.99998571e-01 -3.34530331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.055769231000006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:60.50, Y:-2.67, Z:-0.33 [[ 9.94382565e-01 1.05832358e-01 1.68141758e-03 6.04994034e+01] [-1.05832211e-01 9.94383986e-01 -1.76456951e-04 -2.67336104e+00] [-1.69064957e-03 -2.48242536e-06 9.99998571e-01 -3.34698341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.53, Y:-2.68, Z:-0.34 [[ 9.94204890e-01 1.07488648e-01 1.68142565e-03 6.05278383e+01] [-1.07488503e-01 9.94206312e-01 -1.76379961e-04 -2.67566841e+00] [-1.69064284e-03 -5.37610747e-06 9.99998571e-01 -3.36129895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:60.56, Y:-2.68, Z:-0.34 [[ 9.94155762e-01 1.07942088e-01 1.68143372e-03 6.05557144e+01] [-1.07941944e-01 9.94157184e-01 -1.76303084e-04 -2.67806097e+00] [-1.69063993e-03 -6.22449649e-06 9.99998571e-01 -3.36611099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:60.58, Y:-2.68, Z:-0.34 [[ 9.94090204e-01 1.08544183e-01 1.68144477e-03 6.05841858e+01] [-1.08544040e-01 9.94091626e-01 -1.76197629e-04 -2.68104773e+00] [-1.69063539e-03 -7.35447036e-06 9.99998571e-01 -3.37028745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175769231000004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:60.61, Y:-2.68, Z:-0.34 [[ 9.94135760e-01 1.08126146e-01 1.68145277e-03 6.06128699e+01] [-1.08126003e-01 9.94137182e-01 -1.76121235e-04 -2.68441028e+00] [-1.69063803e-03 -6.72034876e-06 9.99998571e-01 -3.37136699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205769231000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:60.64, Y:-2.69, Z:-0.34 [[ 9.94339070e-01 1.06240230e-01 1.68146102e-03 6.06403286e+01] [-1.06240085e-01 9.94340492e-01 -1.76042452e-04 -2.68822743e+00] [-1.69064756e-03 -3.59267281e-06 9.99998571e-01 -3.38942983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.235769231000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.67, Y:-2.69, Z:-0.34 [[ 9.94438421e-01 1.05306220e-01 1.68147131e-03 6.06687330e+01] [-1.05306073e-01 9.94439842e-01 -1.75944083e-04 -2.69128194e+00] [-1.69065007e-03 -2.10358413e-06 9.99998571e-01 -3.38412524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.70, Y:-2.69, Z:-0.34 [[ 9.94565094e-01 1.04103055e-01 1.68147929e-03 6.06968629e+01] [-1.04102906e-01 9.94566516e-01 -1.75867804e-04 -2.69426915e+00] [-1.69065137e-03 -1.34901331e-07 9.99998571e-01 -3.36470829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:60.73, Y:-2.70, Z:-0.34 [[ 9.94539235e-01 1.04349805e-01 1.68149004e-03 6.07254409e+01] [-1.04349657e-01 9.94540657e-01 -1.75764932e-04 -2.69705543e+00] [-1.69065125e-03 -6.57787901e-07 9.99998571e-01 -3.36352998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:60.75, Y:-2.70, Z:-0.34 [[ 9.94465901e-01 1.05046395e-01 1.68149780e-03 6.07539769e+01] [-1.05046248e-01 9.94467322e-01 -1.75690623e-04 -2.69915182e+00] [-1.69065029e-03 -1.91670132e-06 9.99998571e-01 -3.36314805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:60.78, Y:-2.70, Z:-0.33 [[ 9.93913650e-01 1.10149124e-01 1.68150576e-03 6.07821079e+01] [-1.10148985e-01 9.93915072e-01 -1.75614470e-04 -2.69849072e+00] [-1.69061770e-03 -1.06705329e-05 9.99998571e-01 -3.34938793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385769231000005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:60.81, Y:-2.70, Z:-0.33 [[ 9.93503557e-01 1.13788642e-01 1.68151563e-03 6.08107251e+01] [-1.13788508e-01 9.93504980e-01 -1.75519928e-04 -2.69862891e+00] [-1.69056632e-03 -1.69574818e-05 9.99998571e-01 -3.34443892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.415769231000006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:60.84, Y:-2.69, Z:-0.34 [[ 9.92703067e-01 1.20572772e-01 1.68152367e-03 6.08391293e+01] [-1.20572648e-01 9.92704491e-01 -1.75442866e-04 -2.69382635e+00] [-1.69040973e-03 -2.85830904e-05 9.99998571e-01 -3.38085347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.87, Y:-2.69, Z:-0.34 [[ 9.92382318e-01 1.23184848e-01 1.68153364e-03 6.08678157e+01] [-1.23184727e-01 9.92383742e-01 -1.75347203e-04 -2.69222569e+00] [-1.69032677e-03 -3.31277989e-05 9.99998571e-01 -3.39790993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:60.90, Y:-2.69, Z:-0.34 [[ 9.92024777e-01 1.26031801e-01 1.68154164e-03 6.08963362e+01] [-1.26031685e-01 9.92026201e-01 -1.75270472e-04 -2.68693214e+00] [-1.69022302e-03 -3.80548753e-05 9.99998571e-01 -3.39128711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:60.93, Y:-2.69, Z:-0.34 [[ 9.92038676e-01 1.25922350e-01 1.68155157e-03 6.09252892e+01] [-1.25922234e-01 9.92040100e-01 -1.75175165e-04 -2.68679935e+00] [-1.69022505e-03 -3.79641905e-05 9.99998571e-01 -3.35941332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:60.95, Y:-2.68, Z:-0.33 [[ 9.92369129e-01 1.23291057e-01 1.68155971e-03 6.09542923e+01] [-1.23290938e-01 9.92370553e-01 -1.75096986e-04 -2.68277525e+00] [-1.69031823e-03 -3.35602299e-05 9.99998571e-01 -3.31612668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565769231000004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:60.98, Y:-2.68, Z:-0.33 [[ 9.92588503e-01 1.21512290e-01 1.68156790e-03 6.09820924e+01] [-1.21512168e-01 9.92589927e-01 -1.75018317e-04 -2.68188753e+00] [-1.69037423e-03 -3.06097910e-05 9.99998571e-01 -3.32397033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595769231000006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:61.01, Y:-2.68, Z:-0.33 [[ 9.92828841e-01 1.19532692e-01 1.68158023e-03 6.10091813e+01] [-1.19532568e-01 9.92830265e-01 -1.74899780e-04 -2.68118484e+00] [-1.69042998e-03 -2.73580560e-05 9.99998571e-01 -3.33929284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.04, Y:-2.68, Z:-0.34 [[ 9.93253318e-01 1.15952653e-01 1.68159450e-03 6.10360746e+01] [-1.15952523e-01 9.93254742e-01 -1.74762418e-04 -2.67873891e+00] [-1.69051588e-03 -2.14017736e-05 9.99998571e-01 -3.38460100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:61.06, Y:-2.68, Z:-0.34 [[ 9.93342980e-01 1.15182017e-01 1.68160863e-03 6.10646520e+01] [-1.15181886e-01 9.93344403e-01 -1.74626315e-04 -2.67914413e+00] [-1.69053034e-03 -2.02270296e-05 9.99998571e-01 -3.39909503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.09, Y:-2.68, Z:-0.34 [[ 9.93177062e-01 1.16604015e-01 1.68161624e-03 6.10939657e+01] [-1.16603887e-01 9.93178485e-01 -1.74553011e-04 -2.67642558e+00] [-1.69049866e-03 -2.27209436e-05 9.99998571e-01 -3.39269459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:61.12, Y:-2.68, Z:-0.34 [[ 9.93028839e-01 1.17859648e-01 1.68162445e-03 6.11212478e+01] [-1.17859521e-01 9.93030263e-01 -1.74473959e-04 -2.67589398e+00] [-1.69046740e-03 -2.49377790e-05 9.99998571e-01 -3.40687869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745769231000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:61.15, Y:-2.68, Z:-0.34 [[ 9.93036457e-01 1.17795446e-01 1.68163875e-03 6.11495999e+01] [-1.17795319e-01 9.93037881e-01 -1.74336026e-04 -2.67868748e+00] [-1.69046697e-03 -2.49671433e-05 9.99998571e-01 -3.40736044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775769231000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.18, Y:-2.68, Z:-0.34 [[ 9.92788006e-01 1.19871376e-01 1.68165001e-03 6.11792714e+01] [-1.19871253e-01 9.92789430e-01 -1.74227303e-04 -2.67520252e+00] [-1.69040922e-03 -2.86107164e-05 9.99998571e-01 -3.38647162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805769231000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.21, Y:-2.67, Z:-0.34 [[ 9.92652370e-01 1.20989437e-01 1.68165789e-03 6.12085102e+01] [-1.20989316e-01 9.92653794e-01 -1.74151209e-04 -2.67482733e+00] [-1.69037454e-03 -3.05910269e-05 9.99998571e-01 -3.35976597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.24, Y:-2.67, Z:-0.33 [[ 9.92542222e-01 1.21889746e-01 1.68166599e-03 6.12354280e+01] [-1.21889626e-01 9.92543646e-01 -1.74072955e-04 -2.67312464e+00] [-1.69034460e-03 -3.22028808e-05 9.99998571e-01 -3.34874706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.26, Y:-2.67, Z:-0.34 [[ 9.92384564e-01 1.23166754e-01 1.68168009e-03 6.12638063e+01] [-1.23166636e-01 9.92385988e-01 -1.73936597e-04 -2.66696630e+00] [-1.69029897e-03 -3.45148859e-05 9.99998571e-01 -3.36704985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.895769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.66, Z:-0.34 [[ 9.92583720e-01 1.21551346e-01 1.68169171e-03 6.12921600e+01] [-1.21551226e-01 9.92585145e-01 -1.73824198e-04 -2.66209463e+00] [-1.69035078e-03 -3.18766199e-05 9.99998571e-01 -3.38851263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925769231000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.32, Y:-2.66, Z:-0.34 [[ 9.92818479e-01 1.19618723e-01 1.68170405e-03 6.13194572e+01] [-1.19618601e-01 9.92819903e-01 -1.73704787e-04 -2.66137201e+00] [-1.69040759e-03 -2.87057618e-05 9.99998571e-01 -3.38697963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955769231000005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.35, Y:-2.66, Z:-0.34 [[ 9.93143789e-01 1.16887065e-01 1.68171835e-03 6.13480304e+01] [-1.16886938e-01 9.93145213e-01 -1.73566141e-04 -2.66116007e+00] [-1.69047817e-03 -2.41947744e-05 9.99998571e-01 -3.37575067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985769231000006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.38, Y:-2.66, Z:-0.34 [[ 9.93556665e-01 1.13323987e-01 1.68173060e-03 6.13754649e+01] [-1.13323856e-01 9.93558088e-01 -1.73447414e-04 -2.66155973e+00] [-1.69055279e-03 -1.82503627e-05 9.99998571e-01 -3.36705653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.40, Y:-2.66, Z:-0.33 [[ 9.94562132e-01 1.04131350e-01 1.68174478e-03 6.14035980e+01] [-1.04131206e-01 9.94563554e-01 -1.73309841e-04 -2.66173005e+00] [-1.69064905e-03 -2.75470609e-06 9.99998571e-01 -3.33986482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:61.43, Y:-2.66, Z:-0.33 [[ 9.95588218e-01 9.38150980e-02 1.68175721e-03 6.14308628e+01] [-9.38149393e-02 9.95589638e-01 -1.73189159e-04 -2.66448960e+00] [-1.69058781e-03 1.46511358e-05 9.99998571e-01 -3.33003733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.46, Y:-2.67, Z:-0.33 [[ 9.95983055e-01 8.95261232e-02 1.68177651e-03 6.14590422e+01] [-8.95259587e-02 9.95984474e-01 -1.73001493e-04 -2.66867079e+00] [-1.69051145e-03 2.17439009e-05 9.99998571e-01 -3.33454916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.49, Y:-2.67, Z:-0.33 [[ 9.96288556e-01 8.60597758e-02 1.68178856e-03 6.14869674e+01] [-8.60596065e-02 9.96289975e-01 -1.72884229e-04 -2.67362248e+00] [-1.69042747e-03 2.75085167e-05 9.99998571e-01 -3.33613457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.135769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.51, Y:-2.68, Z:-0.33 [[ 9.96524060e-01 8.32884659e-02 1.68179852e-03 6.15144289e+01] [-8.32882928e-02 9.96525479e-01 -1.72787373e-04 -2.67902169e+00] [-1.69034627e-03 3.21126469e-05 9.99998571e-01 -3.33537415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.54, Y:-2.69, Z:-0.33 [[ 9.96894288e-01 7.87334088e-02 1.68181072e-03 6.15412417e+01] [-7.87332294e-02 9.96895706e-01 -1.72668458e-04 -2.68898182e+00] [-1.69018467e-03 3.97178103e-05 9.99998571e-01 -3.34965671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.195769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.57, Y:-2.70, Z:-0.34 [[ 9.96913373e-01 7.84913854e-02 1.68182087e-03 6.15694594e+01] [-7.84912059e-02 9.96914791e-01 -1.72569566e-04 -2.69896303e+00] [-1.69017733e-03 4.00287598e-05 9.99998571e-01 -3.37214444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:61.60, Y:-2.70, Z:-0.34 [[ 9.96762479e-01 8.03848962e-02 1.68182857e-03 6.15982452e+01] [-8.03847195e-02 9.96763897e-01 -1.72494546e-04 -2.70452475e+00] [-1.69025195e-03 3.67427739e-05 9.99998571e-01 -3.38479685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.255769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.63, Y:-2.71, Z:-0.34 [[ 9.96530009e-01 8.32172588e-02 1.68183664e-03 6.16254418e+01] [-8.32170862e-02 9.96531428e-01 -1.72415767e-04 -2.70916908e+00] [-1.69035104e-03 3.18599415e-05 9.99998571e-01 -3.40919581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.65, Y:-2.71, Z:-0.34 [[ 9.95933593e-01 9.00746854e-02 1.68184667e-03 6.16539296e+01] [-9.00745228e-02 9.95935013e-01 -1.72317902e-04 -2.71322654e+00] [-1.69053147e-03 2.01256506e-05 9.99998571e-01 -3.43779645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.315769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.68, Y:-2.72, Z:-0.34 [[ 9.95586644e-01 9.38317911e-02 1.68185274e-03 6.16814953e+01] [-9.38316340e-02 9.95588065e-01 -1.72258647e-04 -2.71571401e+00] [-1.69059585e-03 1.36874174e-05 9.99998571e-01 -3.43368428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.345769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.71, Y:-2.72, Z:-0.34 [[ 9.94866039e-01 1.01186638e-01 1.68186285e-03 6.17097741e+01] [-1.01186492e-01 9.94867461e-01 -1.72159847e-04 -2.71753936e+00] [-1.69065090e-03 1.09418347e-06 9.99998571e-01 -3.38920963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.375769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.74, Y:-2.72, Z:-0.34 [[ 9.94501729e-01 1.04706647e-01 1.68187305e-03 6.17377451e+01] [-1.04706505e-01 9.94503151e-01 -1.72060180e-04 -2.72013653e+00] [-1.69064389e-03 -4.98890303e-06 9.99998571e-01 -3.38083212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.77, Y:-2.72, Z:-0.34 [[ 9.94158770e-01 1.07914370e-01 1.68188320e-03 6.17654882e+01] [-1.07914234e-01 9.94160193e-01 -1.71960837e-04 -2.72241620e+00] [-1.69061838e-03 -1.05427624e-05 9.99998571e-01 -3.38295171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:61.79, Y:-2.72, Z:-0.34 [[ 9.93675072e-01 1.12280999e-01 1.68189547e-03 6.17930846e+01] [-1.12280869e-01 9.93676495e-01 -1.71840761e-04 -2.72266636e+00] [-1.69055445e-03 -1.80908038e-05 9.99998571e-01 -3.39681828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.82, Y:-2.72, Z:-0.34 [[ 9.93554013e-01 1.13347228e-01 1.68190972e-03 6.18207846e+01] [-1.13347099e-01 9.93555437e-01 -1.71701182e-04 -2.72398835e+00] [-1.69053240e-03 -2.00451903e-05 9.99998571e-01 -3.38998142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.495769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.85, Y:-2.73, Z:-0.34 [[ 9.93431707e-01 1.14414222e-01 1.68192167e-03 6.18491266e+01] [-1.14414095e-01 9.93433131e-01 -1.71584020e-04 -2.72538726e+00] [-1.69050837e-03 -2.19785405e-05 9.99998571e-01 -3.36504229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:61.88, Y:-2.73, Z:-0.34 [[ 9.93470786e-01 1.14074402e-01 1.68192991e-03 6.18758373e+01] [-1.14074275e-01 9.93472209e-01 -1.71503236e-04 -2.72801531e+00] [-1.69051475e-03 -2.14814816e-05 9.99998571e-01 -3.37705725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.73, Z:-0.34 [[ 9.93549623e-01 1.13385705e-01 1.68194421e-03 6.19027538e+01] [-1.13385578e-01 9.93551046e-01 -1.71362890e-04 -2.73125150e+00] [-1.69052753e-03 -2.04506810e-05 9.99998571e-01 -3.40366206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.93, Y:-2.74, Z:-0.34 [[ 9.93715965e-01 1.11918506e-01 1.68195801e-03 6.19300389e+01] [-1.11918377e-01 9.93717388e-01 -1.71227388e-04 -2.73585270e+00] [-1.69055443e-03 -1.80906207e-05 9.99998571e-01 -3.44033946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.615769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.96, Y:-2.74, Z:-0.34 [[ 9.93806230e-01 1.11114121e-01 1.68196782e-03 6.19587604e+01] [-1.11113991e-01 9.93807653e-01 -1.71130920e-04 -2.74004806e+00] [-1.69056755e-03 -1.68191824e-05 9.99998571e-01 -3.42398745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:61.99, Y:-2.75, Z:-0.34 [[ 9.93986698e-01 1.09487966e-01 1.68197596e-03 6.19874765e+01] [-1.09487833e-01 9.93988121e-01 -1.71050890e-04 -2.74568419e+00] [-1.69059214e-03 -1.41335942e-05 9.99998571e-01 -3.40018642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.675769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.02, Y:-2.75, Z:-0.34 [[ 9.94067464e-01 1.08752234e-01 1.68198405e-03 6.20151143e+01] [-1.08752100e-01 9.94068887e-01 -1.70971249e-04 -2.75005987e+00] [-1.69060152e-03 -1.29623421e-05 9.99998571e-01 -3.39603365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.705769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.04, Y:-2.76, Z:-0.34 [[ 9.94103236e-01 1.08424756e-01 1.68199632e-03 6.20421966e+01] [-1.08424622e-01 9.94104659e-01 -1.70850550e-04 -2.75710167e+00] [-1.69060480e-03 -1.25267300e-05 9.99998571e-01 -3.42358749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.07, Y:-2.76, Z:-0.34 [[ 9.94061896e-01 1.08803110e-01 1.68200645e-03 6.20701528e+01] [-1.08802977e-01 9.94063319e-01 -1.70750722e-04 -2.76198082e+00] [-1.69059912e-03 -1.32705228e-05 9.99998571e-01 -3.43243667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.10, Y:-2.77, Z:-0.34 [[ 9.93969261e-01 1.09646157e-01 1.68201828e-03 6.20975045e+01] [-1.09646025e-01 9.93970684e-01 -1.70634142e-04 -2.76665639e+00] [-1.69058623e-03 -1.48215262e-05 9.99998571e-01 -3.42413343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.13, Y:-2.77, Z:-0.34 [[ 9.93663854e-01 1.12380227e-01 1.68202807e-03 6.21254891e+01] [-1.12380099e-01 9.93665278e-01 -1.70537554e-04 -2.77049415e+00] [-1.69053794e-03 -1.95694778e-05 9.99998571e-01 -3.37556029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:62.15, Y:-2.77, Z:-0.34 [[ 9.93547010e-01 1.13408600e-01 1.68204169e-03 6.21524805e+01] [-1.13408474e-01 9.93548433e-01 -1.70403133e-04 -2.77249700e+00] [-1.69051506e-03 -2.14542585e-05 9.99998571e-01 -3.35513943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.855769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:62.18, Y:-2.78, Z:-0.34 [[ 9.93327801e-01 1.15312834e-01 1.68205502e-03 6.21801571e+01] [-1.15312711e-01 9.93329225e-01 -1.70271372e-04 -2.77525054e+00] [-1.69046889e-03 -2.48270373e-05 9.99998571e-01 -3.36600732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:62.21, Y:-2.78, Z:-0.34 [[ 9.93276604e-01 1.15753006e-01 1.68206651e-03 6.22084523e+01] [-1.15752883e-01 9.93278028e-01 -1.70157796e-04 -2.77745052e+00] [-1.69045599e-03 -2.56902912e-05 9.99998571e-01 -3.38480724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.915769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.24, Y:-2.78, Z:-0.34 [[ 9.93241410e-01 1.16054604e-01 1.68207797e-03 6.22376279e+01] [-1.16054483e-01 9.93242834e-01 -1.70044504e-04 -2.77820662e+00] [-1.69044634e-03 -2.63174451e-05 9.99998571e-01 -3.40371666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.26, Y:-2.78, Z:-0.34 [[ 9.93266197e-01 1.15842272e-01 1.68208599e-03 6.22647075e+01] [-1.15842151e-01 9.93267621e-01 -1.69965097e-04 -2.77967664e+00] [-1.69045069e-03 -2.60358736e-05 9.99998571e-01 -3.40402570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.975769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.78, Z:-0.34 [[ 9.93179140e-01 1.16586300e-01 1.68209993e-03 6.22914963e+01] [-1.16586180e-01 9.93180565e-01 -1.69826993e-04 -2.77831139e+00] [-1.69042846e-03 -2.74409787e-05 9.99998571e-01 -3.39379788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.32, Y:-2.78, Z:-0.34 [[ 9.93057048e-01 1.17621723e-01 1.68211340e-03 6.23196441e+01] [-1.17621604e-01 9.93058472e-01 -1.69693516e-04 -2.77715465e+00] [-1.69039661e-03 -2.93375339e-05 9.99998571e-01 -3.40465548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.035769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.35, Y:-2.78, Z:-0.34 [[ 9.92861374e-01 1.19262160e-01 1.68212458e-03 6.23481381e+01] [-1.19262043e-01 9.92862798e-01 -1.69582570e-04 -2.77502438e+00] [-1.69034370e-03 -3.22416312e-05 9.99998571e-01 -3.42954484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.065769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.38, Y:-2.77, Z:-0.34 [[ 9.92391765e-01 1.23108711e-01 1.68213756e-03 6.23769296e+01] [-1.23108600e-01 9.92393190e-01 -1.69453722e-04 -2.76744613e+00] [-1.69020309e-03 -3.89211229e-05 9.99998571e-01 -3.43865956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.095769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.40, Y:-2.76, Z:-0.34 [[ 9.92191906e-01 1.24709231e-01 1.68214864e-03 6.24048102e+01] [-1.24709123e-01 9.92193331e-01 -1.69343664e-04 -2.76485068e+00] [-1.69013538e-03 -4.17578689e-05 9.99998571e-01 -3.41737526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.125769231 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:62.43, Y:-2.76, Z:-0.34 [[ 9.91990978e-01 1.26297542e-01 1.68217098e-03 6.24330309e+01] [-1.26297437e-01 9.91992404e-01 -1.69121494e-04 -2.75567016e+00] [-1.69006046e-03 -4.46868864e-05 9.99998571e-01 -3.42061013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.46, Y:-2.75, Z:-0.35 [[ 9.92065314e-01 1.25712304e-01 1.68218518e-03 6.24615585e+01] [-1.25712198e-01 9.92066739e-01 -1.68980179e-04 -2.75298678e+00] [-1.69008285e-03 -4.38318212e-05 9.99998571e-01 -3.45305216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18576923100001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:62.49, Y:-2.75, Z:-0.35 [[ 9.92289291e-01 1.23931974e-01 1.68219519e-03 6.24901970e+01] [-1.23931865e-01 9.92290716e-01 -1.68880465e-04 -2.75121842e+00] [-1.69015635e-03 -4.08993109e-05 9.99998571e-01 -3.45561279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:62.52, Y:-2.75, Z:-0.34 [[ 9.93078765e-01 1.17438227e-01 1.68220639e-03 6.25186793e+01] [-1.17438110e-01 9.93080189e-01 -1.68768763e-04 -2.74682010e+00] [-1.69038575e-03 -2.99544637e-05 9.99998571e-01 -3.43003130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:62.55, Y:-2.75, Z:-0.34 [[ 9.93512570e-01 1.13709906e-01 1.68221566e-03 6.25475042e+01] [-1.13709784e-01 9.93513994e-01 -1.68676326e-04 -2.74692874e+00] [-1.69048497e-03 -2.37023292e-05 9.99998571e-01 -3.39390984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.58, Y:-2.75, Z:-0.34 [[ 9.94343690e-01 1.06196972e-01 1.68222346e-03 6.25769862e+01] [-1.06196839e-01 9.94345113e-01 -1.68598504e-04 -2.74570014e+00] [-1.69061533e-03 -1.10019556e-05 9.99998571e-01 -3.36616469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.60, Y:-2.75, Z:-0.34 [[ 9.94697201e-01 1.02833113e-01 1.68223122e-03 6.26038689e+01] [-1.02832975e-01 9.94698623e-01 -1.68521024e-04 -2.74715832e+00] [-1.69064262e-03 -5.36145016e-06 9.99998571e-01 -3.36175543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:-2.75, Z:-0.34 [[ 9.95258993e-01 9.72455995e-02 1.68225124e-03 6.26306516e+01] [-9.72454539e-02 9.95260415e-01 -1.68320912e-04 -2.74981044e+00] [-1.69064654e-03 3.93161525e-06 9.99998571e-01 -3.38005378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.66, Y:-2.75, Z:-0.34 [[ 9.95500443e-01 9.47419535e-02 1.68226456e-03 6.26580436e+01] [-9.47418045e-02 9.95501864e-01 -1.68187733e-04 -2.75341037e+00] [-1.69063194e-03 8.05018270e-06 9.99998571e-01 -3.38485024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.395769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:62.68, Y:-2.76, Z:-0.34 [[ 9.95677701e-01 9.28605690e-02 1.68227591e-03 6.26848416e+01] [-9.28604176e-02 9.95679122e-01 -1.68074173e-04 -2.75691139e+00] [-1.69061446e-03 1.11308633e-05 9.99998571e-01 -3.38336549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.425769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:62.71, Y:-2.76, Z:-0.34 [[ 9.95770863e-01 9.18561867e-02 1.68228909e-03 6.27120331e+01] [-9.18560340e-02 9.95772284e-01 -1.67942098e-04 -2.76037350e+00] [-1.69060337e-03 1.27034444e-05 9.99998571e-01 -3.38519340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.455769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:62.74, Y:-2.77, Z:-0.34 [[ 9.95807406e-01 9.14591766e-02 1.68230185e-03 6.27385627e+01] [-9.14590236e-02 9.95808826e-01 -1.67814188e-04 -2.76582946e+00] [-1.69059918e-03 1.32489263e-05 9.99998571e-01 -3.38147830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.485769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:62.77, Y:-2.77, Z:-0.33 [[ 9.95886619e-01 9.05925547e-02 1.68231409e-03 6.27665386e+01] [-9.05924006e-02 9.95888040e-01 -1.67691432e-04 -2.77378849e+00] [-1.69058807e-03 1.45967820e-05 9.99998571e-01 -3.32972051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.79, Y:-2.78, Z:-0.33 [[ 9.95980535e-01 8.95541435e-02 1.68232139e-03 6.27946351e+01] [-8.95539881e-02 9.95981955e-01 -1.67618116e-04 -2.77902492e+00] [-1.69057264e-03 1.62857907e-05 9.99998571e-01 -3.31086339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.82, Y:-2.78, Z:-0.33 [[ 9.96098845e-01 8.82284569e-02 1.68233255e-03 6.28218315e+01] [-8.82282998e-02 9.96100266e-01 -1.67505998e-04 -2.78410512e+00] [-1.69055070e-03 1.84231897e-05 9.99998571e-01 -3.31170139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.85, Y:-2.79, Z:-0.34 [[ 9.96251028e-01 8.64931175e-02 1.68234363e-03 6.28492057e+01] [-8.64929581e-02 9.96252448e-01 -1.67394728e-04 -2.79164423e+00] [-1.69051745e-03 2.12562935e-05 9.99998571e-01 -3.35267069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.88, Y:-2.79, Z:-0.34 [[ 9.96256719e-01 8.64275401e-02 1.68235462e-03 6.28775653e+01] [-8.64273808e-02 9.96258139e-01 -1.67284138e-04 -2.79432700e+00] [-1.69051744e-03 2.12564426e-05 9.99998571e-01 -3.35315243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.635769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.90, Y:-2.80, Z:-0.34 [[ 9.96235731e-01 8.66691249e-02 1.68236563e-03 6.29041270e+01] [-8.66689661e-02 9.96237152e-01 -1.67173398e-04 -2.79974310e+00] [-1.69052391e-03 2.07352229e-05 9.99998571e-01 -3.38534110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:62.93, Y:-2.81, Z:-0.34 [[ 9.96124123e-01 8.79426013e-02 1.68237839e-03 6.29321561e+01] [-8.79424445e-02 9.96125544e-01 -1.67044841e-04 -2.80591110e+00] [-1.69055045e-03 1.84449277e-05 9.99998571e-01 -3.41244931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.695769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.96, Y:-2.81, Z:-0.34 [[ 9.95855665e-01 9.09321914e-02 1.68238568e-03 6.29591243e+01] [-9.09320391e-02 9.95857086e-01 -1.66971362e-04 -2.81352300e+00] [-1.69059878e-03 1.32966159e-05 9.99998571e-01 -3.42395288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:62.99, Y:-2.82, Z:-0.34 [[ 9.95680518e-01 9.28303557e-02 1.68239473e-03 6.29863215e+01] [-9.28302062e-02 9.95681940e-01 -1.66880145e-04 -2.81752114e+00] [-1.69062159e-03 9.98225987e-06 9.99998571e-01 -3.42934216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.755769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.01, Y:-2.82, Z:-0.34 [[ 9.95244686e-01 9.73919161e-02 1.68240735e-03 6.30132237e+01] [-9.73917733e-02 9.95246108e-01 -1.66752860e-04 -2.82376205e+00] [-1.69064974e-03 2.10726314e-06 9.99998571e-01 -3.43888575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.785769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.04, Y:-2.83, Z:-0.34 [[ 9.95047227e-01 9.93890592e-02 1.68242433e-03 6.30406261e+01] [-9.93889196e-02 9.95048650e-01 -1.66581354e-04 -2.82781355e+00] [-1.69065042e-03 -1.45802148e-06 9.99998571e-01 -3.44036124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.815769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:63.07, Y:-2.83, Z:-0.34 [[ 9.94676551e-01 1.03032656e-01 1.68243507e-03 6.30684460e+01] [-1.03032522e-01 9.94677974e-01 -1.66472821e-04 -2.83315197e+00] [-1.69063324e-03 -7.75891679e-06 9.99998571e-01 -3.41493672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.845769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.10, Y:-2.84, Z:-0.34 [[ 9.94514463e-01 1.04585618e-01 1.68244400e-03 6.30962145e+01] [-1.04585486e-01 9.94515886e-01 -1.66382500e-04 -2.83649457e+00] [-1.69061850e-03 -1.04894204e-05 9.99998571e-01 -3.41122590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.875769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:63.12, Y:-2.84, Z:-0.34 [[ 9.94383427e-01 1.05824239e-01 1.68245467e-03 6.31230637e+01] [-1.05824110e-01 9.94384850e-01 -1.66274580e-04 -2.84023323e+00] [-1.69060331e-03 -1.27035801e-05 9.99998571e-01 -3.41449983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.15, Y:-2.85, Z:-0.34 [[ 9.94233135e-01 1.07227063e-01 1.68246707e-03 6.31507553e+01] [-1.07226935e-01 9.94234558e-01 -1.66148943e-04 -2.84592243e+00] [-1.69058257e-03 -1.52150032e-05 9.99998571e-01 -3.41993062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.18, Y:-2.85, Z:-0.34 [[ 9.94209219e-01 1.07448581e-01 1.68247841e-03 6.31781037e+01] [-1.07448454e-01 9.94210643e-01 -1.66034086e-04 -2.84985515e+00] [-1.69057807e-03 -1.57070847e-05 9.99998571e-01 -3.41389265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.21, Y:-2.85, Z:-0.34 [[ 9.94161893e-01 1.07885590e-01 1.68248975e-03 6.32054699e+01] [-1.07885463e-01 9.94163316e-01 -1.65919020e-04 -2.85395411e+00] [-1.69056986e-03 -1.65658196e-05 9.99998571e-01 -3.39410204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.995769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.23, Y:-2.86, Z:-0.34 [[ 9.94143865e-01 1.08051583e-01 1.68249917e-03 6.32337718e+01] [-1.08051458e-01 9.94145289e-01 -1.65823526e-04 -2.85669968e+00] [-1.69056611e-03 -1.69440458e-05 9.99998571e-01 -3.38047509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.26, Y:-2.86, Z:-0.34 [[ 9.94085500e-01 1.08587237e-01 1.68250953e-03 6.32602672e+01] [-1.08587112e-01 9.94086924e-01 -1.65718274e-04 -2.85992573e+00] [-1.69055561e-03 -1.79607186e-05 9.99998571e-01 -3.39340484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.055769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.29, Y:-2.86, Z:-0.34 [[ 9.94098290e-01 1.08470085e-01 1.68252156e-03 6.32884168e+01] [-1.08469960e-01 9.94099713e-01 -1.65596057e-04 -2.86364490e+00] [-1.69055642e-03 -1.78842894e-05 9.99998571e-01 -3.40107996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:-2.87, Z:-0.34 [[ 9.94149449e-01 1.08000194e-01 1.68253187e-03 6.33157938e+01] [-1.08000068e-01 9.94150873e-01 -1.65491278e-04 -2.86726891e+00] [-1.69056361e-03 -1.71904934e-05 9.99998571e-01 -3.39518840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.34, Y:-2.87, Z:-0.34 [[ 9.94350000e-01 1.06137863e-01 1.68254218e-03 6.33445218e+01] [-1.06137735e-01 9.94351424e-01 -1.65386384e-04 -2.87196801e+00] [-1.69059197e-03 -1.41292651e-05 9.99998571e-01 -3.36300037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:-2.88, Z:-0.34 [[ 9.94744503e-01 1.02374520e-01 1.68254906e-03 6.33725059e+01] [-1.02374387e-01 9.94745926e-01 -1.65316327e-04 -2.87766660e+00] [-1.69063300e-03 -7.80242113e-06 9.99998571e-01 -3.37329895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:-2.88, Z:-0.34 [[ 9.94936287e-01 1.00493548e-01 1.68255996e-03 6.33996111e+01] [-1.00493412e-01 9.94937710e-01 -1.65205288e-04 -2.88206289e+00] [-1.69064442e-03 -4.71745566e-06 9.99998571e-01 -3.37893406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.89, Z:-0.34 [[ 9.95103437e-01 9.88246840e-02 1.68257257e-03 6.34274412e+01] [-9.88245462e-02 9.95104860e-01 -1.65076750e-04 -2.88601811e+00] [-1.69064980e-03 -2.01102964e-06 9.99998571e-01 -3.37493369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:-2.89, Z:-0.34 [[ 9.95365471e-01 9.61496119e-02 1.68258322e-03 6.34558915e+01] [-9.61494704e-02 9.95366893e-01 -1.64968180e-04 -2.89182220e+00] [-1.69064926e-03 2.42414473e-06 9.99998571e-01 -3.39011318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.48, Y:-2.90, Z:-0.34 [[ 9.95487342e-01 9.48795073e-02 1.68259034e-03 6.34837868e+01] [-9.48793641e-02 9.95488764e-01 -1.64895480e-04 -2.89684975e+00] [-1.69064498e-03 4.50826110e-06 9.99998571e-01 -3.40819723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.51, Y:-2.91, Z:-0.34 [[ 9.95734545e-01 9.22490353e-02 1.68259920e-03 6.35117082e+01] [-9.22488885e-02 9.95735967e-01 -1.64805071e-04 -2.90547930e+00] [-1.69062765e-03 8.88419628e-06 9.99998571e-01 -3.42891325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.54, Y:-2.91, Z:-0.34 [[ 9.95861259e-01 9.08709062e-02 1.68260622e-03 6.35395852e+01] [-9.08707576e-02 9.95862680e-01 -1.64733318e-04 -2.91133520e+00] [-1.69061421e-03 1.11518267e-05 9.99998571e-01 -3.40870675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:-2.92, Z:-0.34 [[ 9.95953498e-01 8.98543152e-02 1.68261807e-03 6.35665057e+01] [-8.98541654e-02 9.95954920e-01 -1.64612199e-04 -2.91714924e+00] [-1.69060286e-03 1.27558528e-05 9.99998571e-01 -3.40563351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:-2.92, Z:-0.34 [[ 9.96044126e-01 8.88440682e-02 1.68262788e-03 6.35945280e+01] [-8.88439171e-02 9.96045547e-01 -1.64511879e-04 -2.92322790e+00] [-1.69058991e-03 1.43698389e-05 9.99998571e-01 -3.39620602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:-2.93, Z:-0.34 [[ 9.96095720e-01 8.82637279e-02 1.68263591e-03 6.36217778e+01] [-8.82635760e-02 9.96097141e-01 -1.64429728e-04 -2.93343603e+00] [-1.69058200e-03 1.52722853e-05 9.99998571e-01 -3.41332785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:-2.94, Z:-0.34 [[ 9.96048752e-01 8.87921849e-02 1.68264590e-03 6.36484965e+01] [-8.87920340e-02 9.96050173e-01 -1.64327384e-04 -2.94351426e+00] [-1.69059073e-03 1.42725337e-05 9.99998571e-01 -3.41191756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.68, Y:-2.95, Z:-0.34 [[ 9.95932847e-01 9.00829226e-02 1.68265439e-03 6.36765130e+01] [-9.00827736e-02 9.95934268e-01 -1.64240427e-04 -2.94953535e+00] [-1.69060843e-03 1.19942609e-05 9.99998571e-01 -3.39190258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.71, Y:-2.96, Z:-0.34 [[ 9.95798136e-01 9.15600454e-02 1.68266206e-03 6.37052233e+01] [-9.15598987e-02 9.95799557e-01 -1.64161820e-04 -2.95519242e+00] [-1.69062480e-03 9.40766667e-06 9.99998571e-01 -3.38975887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:-2.96, Z:-0.34 [[ 9.95571678e-01 9.39904398e-02 1.68266973e-03 6.37326286e+01] [-9.39902967e-02 9.95573100e-01 -1.64083143e-04 -2.96388377e+00] [-1.69064297e-03 5.20190282e-06 9.99998571e-01 -3.38456714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.565769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:63.76, Y:-2.97, Z:-0.34 [[ 9.95537552e-01 9.43512167e-02 1.68267927e-03 6.37599641e+01] [-9.43510743e-02 9.95538974e-01 -1.63985262e-04 -2.96957930e+00] [-1.69064500e-03 4.49088943e-06 9.99998571e-01 -3.39296178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.595769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.79, Y:-2.98, Z:-0.34 [[ 9.95450475e-01 9.52655254e-02 1.68269000e-03 6.37880426e+01] [-9.52653844e-02 9.95451897e-01 -1.63875090e-04 -2.97875408e+00] [-1.69064860e-03 2.82742634e-06 9.99998571e-01 -3.40972371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:-2.99, Z:-0.34 [[ 9.95378752e-01 9.60120262e-02 1.68269756e-03 6.38156737e+01] [-9.60118865e-02 9.95380174e-01 -1.63797478e-04 -2.98507815e+00] [-1.69065031e-03 1.48156238e-06 9.99998571e-01 -3.41610473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:-2.99, Z:-0.34 [[ 9.95281047e-01 9.70196192e-02 1.68270695e-03 6.38443815e+01] [-9.70194811e-02 9.95282469e-01 -1.63700968e-04 -2.99116797e+00] [-1.69065093e-03 -3.26884050e-07 9.99998571e-01 -3.41910380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:-3.00, Z:-0.34 [[ 9.94930828e-01 1.00547576e-01 1.68271446e-03 6.38715148e+01] [-1.00547443e-01 9.94932251e-01 -1.63623737e-04 -2.99777427e+00] [-1.69063885e-03 -6.39833529e-06 9.99998571e-01 -3.40103071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:-3.00, Z:-0.34 [[ 9.94671666e-01 1.03079803e-01 1.68272380e-03 6.38998090e+01] [-1.03079674e-01 9.94673089e-01 -1.63527589e-04 -3.00124935e+00] [-1.69061647e-03 -1.07983616e-05 9.99998571e-01 -3.38455227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:-3.01, Z:-0.34 [[ 9.94112677e-01 1.08338148e-01 1.68273148e-03 6.39272645e+01] [-1.08338026e-01 9.94114101e-01 -1.63448556e-04 -3.00546623e+00] [-1.69053480e-03 -1.98175250e-05 9.99998571e-01 -3.39083758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:-3.01, Z:-0.34 [[ 9.93876028e-01 1.10488048e-01 1.68274103e-03 6.39562132e+01] [-1.10487930e-01 9.93877453e-01 -1.63350174e-04 -3.00923161e+00] [-1.69048661e-03 -2.35727498e-05 9.99998571e-01 -3.41427047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:-3.01, Z:-0.34 [[ 9.93662656e-01 1.12390808e-01 1.68274841e-03 6.39846151e+01] [-1.12390693e-01 9.93664081e-01 -1.63274096e-04 -3.01300361e+00] [-1.69043716e-03 -2.68858873e-05 9.99998571e-01 -3.43630031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:-3.02, Z:-0.34 [[ 9.93301774e-01 1.15536810e-01 1.68275606e-03 6.40134936e+01] [-1.15536699e-01 9.93303199e-01 -1.63195177e-04 -3.01645770e+00] [-1.69034203e-03 -3.23180218e-05 9.99998571e-01 -3.44892147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:-3.02, Z:-0.34 [[ 9.93165443e-01 1.16702916e-01 1.68276376e-03 6.40423088e+01] [-1.16702807e-01 9.93166868e-01 -1.63115764e-04 -3.01761475e+00] [-1.69030130e-03 -3.43823139e-05 9.99998571e-01 -3.44597157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:-3.01, Z:-0.34 [[ 9.92944469e-01 1.18568334e-01 1.68277140e-03 6.40710349e+01] [-1.18568228e-01 9.92945894e-01 -1.63036850e-04 -3.01458918e+00] [-1.69023196e-03 -3.76366849e-05 9.99998571e-01 -3.44398353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:-3.01, Z:-0.34 [[ 9.92869212e-01 1.19196882e-01 1.68278089e-03 6.40997187e+01] [-1.19196777e-01 9.92870637e-01 -1.62938869e-04 -3.01472667e+00] [-1.69020554e-03 -3.88050715e-05 9.99998571e-01 -3.42834475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:-3.01, Z:-0.34 [[ 9.92813545e-01 1.19659659e-01 1.68278843e-03 6.41277837e+01] [-1.19659555e-01 9.92814970e-01 -1.62861021e-04 -3.01346767e+00] [-1.69018543e-03 -3.96710865e-05 9.99998571e-01 -3.39441084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.16, Y:-3.01, Z:-0.34 [[ 9.92861970e-01 1.19257191e-01 1.68279778e-03 6.41555424e+01] [-1.19257087e-01 9.92863395e-01 -1.62764330e-04 -3.01403326e+00] [-1.69019913e-03 -3.90830477e-05 9.99998571e-01 -3.39834303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.01, Z:-0.34 [[ 9.93067164e-01 1.17536277e-01 1.68280701e-03 6.41842995e+01] [-1.17536170e-01 9.93068589e-01 -1.62668869e-04 -3.01224397e+00] [-1.69026227e-03 -3.62495773e-05 9.99998571e-01 -3.42652110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:-3.01, Z:-0.34 [[ 9.93219752e-01 1.16239803e-01 1.68281432e-03 6.42132795e+01] [-1.16239694e-01 9.93221177e-01 -1.62593185e-04 -3.01259921e+00] [-1.69030662e-03 -3.41190588e-05 9.99998571e-01 -3.43127352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.01, Z:-0.34 [[ 9.93381960e-01 1.14845328e-01 1.68282164e-03 6.42426481e+01] [-1.14845217e-01 9.93383385e-01 -1.62517346e-04 -3.01333276e+00] [-1.69035142e-03 -3.18222170e-05 9.99998571e-01 -3.43375803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.27, Y:-3.01, Z:-0.34 [[ 9.93829806e-01 1.10903040e-01 1.68282898e-03 6.42708888e+01] [-1.10902924e-01 9.93831231e-01 -1.62441310e-04 -3.01278835e+00] [-1.69046323e-03 -2.51916391e-05 9.99998571e-01 -3.42719547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.30, Y:-3.01, Z:-0.34 [[ 9.94130599e-01 1.08173567e-01 1.68283812e-03 6.42993078e+01] [-1.08173448e-01 9.94132023e-01 -1.62346643e-04 -3.01437998e+00] [-1.69052488e-03 -2.06446353e-05 9.99998571e-01 -3.41478082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:-3.02, Z:-0.34 [[ 9.94831354e-01 1.01527065e-01 1.68284540e-03 6.43265862e+01] [-1.01526936e-01 9.94832777e-01 -1.62271083e-04 -3.01655238e+00] [-1.69062467e-03 -9.42177558e-06 9.99998571e-01 -3.36850350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:-3.02, Z:-0.33 [[ 9.95255360e-01 9.72827673e-02 1.68285444e-03 6.43552779e+01] [-9.72826322e-02 9.95256783e-01 -1.62177326e-04 -3.02075423e+00] [-1.69064935e-03 -2.30465597e-06 9.99998571e-01 -3.34867896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.03, Z:-0.33 [[ 9.95704666e-01 9.25709743e-02 1.68286164e-03 6.43835065e+01] [-9.25708325e-02 9.95706089e-01 -1.62102496e-04 -3.02557665e+00] [-1.69064157e-03 5.62230794e-06 9.99998571e-01 -3.34388092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.41, Y:-3.03, Z:-0.34 [[ 9.96545630e-01 8.30299646e-02 1.68286927e-03 6.44102137e+01] [-8.30298093e-02 9.96547051e-01 -1.62023265e-04 -3.03360218e+00] [-1.69051120e-03 2.17352621e-05 9.99998571e-01 -3.36137627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.04, Z:-0.34 [[ 9.96912359e-01 7.85042381e-02 1.68287961e-03 6.44389174e+01] [-7.85040766e-02 9.96913779e-01 -1.61915844e-04 -3.03913639e+00] [-1.69039695e-03 2.93029963e-05 9.99998571e-01 -3.36838176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.05, Z:-0.34 [[ 9.97448145e-01 7.13748323e-02 1.68288657e-03 6.44672487e+01] [-7.13746608e-02 9.97449563e-01 -1.61843448e-04 -3.04995782e+00] [-1.69014602e-03 4.13149890e-05 9.99998571e-01 -3.36613586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.06, Z:-0.34 [[ 9.97621082e-01 6.89154916e-02 1.68289004e-03 6.44963191e+01] [-6.89153166e-02 9.97622500e-01 -1.61807372e-04 -3.05685801e+00] [-1.69004000e-03 4.54455455e-05 9.99998571e-01 -3.35202979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.53, Y:-3.06, Z:-0.33 [[ 9.97721597e-01 6.74446701e-02 1.68289348e-03 6.45250129e+01] [-6.74444931e-02 9.97723015e-01 -1.61771560e-04 -3.06355298e+00] [-1.68997219e-03 4.79010809e-05 9.99998571e-01 -3.34346765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.55, Y:-3.07, Z:-0.34 [[ 9.97730038e-01 6.73196845e-02 1.68289691e-03 6.45538866e+01] [-6.73195074e-02 9.97731456e-01 -1.61735910e-04 -3.07252142e+00] [-1.68996719e-03 4.80769847e-05 9.99998571e-01 -3.39069758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.58, Y:-3.08, Z:-0.34 [[ 9.97681038e-01 6.80420031e-02 1.68290032e-03 6.45831251e+01] [-6.80418271e-02 9.97682456e-01 -1.61700404e-04 -3.07838785e+00] [-1.69000254e-03 4.68178142e-05 9.99998571e-01 -3.40378209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.61, Y:-3.09, Z:-0.34 [[ 9.97613138e-01 6.90303911e-02 1.68295995e-03 6.46119108e+01] [-6.90302175e-02 9.97614556e-01 -1.61079843e-04 -3.08785221e+00] [-1.69006475e-03 4.45202755e-05 9.99998571e-01 -3.43955180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-3.09, Z:-0.34 [[ 9.97582022e-01 6.94786116e-02 1.68288694e-03 6.46419186e+01] [-6.94784374e-02 9.97583440e-01 -1.61839045e-04 -3.09369160e+00] [-1.69006450e-03 4.45233666e-05 9.99998571e-01 -3.40254790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:-3.10, Z:-0.34 [[ 9.97582022e-01 6.94786116e-02 1.68288694e-03 6.46727760e+01] [-6.94784374e-02 9.97583440e-01 -1.61839045e-04 -3.09665908e+00] [-1.69006450e-03 4.45233666e-05 9.99998571e-01 -3.40307199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:-3.10, Z:-0.34 [[ 9.97520013e-01 7.03632779e-02 1.68288694e-03 6.47023053e+01] [-7.03631049e-02 9.97521432e-01 -1.61839045e-04 -3.10235912e+00] [-1.69010332e-03 4.30245357e-05 9.99998571e-01 -3.39371408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.73, Y:-3.11, Z:-0.34 [[ 9.97362310e-01 7.25643908e-02 1.68288879e-03 6.47324980e+01] [-7.25642210e-02 9.97363729e-01 -1.61819836e-04 -3.11214984e+00] [-1.69019460e-03 3.92754911e-05 9.99998571e-01 -3.39265447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.76, Y:-3.12, Z:-0.34 [[ 9.97272913e-01 7.37828171e-02 1.68288879e-03 6.47618467e+01] [-7.37826491e-02 9.97274333e-01 -1.61819836e-04 -3.11915939e+00] [-1.69024132e-03 3.72105460e-05 9.99998571e-01 -3.42396502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:64.79, Y:-3.13, Z:-0.35 [[ 9.97055693e-01 7.66623287e-02 1.68289071e-03 6.47915319e+01] [-7.66621648e-02 9.97057113e-01 -1.61799848e-04 -3.12823127e+00] [-1.69034211e-03 3.23094141e-05 9.99998571e-01 -3.46098658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:-3.13, Z:-0.34 [[ 9.96871520e-01 7.90211378e-02 1.68289071e-03 6.48211374e+01] [-7.90209772e-02 9.96872940e-01 -1.61799848e-04 -3.13434856e+00] [-1.69041382e-03 2.83099914e-05 9.99998571e-01 -3.44148779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-3.14, Z:-0.34 [[ 9.96439912e-01 8.42892048e-02 1.68289071e-03 6.48496255e+01] [-8.42890517e-02 9.96441333e-01 -1.61799848e-04 -3.14388579e+00] [-1.69053984e-03 1.93745636e-05 9.99998571e-01 -3.44395366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.88, Y:-3.15, Z:-0.34 [[ 9.96173521e-01 8.73812571e-02 1.68289071e-03 6.48800780e+01] [-8.73811084e-02 9.96174942e-01 -1.61799848e-04 -3.14998181e+00] [-1.69059183e-03 1.41278680e-05 9.99998571e-01 -3.43479240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:-3.16, Z:-0.34 [[ 9.95871737e-01 9.07560012e-02 1.68289071e-03 6.49103167e+01] [-9.07558574e-02 9.95873159e-01 -1.61799848e-04 -3.15526082e+00] [-1.69063000e-03 8.39970574e-06 9.99998571e-01 -3.44156841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:-3.16, Z:-0.34 [[ 9.95172641e-01 9.81253403e-02 1.68289071e-03 6.49394454e+01] [-9.81252069e-02 9.95174064e-01 -1.61799848e-04 -3.16247313e+00] [-1.69064585e-03 -4.11521776e-06 9.99998571e-01 -3.41326332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:-3.17, Z:-0.34 [[ 9.94820813e-01 1.01630301e-01 1.68289260e-03 6.49697271e+01] [-1.01630173e-01 9.94822236e-01 -1.61780170e-04 -3.16702311e+00] [-1.69062075e-03 -1.00903860e-05 9.99998571e-01 -3.37590397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:-3.17, Z:-0.33 [[ 9.94200166e-01 1.07532308e-01 1.68289260e-03 6.50004189e+01] [-1.07532188e-01 9.94201590e-01 -1.61780170e-04 -3.17038660e+00] [-1.69053110e-03 -2.01232524e-05 9.99998571e-01 -3.33552205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.03, Y:-3.17, Z:-0.33 [[ 9.93948361e-01 1.09835438e-01 1.68289260e-03 6.50298072e+01] [-1.09835322e-01 9.93949785e-01 -1.61780170e-04 -3.17157294e+00] [-1.69047994e-03 -2.40399157e-05 9.99998571e-01 -3.34810108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:-3.17, Z:-0.34 [[ 9.93738793e-01 1.11715619e-01 1.68289451e-03 6.50598858e+01] [-1.11715506e-01 9.93740217e-01 -1.61760362e-04 -3.17224461e+00] [-1.69043111e-03 -2.72578636e-05 9.99998571e-01 -3.36832889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.09, Y:-3.17, Z:-0.34 [[ 9.93636131e-01 1.12625077e-01 1.68289815e-03 6.50897655e+01] [-1.12624964e-01 9.93637555e-01 -1.61722422e-04 -3.17164822e+00] [-1.69040481e-03 -2.88431026e-05 9.99998571e-01 -3.38203954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:-3.17, Z:-0.34 [[ 9.93727582e-01 1.11815300e-01 1.68290180e-03 6.51191364e+01] [-1.11815187e-01 9.93729006e-01 -1.61684416e-04 -3.17280444e+00] [-1.69042713e-03 -2.75037158e-05 9.99998571e-01 -3.37147210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:-3.17, Z:-0.34 [[ 9.93997953e-01 1.09385727e-01 1.68290556e-03 6.51494780e+01] [-1.09385610e-01 9.93999377e-01 -1.61645296e-04 -3.17050447e+00] [-1.69048877e-03 -2.34105584e-05 9.99998571e-01 -3.37538180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:-3.17, Z:-0.34 [[ 9.94115308e-01 1.08314000e-01 1.68290936e-03 6.51790179e+01] [-1.08313881e-01 9.94116732e-01 -1.61605787e-04 -3.17067068e+00] [-1.69051252e-03 -2.16276575e-05 9.99998571e-01 -3.38291220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.21, Y:-3.17, Z:-0.34 [[ 9.94339916e-01 1.06232293e-01 1.68291328e-03 6.52082680e+01] [-1.06232172e-01 9.94341340e-01 -1.61564935e-04 -3.16810469e+00] [-1.69055366e-03 -1.81290696e-05 9.99998571e-01 -3.39126592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:-3.17, Z:-0.34 [[ 9.94522869e-01 1.04505654e-01 1.68291913e-03 6.52383204e+01] [-1.04505530e-01 9.94524292e-01 -1.61503973e-04 -3.16880525e+00] [-1.69058203e-03 -1.52549610e-05 9.99998571e-01 -3.38418168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:-3.17, Z:-0.34 [[ 9.94785383e-01 1.01976510e-01 1.68292299e-03 6.52673719e+01] [-1.01976383e-01 9.94786807e-01 -1.61463683e-04 -3.17014672e+00] [-1.69061509e-03 -1.09966868e-05 9.99998571e-01 -3.38557359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.30, Y:-3.17, Z:-0.34 [[ 9.95390086e-01 9.58944414e-02 1.68292876e-03 6.52963867e+01] [-9.58943055e-02 9.95391509e-01 -1.61403612e-04 -3.17330912e+00] [-1.69065070e-03 -7.23728489e-07 9.99998571e-01 -3.41268186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.33, Y:-3.18, Z:-0.34 [[ 9.95725215e-01 9.23496849e-02 1.68293255e-03 6.53269324e+01] [-9.23495441e-02 9.95726637e-01 -1.61364046e-04 -3.17719881e+00] [-1.69064269e-03 5.25619587e-06 9.99998571e-01 -3.42675814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:-3.18, Z:-0.34 [[ 9.96317879e-01 8.57196098e-02 1.68293255e-03 6.53577704e+01] [-8.57194595e-02 9.96319300e-01 -1.61364046e-04 -3.18187413e+00] [-1.69057024e-03 1.65098156e-05 9.99998571e-01 -3.43412693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:-3.19, Z:-0.34 [[ 9.96514447e-01 8.34033853e-02 1.68292870e-03 6.53876986e+01] [-8.34032316e-02 9.96515868e-01 -1.61404216e-04 -3.18577605e+00] [-1.69052681e-03 2.04799414e-05 9.99998571e-01 -3.42484832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.42, Y:-3.19, Z:-0.34 [[ 9.96614719e-01 8.21965292e-02 1.68292679e-03 6.54173126e+01] [-8.21963738e-02 9.96616140e-01 -1.61424094e-04 -3.18999269e+00] [-1.69050050e-03 2.25471489e-05 9.99998571e-01 -3.41232449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:-3.19, Z:-0.34 [[ 9.96597306e-01 8.24073911e-02 1.68292489e-03 6.54474775e+01] [-8.24072360e-02 9.96598726e-01 -1.61443883e-04 -3.19384678e+00] [-1.69050497e-03 2.22093503e-05 9.99998571e-01 -3.39406412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.48, Y:-3.20, Z:-0.34 [[ 9.96552221e-01 8.29508163e-02 1.68291618e-03 6.54777297e+01] [-8.29506618e-02 9.96553642e-01 -1.61534653e-04 -3.19654613e+00] [-1.69051568e-03 2.13787061e-05 9.99998571e-01 -3.39533398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.51, Y:-3.20, Z:-0.34 [[ 9.96588841e-01 8.25096897e-02 1.68291618e-03 6.55074550e+01] [-8.25095345e-02 9.96590262e-01 -1.61534652e-04 -3.19954470e+00] [-1.69050605e-03 2.21270017e-05 9.99998571e-01 -3.42021781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.54, Y:-3.20, Z:-0.34 [[ 9.96651481e-01 8.17495775e-02 1.68291431e-03 6.55377764e+01] [-8.17494212e-02 9.96652901e-01 -1.61554125e-04 -3.20345270e+00] [-1.69048841e-03 2.34358872e-05 9.99998571e-01 -3.42075083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.57, Y:-3.21, Z:-0.34 [[ 9.96744297e-01 8.06100191e-02 1.68291245e-03 6.55681609e+01] [-8.06098612e-02 9.96745717e-01 -1.61573518e-04 -3.20735306e+00] [-1.69046022e-03 2.53881441e-05 9.99998571e-01 -3.41183246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.455769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:65.60, Y:-3.21, Z:-0.34 [[ 9.96941130e-01 7.81380209e-02 1.68291245e-03 6.55995171e+01] [-7.81378594e-02 9.96942550e-01 -1.61573518e-04 -3.20898772e+00] [-1.69039206e-03 2.95801097e-05 9.99998571e-01 -3.40376233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:-3.21, Z:-0.34 [[ 9.96996835e-01 7.74240225e-02 1.68290863e-03 6.56297254e+01] [-7.74238599e-02 9.96998255e-01 -1.61613267e-04 -3.21057507e+00] [-1.69036972e-03 3.08306335e-05 9.99998571e-01 -3.41803778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:-3.21, Z:-0.34 [[ 9.97044872e-01 7.68029414e-02 1.68290674e-03 6.56614881e+01] [-7.68027780e-02 9.97046291e-01 -1.61632943e-04 -3.21275608e+00] [-1.69034981e-03 3.19033838e-05 9.99998571e-01 -3.41957864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:-3.22, Z:-0.34 [[ 9.97083345e-01 7.63018395e-02 1.68290294e-03 6.56928388e+01] [-7.63016752e-02 9.97084765e-01 -1.61672524e-04 -3.21577750e+00] [-1.69033279e-03 3.27926673e-05 9.99998571e-01 -3.39732991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:-3.22, Z:-0.34 [[ 9.97258931e-01 7.39715637e-02 1.68289914e-03 6.57232654e+01] [-7.39713961e-02 9.97260350e-01 -1.61712069e-04 -3.21965294e+00] [-1.69025068e-03 3.67824064e-05 9.99998571e-01 -3.37149678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.75, Y:-3.22, Z:-0.34 [[ 9.97363990e-01 7.25412972e-02 1.68289725e-03 6.57544591e+01] [-7.25411275e-02 9.97365409e-01 -1.61731727e-04 -3.22477717e+00] [-1.69019573e-03 3.92261367e-05 9.99998571e-01 -3.37252706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.78, Y:-3.23, Z:-0.34 [[ 9.97577373e-01 6.95453321e-02 1.68289348e-03 6.57841543e+01] [-6.95451581e-02 9.97578791e-01 -1.61770977e-04 -3.23363914e+00] [-1.69006926e-03 4.43419734e-05 9.99998571e-01 -3.40847559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:-3.24, Z:-0.34 [[ 9.97657988e-01 6.83791457e-02 1.68289160e-03 6.58146222e+01] [-6.83789700e-02 9.97659406e-01 -1.61790461e-04 -3.23915692e+00] [-1.69001573e-03 4.63371515e-05 9.99998571e-01 -3.41610650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:-3.24, Z:-0.34 [[ 9.97711773e-01 6.75898426e-02 1.68288808e-03 6.58459596e+01] [-6.75896657e-02 9.97713191e-01 -1.61827071e-04 -3.24444688e+00] [-1.68997750e-03 4.77109313e-05 9.99998571e-01 -3.40779346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:-3.25, Z:-0.34 [[ 9.97716795e-01 6.75156627e-02 1.68288429e-03 6.58765089e+01] [-6.75154856e-02 9.97718213e-01 -1.61866453e-04 -3.25310139e+00] [-1.68997283e-03 4.78761285e-05 9.99998571e-01 -3.38834860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:-3.26, Z:-0.34 [[ 9.97683348e-01 6.80081325e-02 1.68285976e-03 6.59085843e+01] [-6.80079557e-02 9.97684766e-01 -1.62121125e-04 -3.25959325e+00] [-1.68998910e-03 4.72976947e-05 9.99998571e-01 -3.38383772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:-3.27, Z:-0.34 [[ 9.97551894e-01 6.99098533e-02 1.68283360e-03 6.59400047e+01] [-6.99096787e-02 9.97553312e-01 -1.62392197e-04 -3.26886772e+00] [-1.69006905e-03 4.43482873e-05 9.99998571e-01 -3.42246283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:-3.27, Z:-0.35 [[ 9.97439412e-01 7.14967659e-02 1.68280688e-03 6.59712017e+01] [-7.14965932e-02 9.97440831e-01 -1.62668652e-04 -3.27494635e+00] [-1.69013057e-03 4.19371655e-05 9.99998571e-01 -3.45869715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:-3.28, Z:-0.35 [[ 9.97297640e-01 7.34478470e-02 1.68277832e-03 6.60033737e+01] [-7.34476765e-02 9.97299059e-01 -1.62963511e-04 -3.28131755e+00] [-1.69020256e-03 3.89269665e-05 9.99998571e-01 -3.48147816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.875769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.03, Y:-3.29, Z:-0.35 [[ 9.97020938e-01 7.71130136e-02 1.68275164e-03 6.60342788e+01] [-7.71128479e-02 9.97022358e-01 -1.63238559e-04 -3.28964273e+00] [-1.69032883e-03 3.29904903e-05 9.99998571e-01 -3.48835327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.07, Y:-3.30, Z:-0.35 [[ 9.96858455e-01 7.91857935e-02 1.68272303e-03 6.60664840e+01] [-7.91856303e-02 9.96859874e-01 -1.63533021e-04 -3.29525444e+00] [-1.69038856e-03 2.97717915e-05 9.99998571e-01 -3.48347363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:-3.30, Z:-0.35 [[ 9.96574023e-01 8.26884802e-02 1.68269701e-03 6.60973821e+01] [-8.26883214e-02 9.96575444e-01 -1.63800235e-04 -3.30349019e+00] [-1.69047892e-03 2.40996678e-05 9.99998571e-01 -3.46966980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.13, Y:-3.31, Z:-0.35 [[ 9.96431836e-01 8.43846218e-02 1.68266916e-03 6.61288003e+01] [-8.43844650e-02 9.96433257e-01 -1.64085897e-04 -3.30918026e+00] [-1.69051383e-03 2.15092752e-05 9.99998571e-01 -3.45485195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:-3.32, Z:-0.34 [[ 9.96155933e-01 8.75815423e-02 1.68264335e-03 6.61605757e+01] [-8.75813896e-02 9.96157354e-01 -1.64350126e-04 -3.31575078e+00] [-1.69057158e-03 1.63501102e-05 9.99998571e-01 -3.41831226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:-3.32, Z:-0.34 [[ 9.95920761e-01 9.02164438e-02 1.68261565e-03 6.61921268e+01] [-9.02162944e-02 9.95922182e-01 -1.64633215e-04 -3.31979906e+00] [-1.69060687e-03 1.21622876e-05 9.99998571e-01 -3.40790532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:-3.32, Z:-0.34 [[ 9.95632568e-01 9.33432306e-02 1.68258999e-03 6.62231452e+01] [-9.33430852e-02 9.95633990e-01 -1.64895005e-04 -3.32352537e+00] [-1.69063562e-03 7.11669561e-06 9.99998571e-01 -3.40831420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.25, Y:-3.33, Z:-0.34 [[ 9.95091372e-01 9.89460989e-02 1.68256621e-03 6.62538222e+01] [-9.89459611e-02 9.95092794e-01 -1.65137315e-04 -3.32600288e+00] [-1.69064921e-03 -2.15641376e-06 9.99998571e-01 -3.42713796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:-3.33, Z:-0.34 [[ 9.94843525e-01 1.01407742e-01 1.68254256e-03 6.62857871e+01] [-1.01407607e-01 9.94844948e-01 -1.65377961e-04 -3.32844965e+00] [-1.69063957e-03 -6.09742163e-06 9.99998571e-01 -3.43973286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:-3.33, Z:-0.34 [[ 9.94454999e-01 1.05149533e-01 1.68251696e-03 6.63177273e+01] [-1.05149403e-01 9.94456422e-01 -1.65637973e-04 -3.32988593e+00] [-1.69060655e-03 -1.21961434e-05 9.99998571e-01 -3.43655435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:-3.33, Z:-0.34 [[ 9.94290300e-01 1.06695679e-01 1.68249102e-03 6.63499761e+01] [-1.06695551e-01 9.94291724e-01 -1.65901088e-04 -3.33170990e+00] [-1.69058782e-03 -1.45604631e-05 9.99998571e-01 -3.41931536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-3.33, Z:-0.34 [[ 9.94153374e-01 1.07964060e-01 1.68246384e-03 6.63826668e+01] [-1.07963933e-01 9.94154798e-01 -1.66176253e-04 -3.33293847e+00] [-1.69057056e-03 -1.64407312e-05 9.99998571e-01 -3.41162621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:-3.33, Z:-0.34 [[ 9.93912332e-01 1.10161003e-01 1.68243673e-03 6.64144154e+01] [-1.10160879e-01 9.93913755e-01 -1.66450273e-04 -3.33087381e+00] [-1.69053334e-03 -1.99017304e-05 9.99998571e-01 -3.40750207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:-3.33, Z:-0.34 [[ 9.93775097e-01 1.11392219e-01 1.68243284e-03 6.64457646e+01] [-1.11392097e-01 9.93776521e-01 -1.66489547e-04 -3.33142687e+00] [-1.69050790e-03 -2.19565574e-05 9.99998571e-01 -3.40880037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.48, Y:-3.33, Z:-0.34 [[ 9.93539801e-01 1.13471729e-01 1.68242899e-03 6.64774419e+01] [-1.13471609e-01 9.93541225e-01 -1.66528487e-04 -3.32727033e+00] [-1.69045884e-03 -2.54552453e-05 9.99998571e-01 -3.37418993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:-3.33, Z:-0.34 [[ 9.93443516e-01 1.14311639e-01 1.68242513e-03 6.65084501e+01] [-1.14311521e-01 9.93444940e-01 -1.66567448e-04 -3.32568286e+00] [-1.69043733e-03 -2.68452251e-05 9.99998571e-01 -3.41111285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:-3.32, Z:-0.34 [[ 9.93374621e-01 1.14908795e-01 1.68242513e-03 6.65385988e+01] [-1.14908678e-01 9.93376046e-01 -1.66567448e-04 -3.32398568e+00] [-1.69042089e-03 -2.78613716e-05 9.99998571e-01 -3.41607780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-3.32, Z:-0.34 [[ 9.93256405e-01 1.15926201e-01 1.68242895e-03 6.65692165e+01] [-1.15926085e-01 9.93257829e-01 -1.66528908e-04 -3.31838290e+00] [-1.69039079e-03 -2.96314967e-05 9.99998571e-01 -3.41335152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:-3.32, Z:-0.34 [[ 9.93259177e-01 1.15902444e-01 1.68243293e-03 6.65992397e+01] [-1.15902328e-01 9.93260602e-01 -1.66488630e-04 -3.32130937e+00] [-1.69039079e-03 -2.96315337e-05 9.99998571e-01 -3.41386150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:-3.32, Z:-0.34 [[ 9.93307830e-01 1.15484736e-01 1.68243691e-03 6.66282783e+01] [-1.15484619e-01 9.93309254e-01 -1.66448388e-04 -3.31965868e+00] [-1.69040241e-03 -2.89610989e-05 9.99998571e-01 -3.41509879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.66, Y:-3.31, Z:-0.34 [[ 9.93522321e-01 1.13624678e-01 1.68244285e-03 6.66584975e+01] [-1.13624559e-01 9.93523745e-01 -1.66388352e-04 -3.31422500e+00] [-1.69045275e-03 -2.58562857e-05 9.99998571e-01 -3.39140422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.69, Y:-3.31, Z:-0.34 [[ 9.93772383e-01 1.11416428e-01 1.68244679e-03 6.66868471e+01] [-1.11416306e-01 9.93773807e-01 -1.66348546e-04 -3.31380605e+00] [-1.69050551e-03 -2.21394144e-05 9.99998571e-01 -3.39274349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.72, Y:-3.31, Z:-0.34 [[ 9.94131995e-01 1.08160740e-01 1.68245267e-03 6.67157433e+01] [-1.08160613e-01 9.94133419e-01 -1.66289050e-04 -3.31455249e+00] [-1.69056837e-03 -1.66618475e-05 9.99998571e-01 -3.40085231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.75, Y:-3.31, Z:-0.34 [[ 9.94995625e-01 9.99043351e-02 1.68245853e-03 6.67468502e+01] [-9.99041969e-02 9.94997047e-01 -1.66229693e-04 -3.31371639e+00] [-1.69064834e-03 -2.68685087e-06 9.99998571e-01 -3.41920366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.595769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.78, Y:-3.32, Z:-0.34 [[ 9.95436885e-01 9.54074285e-02 1.68245853e-03 6.67755541e+01] [-9.54072838e-02 9.95438307e-01 -1.66229693e-04 -3.31507253e+00] [-1.69064322e-03 4.95236950e-06 9.99998571e-01 -3.42775200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:-3.32, Z:-0.34 [[ 9.96290310e-01 8.60394583e-02 1.68246253e-03 6.68057490e+01] [-8.60393003e-02 9.96291730e-01 -1.66189266e-04 -3.31653172e+00] [-1.69052233e-03 2.08148567e-05 9.99998571e-01 -3.43532666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.84, Y:-3.32, Z:-0.34 [[ 9.96630698e-01 8.20025674e-02 1.68246253e-03 6.68357154e+01] [-8.20024036e-02 9.96632118e-01 -1.66189266e-04 -3.31940036e+00] [-1.69042414e-03 2.76633530e-05 9.99998571e-01 -3.42978662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.87, Y:-3.32, Z:-0.34 [[ 9.97145828e-01 7.54809004e-02 1.68246253e-03 6.68658258e+01] [-7.54807274e-02 9.97147247e-01 -1.66189266e-04 -3.32367204e+00] [-1.69020699e-03 3.87214380e-05 9.99998571e-01 -3.39824789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.90, Y:-3.33, Z:-0.34 [[ 9.97340091e-01 7.28691427e-02 1.68246253e-03 6.68958324e+01] [-7.28689659e-02 9.97341509e-01 -1.66189266e-04 -3.32842671e+00] [-1.69009978e-03 4.31479132e-05 9.99998571e-01 -3.39681555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.93, Y:-3.33, Z:-0.34 [[ 9.97516054e-01 7.04193971e-02 1.68246054e-03 6.69259206e+01] [-7.04192169e-02 9.97517472e-01 -1.66209331e-04 -3.33366558e+00] [-1.68998815e-03 4.73189218e-05 9.99998571e-01 -3.39850008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:-3.34, Z:-0.34 [[ 9.97755549e-01 6.69405195e-02 1.68246054e-03 6.69555357e+01] [-6.69403343e-02 9.97756966e-01 -1.66209331e-04 -3.34190615e+00] [-1.68981287e-03 5.32118109e-05 9.99998571e-01 -3.40483258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.99, Y:-3.35, Z:-0.34 [[ 9.97781106e-01 6.65585039e-02 1.68245861e-03 6.69868392e+01] [-6.65583182e-02 9.97782523e-01 -1.66228874e-04 -3.34758016e+00] [-1.68979174e-03 5.38784137e-05 9.99998571e-01 -3.40795630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.835769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.02, Y:-3.36, Z:-0.34 [[ 9.97527606e-01 7.02555647e-02 1.68245474e-03 6.70169038e+01] [-7.02553841e-02 9.97529024e-01 -1.66268011e-04 -3.35533665e+00] [-1.68997869e-03 4.76554270e-05 9.99998571e-01 -3.43250339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:-3.36, Z:-0.35 [[ 9.97294186e-01 7.34947380e-02 1.68245474e-03 6.70467567e+01] [-7.34945620e-02 9.97295604e-01 -1.66268011e-04 -3.36022989e+00] [-1.69012454e-03 4.21668463e-05 9.99998571e-01 -3.45595047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:-3.36, Z:-0.35 [[ 9.96993788e-01 7.74632526e-02 1.68245282e-03 6.70768052e+01] [-7.74630822e-02 9.96995207e-01 -1.66287513e-04 -3.36453179e+00] [-1.69027857e-03 3.54596366e-05 9.99998571e-01 -3.47023423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:-3.37, Z:-0.34 [[ 9.96179739e-01 8.73103456e-02 1.68244290e-03 6.71074884e+01] [-8.73101891e-02 9.96181160e-01 -1.66387794e-04 -3.36700432e+00] [-1.69054530e-03 1.88577410e-05 9.99998571e-01 -3.44246637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.14, Y:-3.37, Z:-0.34 [[ 9.95264065e-01 9.71936713e-02 1.68244290e-03 6.71360421e+01] [-9.71935289e-02 9.95265487e-01 -1.66387794e-04 -3.36841072e+00] [-1.69064919e-03 2.07722922e-06 9.99998571e-01 -3.41111033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:-3.37, Z:-0.34 [[ 9.94890493e-01 1.00945905e-01 1.68244858e-03 6.71658148e+01] [-1.00945768e-01 9.94891916e-01 -1.66330301e-04 -3.37066196e+00] [-1.69064486e-03 -4.35562942e-06 9.99998571e-01 -3.41382015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.19, Y:-3.37, Z:-0.34 [[ 9.94558109e-01 1.04169749e-01 1.68245239e-03 6.71942230e+01] [-1.04169617e-01 9.94559532e-01 -1.66291783e-04 -3.37203584e+00] [-1.69062164e-03 -9.87357999e-06 9.99998571e-01 -3.43333355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.22, Y:-3.37, Z:-0.34 [[ 9.94262574e-01 1.06953743e-01 1.68245808e-03 6.72239695e+01] [-1.06953615e-01 9.94263997e-01 -1.66234240e-04 -3.37243572e+00] [-1.69058687e-03 -1.46644896e-05 9.99998571e-01 -3.44294028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.25, Y:-3.37, Z:-0.34 [[ 9.93875319e-01 1.10494430e-01 1.68246186e-03 6.72537395e+01] [-1.10494307e-01 9.93876743e-01 -1.66195980e-04 -3.37095578e+00] [-1.69052344e-03 -2.07243749e-05 9.99998571e-01 -3.42713832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.28, Y:-3.37, Z:-0.34 [[ 9.93839526e-01 1.10815912e-01 1.68246562e-03 6.72827248e+01] [-1.10815789e-01 9.93840950e-01 -1.66157905e-04 -3.37208368e+00] [-1.69051617e-03 -2.13094611e-05 9.99998571e-01 -3.39530048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.31, Y:-3.37, Z:-0.34 [[ 9.93967892e-01 1.09658553e-01 1.68247123e-03 6.73121153e+01] [-1.09658429e-01 9.93969316e-01 -1.66101070e-04 -3.37405488e+00] [-1.69053918e-03 -1.93980206e-05 9.99998571e-01 -3.40646223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.34, Y:-3.38, Z:-0.34 [[ 9.94141865e-01 1.08069986e-01 1.68247494e-03 6.73402875e+01] [-1.08069860e-01 9.94143288e-01 -1.66063472e-04 -3.37673922e+00] [-1.69056764e-03 -1.67341805e-05 9.99998571e-01 -3.42846150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.37, Y:-3.38, Z:-0.35 [[ 9.94675424e-01 1.03043534e-01 1.68248049e-03 6.73694633e+01] [-1.03043400e-01 9.94676847e-01 -1.66007184e-04 -3.38286720e+00] [-1.69063036e-03 -8.24524436e-06 9.99998571e-01 -3.45912099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:-3.39, Z:-0.34 [[ 9.94942534e-01 1.00431681e-01 1.68248233e-03 6.73990183e+01] [-1.00431544e-01 9.94943957e-01 -1.65988539e-04 -3.38848533e+00] [-1.69064614e-03 -3.82524068e-06 9.99998571e-01 -3.44829469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:-3.39, Z:-0.34 [[ 9.95146374e-01 9.83913798e-02 1.68248623e-03 6.74277308e+01] [-9.83912399e-02 9.95147796e-01 -1.65949043e-04 -3.39418524e+00] [-1.69065042e-03 -3.98317716e-07 9.99998571e-01 -3.43322100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.285769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.46, Y:-3.40, Z:-0.34 [[ 9.95355232e-01 9.62555478e-02 1.68248816e-03 6.74567246e+01] [-9.62554048e-02 9.95356654e-01 -1.65929399e-04 -3.40179081e+00] [-1.69064742e-03 3.21011662e-06 9.99998571e-01 -3.42358489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.315769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.49, Y:-3.41, Z:-0.34 [[ 9.95336888e-01 9.64450536e-02 1.68249000e-03 6.74861725e+01] [-9.64449110e-02 9.95338310e-01 -1.65910795e-04 -3.40690803e+00] [-1.69064803e-03 2.86953635e-06 9.99998571e-01 -3.42784747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.52, Y:-3.41, Z:-0.34 [[ 9.95062016e-01 9.92408832e-02 1.68249179e-03 6.75155826e+01] [-9.92407446e-02 9.95063439e-01 -1.65892581e-04 -3.41437192e+00] [-1.69064940e-03 -1.89833205e-06 9.99998571e-01 -3.41606395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.375769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.54, Y:-3.42, Z:-0.34 [[ 9.94804117e-01 1.01793603e-01 1.68249379e-03 6.75449360e+01] [-1.01793468e-01 9.94805540e-01 -1.65872361e-04 -3.41926433e+00] [-1.69063889e-03 -6.25637057e-06 9.99998571e-01 -3.41112158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.57, Y:-3.42, Z:-0.34 [[ 9.94133422e-01 1.08147623e-01 1.68249577e-03 6.75747238e+01] [-1.08147497e-01 9.94134846e-01 -1.65852262e-04 -3.42434466e+00] [-1.69056420e-03 -1.70784294e-05 9.99998571e-01 -3.42062863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.60, Y:-3.43, Z:-0.34 [[ 9.93811317e-01 1.11068603e-01 1.68249933e-03 6.76049093e+01] [-1.11068481e-01 9.93812741e-01 -1.65816153e-04 -3.42713580e+00] [-1.69050624e-03 -2.20826755e-05 9.99998571e-01 -3.43334347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.63, Y:-3.43, Z:-0.35 [[ 9.93508838e-01 1.13742509e-01 1.68249933e-03 6.76340140e+01] [-1.13742392e-01 9.93510262e-01 -1.65816153e-04 -3.42948420e+00] [-1.69044069e-03 -2.66316838e-05 9.99998571e-01 -3.45147458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.495769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.66, Y:-3.43, Z:-0.35 [[ 9.93120395e-01 1.17085654e-01 1.68250129e-03 6.76627595e+01] [-1.17085541e-01 9.93121820e-01 -1.65796260e-04 -3.43064014e+00] [-1.69034110e-03 -3.23409265e-05 9.99998571e-01 -3.45310070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.69, Y:-3.43, Z:-0.34 [[ 9.93020560e-01 1.17929374e-01 1.68250543e-03 6.76917591e+01] [-1.17929262e-01 9.93021984e-01 -1.65754170e-04 -3.43237275e+00] [-1.69031217e-03 -3.38193262e-05 9.99998571e-01 -3.43107629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.555769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.72, Y:-3.43, Z:-0.34 [[ 9.92989864e-01 1.18187560e-01 1.68251063e-03 6.77218069e+01] [-1.18187449e-01 9.92991289e-01 -1.65701447e-04 -3.43327186e+00] [-1.69030225e-03 -3.43117813e-05 9.99998571e-01 -3.39813464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.75, Y:-3.44, Z:-0.34 [[ 9.93035256e-01 1.17805558e-01 1.68251463e-03 6.77509961e+01] [-1.17805446e-01 9.93036681e-01 -1.65660769e-04 -3.43534872e+00] [-1.69031451e-03 -3.37024031e-05 9.99998571e-01 -3.39733243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.78, Y:-3.44, Z:-0.34 [[ 9.93136981e-01 1.16944883e-01 1.68251240e-03 6.77799002e+01] [-1.16944770e-01 9.93138406e-01 -1.65683444e-04 -3.43710008e+00] [-1.69034351e-03 -3.22146699e-05 9.99998571e-01 -3.40835315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.81, Y:-3.44, Z:-0.34 [[ 9.93150002e-01 1.16834252e-01 1.68251832e-03 6.78091721e+01] [-1.16834139e-01 9.93151427e-01 -1.65623257e-04 -3.43937009e+00] [-1.69034594e-03 -3.20868406e-05 9.99998571e-01 -3.41217357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:-3.44, Z:-0.34 [[ 9.93160747e-01 1.16742879e-01 1.68252232e-03 6.78378602e+01] [-1.16742766e-01 9.93162172e-01 -1.65582666e-04 -3.44139498e+00] [-1.69034812e-03 -3.19721047e-05 9.99998571e-01 -3.42448597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.705769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.87, Y:-3.44, Z:-0.34 [[ 9.93147806e-01 1.16852921e-01 1.68252828e-03 6.78673467e+01] [-1.16852809e-01 9.93149230e-01 -1.65522114e-04 -3.44260927e+00] [-1.69034340e-03 -3.22202302e-05 9.99998571e-01 -3.41813198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.90, Y:-3.44, Z:-0.34 [[ 9.93132576e-01 1.16982290e-01 1.68253198e-03 6.78967161e+01] [-1.16982177e-01 9.93134000e-01 -1.65484416e-04 -3.44433556e+00] [-1.69033847e-03 -3.24782903e-05 9.99998571e-01 -3.40389351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:67.93, Y:-3.45, Z:-0.34 [[ 9.93089454e-01 1.17347796e-01 1.68253587e-03 6.79259853e+01] [-1.17347684e-01 9.93090879e-01 -1.65444941e-04 -3.44512940e+00] [-1.69032562e-03 -3.31400606e-05 9.99998571e-01 -3.38934928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.96, Y:-3.45, Z:-0.34 [[ 9.93112611e-01 1.17151662e-01 1.68253975e-03 6.79560607e+01] [-1.17151549e-01 9.93114035e-01 -1.65405384e-04 -3.44732477e+00] [-1.69033136e-03 -3.28459664e-05 9.99998571e-01 -3.40349295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:-3.45, Z:-0.34 [[ 9.93341959e-01 1.15190806e-01 1.68254362e-03 6.79854443e+01] [-1.15190691e-01 9.93343383e-01 -1.65366014e-04 -3.44914891e+00] [-1.69039222e-03 -2.95483612e-05 9.99998571e-01 -3.44321594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.02, Y:-3.45, Z:-0.35 [[ 9.93557863e-01 1.13313468e-01 1.68254554e-03 6.80154944e+01] [-1.13313351e-01 9.93559287e-01 -1.65346463e-04 -3.45182566e+00] [-1.69044473e-03 -2.63735948e-05 9.99998571e-01 -3.45190068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.04, Y:-3.46, Z:-0.34 [[ 9.93781190e-01 1.11337843e-01 1.68254554e-03 6.80445351e+01] [-1.11337723e-01 9.93782614e-01 -1.65346463e-04 -3.45504945e+00] [-1.69049383e-03 -2.30125845e-05 9.99998571e-01 -3.44342326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.07, Y:-3.46, Z:-0.34 [[ 9.94234375e-01 1.07215562e-01 1.68254945e-03 6.80742319e+01] [-1.07215435e-01 9.94235799e-01 -1.65306738e-04 -3.45890672e+00] [-1.69057435e-03 -1.60416303e-05 9.99998571e-01 -3.42344327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.10, Y:-3.46, Z:-0.34 [[ 9.94432037e-01 1.05366465e-01 1.68255336e-03 6.81034152e+01] [-1.05366336e-01 9.94433461e-01 -1.65266883e-04 -3.46167069e+00] [-1.69060095e-03 -1.29377992e-05 9.99998571e-01 -3.41700317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:-3.46, Z:-0.34 [[ 9.94721825e-01 1.02594638e-01 1.68255531e-03 6.81332897e+01] [-1.02594506e-01 9.94723248e-01 -1.65247098e-04 -3.46495087e+00] [-1.69063034e-03 -8.24603490e-06 9.99998571e-01 -3.43664395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.16, Y:-3.47, Z:-0.34 [[ 9.94831408e-01 1.01526539e-01 1.68255531e-03 6.81638808e+01] [-1.01526405e-01 9.94832831e-01 -1.65247098e-04 -3.46890415e+00] [-1.69063822e-03 -6.43078864e-06 9.99998571e-01 -3.44214040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.035769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.19, Y:-3.47, Z:-0.34 [[ 9.95114038e-01 9.87178833e-02 1.68255531e-03 6.81935484e+01] [-9.87177450e-02 9.95115460e-01 -1.65247098e-04 -3.47417890e+00] [-1.69064964e-03 -1.65835881e-06 9.99998571e-01 -3.43970846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.22, Y:-3.48, Z:-0.34 [[ 9.95303156e-01 9.67925483e-02 1.68255337e-03 6.82242020e+01] [-9.67924072e-02 9.95304578e-01 -1.65266799e-04 -3.47856956e+00] [-1.69064967e-03 1.63217571e-06 9.99998571e-01 -3.43406291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:-3.48, Z:-0.34 [[ 9.95489562e-01 9.48562086e-02 1.68254947e-03 6.82538999e+01] [-9.48560647e-02 9.95490984e-01 -1.65306526e-04 -3.48321598e+00] [-1.69064318e-03 4.96089973e-06 9.99998571e-01 -3.42893810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.28, Y:-3.49, Z:-0.34 [[ 9.95736711e-01 9.22256585e-02 1.68254753e-03 6.82844112e+01] [-9.22255108e-02 9.95738132e-01 -1.65326273e-04 -3.48928555e+00] [-1.69062406e-03 9.44763428e-06 9.99998571e-01 -3.42632169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.32, Y:-3.49, Z:-0.34 [[ 9.95762113e-01 9.19509802e-02 1.68254362e-03 6.83151900e+01] [-9.19508321e-02 9.95763535e-01 -1.65365988e-04 -3.49304353e+00] [-1.69062115e-03 9.95389995e-06 9.99998571e-01 -3.43207643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:-3.50, Z:-0.34 [[ 9.95666028e-01 9.29856414e-02 1.68253972e-03 6.83449855e+01] [-9.29854946e-02 9.95667450e-01 -1.65405728e-04 -3.49574217e+00] [-1.69063039e-03 8.23707686e-06 9.99998571e-01 -3.42814723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.38, Y:-3.50, Z:-0.34 [[ 9.95584761e-01 9.38517584e-02 1.68253777e-03 6.83758058e+01] [-9.38516129e-02 9.95586183e-01 -1.65425513e-04 -3.49819983e+00] [-1.69063683e-03 6.78623583e-06 9.99998571e-01 -3.41507909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.41, Y:-3.50, Z:-0.34 [[ 9.95417331e-01 9.56112246e-02 1.68253777e-03 6.84061235e+01] [-9.56110815e-02 9.95418753e-01 -1.65425513e-04 -3.50018734e+00] [-1.69064619e-03 3.79816617e-06 9.99998571e-01 -3.38714651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.44, Y:-3.50, Z:-0.34 [[ 9.95369092e-01 9.61121208e-02 1.68253580e-03 6.84374462e+01] [-9.61119785e-02 9.95370514e-01 -1.65445512e-04 -3.50264582e+00] [-1.69064785e-03 2.96750440e-06 9.99998571e-01 -3.38243164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.47, Y:-3.50, Z:-0.34 [[ 9.95355248e-01 9.62553852e-02 1.68253194e-03 6.84678324e+01] [-9.62552430e-02 9.95356670e-01 -1.65484789e-04 -3.50466297e+00] [-1.69064819e-03 2.76363213e-06 9.99998571e-01 -3.37729431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.335769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.50, Y:-3.51, Z:-0.34 [[ 9.95353028e-01 9.62783354e-02 1.68253001e-03 6.84995094e+01] [-9.62781932e-02 9.95354450e-01 -1.65504397e-04 -3.50782563e+00] [-1.69064822e-03 2.74435288e-06 9.99998571e-01 -3.37783253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.53, Y:-3.51, Z:-0.34 [[ 9.95297522e-01 9.68504641e-02 1.68252620e-03 6.85308822e+01] [-9.68503226e-02 9.95298944e-01 -1.65543191e-04 -3.51026153e+00] [-1.69064948e-03 1.81152320e-06 9.99998571e-01 -3.38782265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.56, Y:-3.51, Z:-0.34 [[ 9.95272494e-01 9.71073252e-02 1.68252233e-03 6.85625065e+01] [-9.71071840e-02 9.95273916e-01 -1.65582459e-04 -3.51348334e+00] [-1.69064986e-03 1.41466158e-06 9.99998571e-01 -3.40995838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.59, Y:-3.52, Z:-0.34 [[ 9.95310453e-01 9.67174806e-02 1.68251847e-03 6.85923916e+01] [-9.67173388e-02 9.95311875e-01 -1.65621668e-04 -3.51598880e+00] [-1.69064913e-03 2.11626860e-06 9.99998571e-01 -3.43828300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:-3.52, Z:-0.34 [[ 9.95340021e-01 9.64127130e-02 1.68251655e-03 6.86228229e+01] [-9.64125707e-02 9.95341443e-01 -1.65641205e-04 -3.51858759e+00] [-1.69064837e-03 2.65357492e-06 9.99998571e-01 -3.43726252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.65, Y:-3.52, Z:-0.34 [[ 9.95338211e-01 9.64313986e-02 1.68251655e-03 6.86530331e+01] [-9.64312563e-02 9.95339633e-01 -1.65641205e-04 -3.52163954e+00] [-1.69064842e-03 2.62183626e-06 9.99998571e-01 -3.42605184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-3.53, Z:-0.34 [[ 9.95275840e-01 9.70730199e-02 1.68251655e-03 6.86835484e+01] [-9.70728786e-02 9.95277262e-01 -1.65641205e-04 -3.52500286e+00] [-1.69064976e-03 1.53196506e-06 9.99998571e-01 -3.40493019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:-3.53, Z:-0.34 [[ 9.95182610e-01 9.80241901e-02 1.68251655e-03 6.87135598e+01] [-9.80240502e-02 9.95184032e-01 -1.65641205e-04 -3.52771471e+00] [-1.69065045e-03 -8.38396852e-08 9.99998571e-01 -3.41765987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.74, Y:-3.53, Z:-0.35 [[ 9.94942420e-01 1.00432811e-01 1.68251655e-03 6.87434683e+01] [-1.00432674e-01 9.94943843e-01 -1.65641205e-04 -3.52839547e+00] [-1.69064529e-03 -4.17617492e-06 9.99998571e-01 -3.46303728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.77, Y:-3.53, Z:-0.35 [[ 9.94793231e-01 1.01899938e-01 1.68251842e-03 6.87732702e+01] [-1.01899803e-01 9.94794654e-01 -1.65622238e-04 -3.52975258e+00] [-1.69063722e-03 -6.68841427e-06 9.99998571e-01 -3.46474841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.635769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.80, Y:-3.53, Z:-0.34 [[ 9.94709189e-01 1.02717078e-01 1.68252215e-03 6.88025287e+01] [-1.02716945e-01 9.94710612e-01 -1.65584283e-04 -3.53086326e+00] [-1.69063097e-03 -8.11532651e-06 9.99998571e-01 -3.44673462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.83, Y:-3.53, Z:-0.34 [[ 9.94703600e-01 1.02771184e-01 1.68252588e-03 6.88323502e+01] [-1.02771051e-01 9.94705023e-01 -1.65546424e-04 -3.53108712e+00] [-1.69063034e-03 -8.24532928e-06 9.99998571e-01 -3.39507467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.695769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:68.86, Y:-3.53, Z:-0.34 [[ 9.94752634e-01 1.02295482e-01 1.68252957e-03 6.88617115e+01] [-1.02295349e-01 9.94754057e-01 -1.65508836e-04 -3.53294236e+00] [-1.69063393e-03 -7.47459924e-06 9.99998571e-01 -3.39330252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.89, Y:-3.53, Z:-0.34 [[ 9.94930372e-01 1.00552098e-01 1.68253327e-03 6.88917652e+01] [-1.00551962e-01 9.94931794e-01 -1.65471299e-04 -3.53338488e+00] [-1.69064433e-03 -4.54960058e-06 9.99998571e-01 -3.42524261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.755769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:68.92, Y:-3.54, Z:-0.34 [[ 9.95058315e-01 9.92779923e-02 1.68253694e-03 6.89218128e+01] [-9.92778545e-02 9.95059737e-01 -1.65433955e-04 -3.53536735e+00] [-1.69064871e-03 -2.42222470e-06 9.99998571e-01 -3.43720068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.95, Y:-3.54, Z:-0.34 [[ 9.95182764e-01 9.80226293e-02 1.68254060e-03 6.89506166e+01] [-9.80224897e-02 9.95184186e-01 -1.65396665e-04 -3.53735282e+00] [-1.69065042e-03 -3.26908860e-07 9.99998571e-01 -3.43978216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.98, Y:-3.54, Z:-0.34 [[ 9.95421415e-01 9.55686993e-02 1.68254606e-03 6.89805024e+01] [-9.55685564e-02 9.95422837e-01 -1.65341178e-04 -3.53838313e+00] [-1.69064621e-03 3.78565199e-06 9.99998571e-01 -3.43594119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.845769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.01, Y:-3.54, Z:-0.34 [[ 9.95469149e-01 9.50701926e-02 1.68254968e-03 6.90103318e+01] [-9.50700490e-02 9.95470571e-01 -1.65304313e-04 -3.54043935e+00] [-1.69064420e-03 4.59526351e-06 9.99998571e-01 -3.44117520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.875769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:69.04, Y:-3.54, Z:-0.34 [[ 9.95518429e-01 9.45527665e-02 1.68255328e-03 6.90387614e+01] [-9.45526222e-02 9.95519851e-01 -1.65267601e-04 -3.54186355e+00] [-1.69064170e-03 5.43711762e-06 9.99998571e-01 -3.44987731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.07, Y:-3.54, Z:-0.34 [[ 9.95558800e-01 9.41267438e-02 1.68255865e-03 6.90683196e+01] [-9.41265990e-02 9.95560222e-01 -1.65212926e-04 -3.54442779e+00] [-1.69063942e-03 6.10565913e-06 9.99998571e-01 -3.44326529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.10, Y:-3.55, Z:-0.34 [[ 9.95704343e-01 9.25744624e-02 1.68256221e-03 6.90965479e+01] [-9.25743154e-02 9.95705764e-01 -1.65176697e-04 -3.54697408e+00] [-1.69062803e-03 8.70511028e-06 9.99998571e-01 -3.42993118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.13, Y:-3.55, Z:-0.34 [[ 9.95818913e-01 9.13337896e-02 1.68256601e-03 6.91264798e+01] [-9.13336409e-02 9.95820335e-01 -1.65137963e-04 -3.55012374e+00] [-1.69061612e-03 1.07726273e-05 9.99998571e-01 -3.42207403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.995769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:69.16, Y:-3.55, Z:-0.34 [[ 9.95948011e-01 8.99151164e-02 1.68256954e-03 6.91562056e+01] [-8.99149657e-02 9.95949432e-01 -1.65102039e-04 -3.55426624e+00] [-1.69059934e-03 1.31448650e-05 9.99998571e-01 -3.41791873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.19, Y:-3.56, Z:-0.34 [[ 9.96210048e-01 8.69638381e-02 1.68257305e-03 6.91862289e+01] [-8.69636834e-02 9.96211469e-01 -1.65066251e-04 -3.56012615e+00] [-1.69055336e-03 1.81179084e-05 9.99998571e-01 -3.43912215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.055769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.22, Y:-3.56, Z:-0.35 [[ 9.96296382e-01 8.59691173e-02 1.68257305e-03 6.92153355e+01] [-8.59689611e-02 9.96297802e-01 -1.65066251e-04 -3.56475190e+00] [-1.69053443e-03 1.98058521e-05 9.99998571e-01 -3.47988969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.24, Y:-3.57, Z:-0.35 [[ 9.96216985e-01 8.68843381e-02 1.68257492e-03 6.92443050e+01] [-8.68841832e-02 9.96218406e-01 -1.65047146e-04 -3.56835108e+00] [-1.69055212e-03 1.82336220e-05 9.99998571e-01 -3.50215302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.115769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.27, Y:-3.57, Z:-0.35 [[ 9.96065382e-01 8.86054329e-02 1.68257677e-03 6.92741652e+01] [-8.86052805e-02 9.96066804e-01 -1.65028237e-04 -3.57185582e+00] [-1.69058127e-03 1.52937267e-05 9.99998571e-01 -3.49155639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.30, Y:-3.58, Z:-0.35 [[ 9.95622531e-01 9.34502294e-02 1.68258021e-03 6.93031809e+01] [-9.34500840e-02 9.95623952e-01 -1.64993170e-04 -3.57504461e+00] [-1.69063581e-03 7.03365521e-06 9.99998571e-01 -3.47857558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.175769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.33, Y:-3.58, Z:-0.35 [[ 9.95357798e-01 9.62290097e-02 1.68258364e-03 6.93325044e+01] [-9.62288683e-02 9.95359220e-01 -1.64958223e-04 -3.57784294e+00] [-1.69064891e-03 2.27933443e-06 9.99998571e-01 -3.47360475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.36, Y:-3.58, Z:-0.35 [[ 9.94883927e-01 1.01010597e-01 1.68258733e-03 6.93614558e+01] [-1.01010463e-01 9.94885350e-01 -1.64920591e-04 -3.58159323e+00] [-1.69064021e-03 -5.88207886e-06 9.99998571e-01 -3.48443646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.235769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.39, Y:-3.58, Z:-0.35 [[ 9.94775921e-01 1.02068777e-01 1.68259105e-03 6.93896265e+01] [-1.02068645e-01 9.94777344e-01 -1.64882567e-04 -3.58498774e+00] [-1.69063282e-03 -7.71858068e-06 9.99998571e-01 -3.49388750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:69.42, Y:-3.59, Z:-0.35 [[ 9.94696005e-01 1.02844677e-01 1.68259660e-03 6.94194941e+01] [-1.02844545e-01 9.94697428e-01 -1.64825952e-04 -3.58924431e+00] [-1.69062598e-03 -9.09416526e-06 9.99998571e-01 -3.49930186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.45, Y:-3.59, Z:-0.35 [[ 9.94495031e-01 1.04770235e-01 1.68260027e-03 6.94484859e+01] [-1.04770106e-01 9.94496454e-01 -1.64788439e-04 -3.59315770e+00] [-1.69060493e-03 -1.24049257e-05 9.99998571e-01 -3.50469096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.48, Y:-3.59, Z:-0.35 [[ 9.93953136e-01 1.09792224e-01 1.68260405e-03 6.94774339e+01] [-1.09792102e-01 9.93954560e-01 -1.64749871e-04 -3.59456543e+00] [-1.69052022e-03 -2.09829847e-05 9.99998571e-01 -3.51397316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:69.51, Y:-3.60, Z:-0.35 [[ 9.93591247e-01 1.13020363e-01 1.68260968e-03 6.95069263e+01] [-1.13020246e-01 9.93592672e-01 -1.64692303e-04 -3.59588695e+00] [-1.69044224e-03 -2.65321292e-05 9.99998571e-01 -3.51764580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.54, Y:-3.60, Z:-0.35 [[ 9.93201573e-01 1.16395036e-01 1.68261339e-03 6.95353792e+01] [-1.16394924e-01 9.93202998e-01 -1.64654399e-04 -3.59656460e+00] [-1.69034162e-03 -3.23126499e-05 9.99998571e-01 -3.51496375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.56, Y:-3.60, Z:-0.35 [[ 9.92820655e-01 1.19600654e-01 1.68262077e-03 6.95640233e+01] [-1.19600547e-01 9.92822080e-01 -1.64579023e-04 -3.59692826e+00] [-1.69022681e-03 -3.78449104e-05 9.99998571e-01 -3.50573652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:69.59, Y:-3.59, Z:-0.35 [[ 9.92264226e-01 1.24132485e-01 1.68262813e-03 6.95936243e+01] [-1.24132385e-01 9.92265652e-01 -1.64503667e-04 -3.59369543e+00] [-1.69003435e-03 -4.56375395e-05 9.99998571e-01 -3.47847805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.475769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:69.62, Y:-3.59, Z:-0.35 [[ 9.92146130e-01 1.25072877e-01 1.68263545e-03 6.96230459e+01] [-1.25072778e-01 9.92147556e-01 -1.64428846e-04 -3.59204151e+00] [-1.68998823e-03 -4.73144460e-05 9.99998571e-01 -3.47421129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.65, Y:-3.59, Z:-0.35 [[ 9.92271251e-01 1.24076317e-01 1.68264305e-03 6.96522164e+01] [-1.24076217e-01 9.92272677e-01 -1.64351031e-04 -3.59279516e+00] [-1.69003279e-03 -4.56951805e-05 9.99998571e-01 -3.48330009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.535769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.68, Y:-3.59, Z:-0.35 [[ 9.92479133e-01 1.22402364e-01 1.68265061e-03 6.96814295e+01] [-1.22402261e-01 9.92480559e-01 -1.64273558e-04 -3.59349336e+00] [-1.69010549e-03 -4.29221608e-05 9.99998571e-01 -3.49415578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.565769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.71, Y:-3.59, Z:-0.35 [[ 9.92709898e-01 1.20516503e-01 1.68265821e-03 6.97101662e+01] [-1.20516398e-01 9.92711323e-01 -1.64195716e-04 -3.59418679e+00] [-1.69018215e-03 -3.97891937e-05 9.99998571e-01 -3.50143336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.595769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.74, Y:-3.59, Z:-0.35 [[ 9.93162983e-01 1.16723849e-01 1.68266577e-03 6.97382522e+01] [-1.16723738e-01 9.93164408e-01 -1.64118173e-04 -3.59497592e+00] [-1.69032026e-03 -3.34109438e-05 9.99998571e-01 -3.50798366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.625769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:69.77, Y:-3.60, Z:-0.35 [[ 9.93570852e-01 1.13199519e-01 1.68267518e-03 6.97670843e+01] [-1.13199404e-01 9.93572276e-01 -1.64021665e-04 -3.59687919e+00] [-1.69042658e-03 -2.75106811e-05 9.99998571e-01 -3.50386007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:69.80, Y:-3.60, Z:-0.35 [[ 9.93687261e-01 1.12173066e-01 1.68268255e-03 6.97951426e+01] [-1.12172949e-01 9.93688685e-01 -1.63945982e-04 -3.59833273e+00] [-1.69045293e-03 -2.58404295e-05 9.99998571e-01 -3.49561291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.82, Y:-3.60, Z:-0.35 [[ 9.93741276e-01 1.11693533e-01 1.68269176e-03 6.98237491e+01] [-1.11693416e-01 9.93742700e-01 -1.63851405e-04 -3.59928046e+00] [-1.69046379e-03 -2.51196866e-05 9.99998571e-01 -3.49635493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.85, Y:-3.60, Z:-0.35 [[ 9.93718929e-01 1.11892176e-01 1.68269909e-03 6.98511557e+01] [-1.11892059e-01 9.93720353e-01 -1.63776134e-04 -3.60042887e+00] [-1.69045760e-03 -2.55332210e-05 9.99998571e-01 -3.50235702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:69.88, Y:-3.60, Z:-0.35 [[ 9.93459971e-01 1.14168538e-01 1.68270820e-03 6.98797632e+01] [-1.14168424e-01 9.93461395e-01 -1.63682386e-04 -3.59928904e+00] [-1.69039302e-03 -2.95002459e-05 9.99998571e-01 -3.49579107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.775769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:69.91, Y:-3.60, Z:-0.35 [[ 9.93262148e-01 1.15876981e-01 1.68271547e-03 6.99084550e+01] [-1.15876870e-01 9.93263572e-01 -1.63607664e-04 -3.59905555e+00] [-1.69033834e-03 -3.24825013e-05 9.99998571e-01 -3.49747409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.94, Y:-3.60, Z:-0.35 [[ 9.92988456e-01 1.18199388e-01 1.68272279e-03 6.99378881e+01] [-1.18199280e-01 9.92989881e-01 -1.63532368e-04 -3.59548344e+00] [-1.69025613e-03 -3.65108692e-05 9.99998571e-01 -3.51227141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.835769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:69.97, Y:-3.60, Z:-0.35 [[ 9.92981551e-01 1.18257378e-01 1.68273038e-03 6.99656132e+01] [-1.18257271e-01 9.92982976e-01 -1.63454220e-04 -3.59508437e+00] [-1.69025229e-03 -3.66880772e-05 9.99998571e-01 -3.54299738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:70.00, Y:-3.59, Z:-0.36 [[ 9.93062293e-01 1.17577424e-01 1.68273984e-03 6.99950935e+01] [-1.17577316e-01 9.93063718e-01 -1.63356768e-04 -3.59470972e+00] [-1.69027495e-03 -3.56285868e-05 9.99998571e-01 -3.56748465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.895769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:70.02, Y:-3.59, Z:-0.35 [[ 9.93341214e-01 1.15197223e-01 1.68274525e-03 7.00245328e+01] [-1.15197111e-01 9.93342639e-01 -1.63301047e-04 -3.59063815e+00] [-1.69035443e-03 -3.16337313e-05 9.99998571e-01 -3.54375288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.925769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.05, Y:-3.59, Z:-0.35 [[ 9.93531413e-01 1.13545144e-01 1.68275276e-03 7.00539889e+01] [-1.13545030e-01 9.93532838e-01 -1.63223543e-04 -3.58957350e+00] [-1.69040337e-03 -2.89004965e-05 9.99998571e-01 -3.50693424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.08, Y:-3.59, Z:-0.35 [[ 9.94090001e-01 1.08546015e-01 1.68276037e-03 7.00829348e+01] [-1.08545895e-01 9.94091425e-01 -1.63145120e-04 -3.58525700e+00] [-1.69052640e-03 -2.04757966e-05 9.99998571e-01 -3.47377896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.11, Y:-3.58, Z:-0.35 [[ 9.94447971e-01 1.05215977e-01 1.68276813e-03 7.01105058e+01] [-1.05215852e-01 9.94449394e-01 -1.63065030e-04 -3.58475585e+00] [-1.69058479e-03 -1.48941933e-05 9.99998571e-01 -3.48487466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:70.14, Y:-3.58, Z:-0.35 [[ 9.95183146e-01 9.80187482e-02 1.68277776e-03 7.01382622e+01] [-9.80186128e-02 9.95184568e-01 -1.62965552e-04 -3.58254763e+00] [-1.69064814e-03 -2.76297134e-06 9.99998571e-01 -3.50785764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.17, Y:-3.58, Z:-0.35 [[ 9.95513147e-01 9.46083683e-02 1.68278729e-03 7.01670523e+01] [-9.46082282e-02 9.95514569e-01 -1.62867133e-04 -3.58370404e+00] [-1.69064785e-03 2.93084854e-06 9.99998571e-01 -3.50397748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:70.19, Y:-3.59, Z:-0.35 [[ 9.95819012e-01 9.13327126e-02 1.68279495e-03 7.01947228e+01] [-9.13325679e-02 9.95820433e-01 -1.62787928e-04 -3.58507491e+00] [-1.69062946e-03 8.41332969e-06 9.99998571e-01 -3.50385134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.22, Y:-3.59, Z:-0.35 [[ 9.96327631e-01 8.56061946e-02 1.68280570e-03 7.02233499e+01] [-8.56060420e-02 9.96329052e-01 -1.62676732e-04 -3.58844518e+00] [-1.69055434e-03 1.80209880e-05 9.99998571e-01 -3.51272460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.25, Y:-3.59, Z:-0.35 [[ 9.96543888e-01 8.30508681e-02 1.68281326e-03 7.02514806e+01] [-8.30507119e-02 9.96545309e-01 -1.62598468e-04 -3.59276964e+00] [-1.69050360e-03 2.22776702e-05 9.99998571e-01 -3.51258868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:-3.60, Z:-0.35 [[ 9.96847446e-01 7.93242586e-02 1.68282082e-03 7.02799890e+01] [-7.93240973e-02 9.96848866e-01 -1.62520230e-04 -3.59920923e+00] [-1.69040982e-03 2.85196340e-05 9.99998571e-01 -3.49888536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.31, Y:-3.60, Z:-0.35 [[ 9.96970922e-01 7.77569863e-02 1.68282840e-03 7.03073447e+01] [-7.77568229e-02 9.96972342e-01 -1.62441713e-04 -3.60377683e+00] [-1.69036434e-03 3.10982746e-05 9.99998571e-01 -3.50139174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.34, Y:-3.61, Z:-0.35 [[ 9.96974481e-01 7.77113335e-02 1.68283778e-03 7.03365452e+01] [-7.77111701e-02 9.96975901e-01 -1.62344421e-04 -3.60650348e+00] [-1.69036472e-03 3.10779521e-05 9.99998571e-01 -3.50188760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.255769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.37, Y:-3.61, Z:-0.35 [[ 9.97053647e-01 7.66889426e-02 1.68284521e-03 7.03654632e+01] [-7.66887780e-02 9.97055066e-01 -1.62267362e-04 -3.61142723e+00] [-1.69033346e-03 3.27339218e-05 9.99998571e-01 -3.51264843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.285769231 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.39, Y:-3.62, Z:-0.35 [[ 9.97060999e-01 7.65932870e-02 1.68285263e-03 7.03949676e+01] [-7.65931223e-02 9.97062419e-01 -1.62190441e-04 -3.61946191e+00] [-1.69033181e-03 3.28188262e-05 9.99998571e-01 -3.51403310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.315769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.42, Y:-3.62, Z:-0.35 [[ 9.96983420e-01 7.75965785e-02 1.68285661e-03 7.04232793e+01] [-7.75964153e-02 9.96984839e-01 -1.62149133e-04 -3.62425896e+00] [-1.69036474e-03 3.10763567e-05 9.99998571e-01 -3.52271473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.345769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.45, Y:-3.63, Z:-0.35 [[ 9.96832345e-01 7.95137951e-02 1.68286254e-03 7.04511942e+01] [-7.95136348e-02 9.96833765e-01 -1.62087491e-04 -3.62811106e+00] [-1.69042240e-03 2.77635362e-05 9.99998571e-01 -3.51419900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:-3.63, Z:-0.35 [[ 9.96361985e-01 8.52054132e-02 1.68287160e-03 7.04793088e+01] [-8.52052611e-02 9.96363406e-01 -1.61993358e-04 -3.63146982e+00] [-1.69055439e-03 1.80145090e-05 9.99998571e-01 -3.51176966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.51, Y:-3.63, Z:-0.35 [[ 9.95852319e-01 9.09688196e-02 1.68288063e-03 7.05079854e+01] [-9.09686759e-02 9.95853741e-01 -1.61899550e-04 -3.63268164e+00] [-1.69063078e-03 8.13862020e-06 9.99998571e-01 -3.50819416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.54, Y:-3.63, Z:-0.35 [[ 9.95599510e-01 9.36951593e-02 1.68288819e-03 7.05367775e+01] [-9.36950196e-02 9.95600933e-01 -1.61820960e-04 -3.63360089e+00] [-1.69064689e-03 3.43062727e-06 9.99998571e-01 -3.50601759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.56, Y:-3.63, Z:-0.35 [[ 9.95414140e-01 9.56444386e-02 1.68289585e-03 7.05647693e+01] [-9.56443018e-02 9.95415562e-01 -1.61741177e-04 -3.63375964e+00] [-1.69065037e-03 4.00553491e-08 9.99998571e-01 -3.50584899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.495769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:70.59, Y:-3.63, Z:-0.35 [[ 9.95298536e-01 9.68400346e-02 1.68290537e-03 7.05934531e+01] [-9.68398998e-02 9.95299959e-01 -1.61642077e-04 -3.63394512e+00] [-1.69064907e-03 -2.09026543e-06 9.99998571e-01 -3.50510424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.62, Y:-3.63, Z:-0.35 [[ 9.95368559e-01 9.61176318e-02 1.68291306e-03 7.06215529e+01] [-9.61174961e-02 9.95369982e-01 -1.61562030e-04 -3.63146840e+00] [-1.69065010e-03 -9.43624077e-07 9.99998571e-01 -3.49229236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.65, Y:-3.63, Z:-0.35 [[ 9.95763791e-01 9.19328024e-02 1.68292401e-03 7.06497262e+01] [-9.19326608e-02 9.95765213e-01 -1.61447815e-04 -3.63031960e+00] [-1.69063954e-03 6.04820583e-06 9.99998571e-01 -3.46403146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:-3.63, Z:-0.35 [[ 9.95952111e-01 8.98696850e-02 1.68293312e-03 7.06784492e+01] [-8.98695406e-02 9.95953533e-01 -1.61352873e-04 -3.63115313e+00] [-1.69062391e-03 9.45530811e-06 9.99998571e-01 -3.46669929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.615769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:70.71, Y:-3.63, Z:-0.35 [[ 9.96098494e-01 8.82324075e-02 1.68294034e-03 7.07069149e+01] [-8.82322610e-02 9.96099916e-01 -1.61277462e-04 -3.63168249e+00] [-1.69060663e-03 1.21586058e-05 9.99998571e-01 -3.46378952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:-3.63, Z:-0.35 [[ 9.96147610e-01 8.76761520e-02 1.68294758e-03 7.07364425e+01] [-8.76760048e-02 9.96149031e-01 -1.61201853e-04 -3.63005405e+00] [-1.69060016e-03 1.30267196e-05 9.99998571e-01 -3.47003126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:-3.63, Z:-0.35 [[ 9.96131330e-01 8.78609166e-02 1.68295511e-03 7.07649664e+01] [-8.78607698e-02 9.96132752e-01 -1.61123206e-04 -3.63060457e+00] [-1.69060314e-03 1.26341413e-05 9.99998571e-01 -3.47005052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.79, Y:-3.63, Z:-0.35 [[ 9.96125800e-01 8.79235906e-02 1.68296258e-03 7.07933832e+01] [-8.79234440e-02 9.96127222e-01 -1.61045212e-04 -3.63183538e+00] [-1.69060451e-03 1.24494243e-05 9.99998571e-01 -3.47108396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.82, Y:-3.63, Z:-0.35 [[ 9.96228623e-01 8.67507885e-02 1.68297014e-03 7.08212767e+01] [-8.67506403e-02 9.96230044e-01 -1.60966119e-04 -3.63347562e+00] [-1.69058936e-03 1.43603171e-05 9.99998571e-01 -3.48344077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.85, Y:-3.64, Z:-0.35 [[ 9.96299324e-01 8.59350054e-02 1.68297997e-03 7.08495423e+01] [-8.59348563e-02 9.96300745e-01 -1.60863292e-04 -3.63670424e+00] [-1.69057799e-03 1.56413476e-05 9.99998571e-01 -3.49534696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:-3.64, Z:-0.35 [[ 9.96340299e-01 8.54586208e-02 1.68298745e-03 7.08779329e+01] [-8.54584711e-02 9.96341720e-01 -1.60784999e-04 -3.64193405e+00] [-1.69057108e-03 1.63710392e-05 9.99998571e-01 -3.47775855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.91, Y:-3.65, Z:-0.35 [[ 9.96290234e-01 8.60403277e-02 1.68299492e-03 7.09067851e+01] [-8.60401789e-02 9.96291655e-01 -1.60706795e-04 -3.64502220e+00] [-1.69058106e-03 1.53054268e-05 9.99998571e-01 -3.45705746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:-3.65, Z:-0.34 [[ 9.96195465e-01 8.71307262e-02 1.68300237e-03 7.09348314e+01] [-8.71305792e-02 9.96196886e-01 -1.60628709e-04 -3.64725528e+00] [-1.69059742e-03 1.33766201e-05 9.99998571e-01 -3.44922444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.96, Y:-3.65, Z:-0.35 [[ 9.95958760e-01 8.97959646e-02 1.68301162e-03 7.09635255e+01] [-8.97958215e-02 9.95960182e-01 -1.60531750e-04 -3.64840864e+00] [-1.69062766e-03 8.75559188e-06 9.99998571e-01 -3.47188598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.99, Y:-3.65, Z:-0.35 [[ 9.95766541e-01 9.19030137e-02 1.68301901e-03 7.09915222e+01] [-9.19028737e-02 9.95767963e-01 -1.60454276e-04 -3.64979971e+00] [-1.69064264e-03 5.10071607e-06 9.99998571e-01 -3.50048267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:-3.65, Z:-0.35 [[ 9.95567363e-01 9.40361271e-02 1.68302877e-03 7.10205015e+01] [-9.40359904e-02 9.95568786e-01 -1.60351841e-04 -3.65104509e+00] [-1.69064977e-03 1.37578286e-06 9.99998571e-01 -3.51733406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.975769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.05, Y:-3.65, Z:-0.35 [[ 9.95314772e-01 9.66730201e-02 1.68303618e-03 7.10487388e+01] [-9.66728873e-02 9.95316195e-01 -1.60273934e-04 -3.64941896e+00] [-1.69064734e-03 -3.18095334e-06 9.99998571e-01 -3.54406028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:-3.65, Z:-0.35 [[ 9.95302766e-01 9.67965498e-02 1.68304540e-03 7.10766465e+01] [-9.67964173e-02 9.95304189e-01 -1.60177058e-04 -3.64943284e+00] [-1.69064673e-03 -3.48809603e-06 9.99998571e-01 -3.54083258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.11, Y:-3.65, Z:-0.35 [[ 9.95368667e-01 9.61165113e-02 1.68305435e-03 7.11060446e+01] [-9.61163780e-02 9.95370090e-01 -1.60083001e-04 -3.64800462e+00] [-1.69064858e-03 -2.42748462e-06 9.99998571e-01 -3.51833808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.13, Y:-3.65, Z:-0.35 [[ 9.95397837e-01 9.58139505e-02 1.68306152e-03 7.11336558e+01] [-9.58138169e-02 9.95399260e-01 -1.60007605e-04 -3.64834373e+00] [-1.69064915e-03 -1.98932394e-06 9.99998571e-01 -3.50647961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-3.65, Z:-0.35 [[ 9.95468578e-01 9.50761651e-02 1.68307225e-03 7.11614717e+01] [-9.50760307e-02 9.95470001e-01 -1.59894671e-04 -3.64830854e+00] [-1.69065010e-03 -8.49707678e-07 9.99998571e-01 -3.50120434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-3.65, Z:-0.35 [[ 9.95607494e-01 9.36102782e-02 1.68308263e-03 7.11896423e+01] [-9.36101418e-02 9.95608917e-01 -1.59785304e-04 -3.64626492e+00] [-1.69064962e-03 1.52984301e-06 9.99998571e-01 -3.49672433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.22, Y:-3.65, Z:-0.35 [[ 9.95700913e-01 9.26113357e-02 1.68309329e-03 7.12175214e+01] [-9.26111981e-02 9.95702335e-01 -1.59672945e-04 -3.64696922e+00] [-1.69064744e-03 3.11321093e-06 9.99998571e-01 -3.50246384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.25, Y:-3.65, Z:-0.35 [[ 9.95877833e-01 9.06890835e-02 1.68310212e-03 7.12455853e+01] [-9.06889433e-02 9.95879255e-01 -1.59579809e-04 -3.64781955e+00] [-1.69063863e-03 6.28324150e-06 9.99998571e-01 -3.51360729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.27, Y:-3.65, Z:-0.35 [[ 9.95987123e-01 8.94808199e-02 1.68311086e-03 7.12733881e+01] [-8.94806781e-02 9.95988546e-01 -1.59487584e-04 -3.65025987e+00] [-1.69063022e-03 8.24167910e-06 9.99998571e-01 -3.50890508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:-3.65, Z:-0.35 [[ 9.96107958e-01 8.81254971e-02 1.68312119e-03 7.13007985e+01] [-8.81253536e-02 9.96109380e-01 -1.59378531e-04 -3.65289496e+00] [-1.69061811e-03 1.04325736e-05 9.99998571e-01 -3.49318685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-3.66, Z:-0.35 [[ 9.96456825e-01 8.40890186e-02 1.68313146e-03 7.13292362e+01] [-8.40888695e-02 9.96458246e-01 -1.59269919e-04 -3.65595107e+00] [-1.69056308e-03 1.71729759e-05 9.99998571e-01 -3.46553389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:-3.66, Z:-0.35 [[ 9.96639656e-01 8.18936119e-02 1.68313929e-03 7.13572685e+01] [-8.18934599e-02 9.96641077e-01 -1.59187179e-04 -3.65894097e+00] [-1.69052217e-03 2.08141555e-05 9.99998571e-01 -3.46301492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:-3.66, Z:-0.35 [[ 9.96809618e-01 7.97982030e-02 1.68314898e-03 7.13850508e+01] [-7.97980481e-02 9.96811038e-01 -1.59084614e-04 -3.66186581e+00] [-1.69047615e-03 2.42650702e-05 9.99998571e-01 -3.47157179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:-3.66, Z:-0.35 [[ 9.96813000e-01 7.97559443e-02 1.68315784e-03 7.14136552e+01] [-7.97557895e-02 9.96814420e-01 -1.58990818e-04 -3.66429636e+00] [-1.69047647e-03 2.42425317e-05 9.99998571e-01 -3.48854785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.44, Y:-3.67, Z:-0.35 [[ 9.96785522e-01 8.00986212e-02 1.68316289e-03 7.14428115e+01] [-8.00984670e-02 9.96786943e-01 -1.58937308e-04 -3.66572311e+00] [-1.69048546e-03 2.36076399e-05 9.99998571e-01 -3.50924366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.47, Y:-3.67, Z:-0.35 [[ 9.96766369e-01 8.03366237e-02 1.68317030e-03 7.14702087e+01] [-8.03364700e-02 9.96767790e-01 -1.58858866e-04 -3.66771735e+00] [-1.69049212e-03 2.31252150e-05 9.99998571e-01 -3.50899523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.50, Y:-3.67, Z:-0.35 [[ 9.96762158e-01 8.03888489e-02 1.68317763e-03 7.14984557e+01] [-8.03886954e-02 9.96763579e-01 -1.58781095e-04 -3.67041500e+00] [-1.69049439e-03 2.29585327e-05 9.99998571e-01 -3.50536187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.485769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.53, Y:-3.67, Z:-0.35 [[ 9.96844948e-01 7.93556302e-02 1.68318508e-03 7.15271603e+01] [-7.93554753e-02 9.96846369e-01 -1.58702156e-04 -3.67288312e+00] [-1.69047084e-03 2.46314901e-05 9.99998571e-01 -3.48697705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-3.68, Z:-0.35 [[ 9.96897985e-01 7.86865559e-02 1.68319257e-03 7.15548839e+01] [-7.86864002e-02 9.96899406e-01 -1.58622624e-04 -3.67504701e+00] [-1.69045514e-03 2.56862097e-05 9.99998571e-01 -3.48593703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.58, Y:-3.68, Z:-0.35 [[ 9.96942735e-01 7.81175415e-02 1.68320190e-03 7.15832072e+01] [-7.81173852e-02 9.96944155e-01 -1.58523623e-04 -3.67533186e+00] [-1.69044177e-03 2.65516429e-05 9.99998571e-01 -3.51553052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-3.68, Z:-0.35 [[ 9.96943897e-01 7.81027092e-02 1.68321091e-03 7.16125329e+01] [-7.81025530e-02 9.96945318e-01 -1.58427890e-04 -3.67569282e+00] [-1.69044288e-03 2.64806493e-05 9.99998571e-01 -3.51715328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.64, Y:-3.67, Z:-0.35 [[ 9.96883819e-01 7.88658262e-02 1.68321785e-03 7.16420622e+01] [-7.88656712e-02 9.96885240e-01 -1.58354047e-04 -3.67323996e+00] [-1.69046376e-03 2.51124817e-05 9.99998571e-01 -3.52140667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.635769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.67, Y:-3.67, Z:-0.35 [[ 9.96896135e-01 7.87099979e-02 1.68322499e-03 7.16711650e+01] [-7.87098428e-02 9.96897555e-01 -1.58278190e-04 -3.67406226e+00] [-1.69046095e-03 2.53005415e-05 9.99998571e-01 -3.51850665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:-3.68, Z:-0.35 [[ 9.96971286e-01 7.77523044e-02 1.68323230e-03 7.16987913e+01] [-7.77521481e-02 9.96972707e-01 -1.58200369e-04 -3.67579639e+00] [-1.69043711e-03 2.68462980e-05 9.99998571e-01 -3.51157352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:-3.68, Z:-0.35 [[ 9.97293080e-01 7.35097251e-02 1.68324135e-03 7.17273458e+01] [-7.35095629e-02 9.97294500e-01 -1.58103997e-04 -3.67956464e+00] [-1.69030952e-03 3.39416857e-05 9.99998571e-01 -3.49253796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.76, Y:-3.68, Z:-0.35 [[ 9.97488830e-01 7.08039646e-02 1.68324858e-03 7.17556524e+01] [-7.08037986e-02 9.97490249e-01 -1.58027032e-04 -3.68305628e+00] [-1.69021298e-03 3.84498061e-05 9.99998571e-01 -3.48663536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.78, Y:-3.69, Z:-0.35 [[ 9.97757313e-01 6.69142115e-02 1.68325576e-03 7.17831826e+01] [-6.69140402e-02 9.97758731e-01 -1.57950494e-04 -3.68659134e+00] [-1.69005227e-03 4.49628170e-05 9.99998571e-01 -3.49370420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-3.69, Z:-0.35 [[ 9.97815138e-01 6.60463288e-02 1.68326469e-03 7.18113829e+01] [-6.60461564e-02 9.97816556e-01 -1.57855312e-04 -3.68970770e+00] [-1.69001514e-03 4.63372574e-05 9.99998571e-01 -3.50007757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.84, Y:-3.69, Z:-0.35 [[ 9.97821304e-01 6.59531000e-02 1.68327186e-03 7.18400254e+01] [-6.59529276e-02 9.97822723e-01 -1.57778774e-04 -3.69301582e+00] [-1.69001291e-03 4.64183144e-05 9.99998571e-01 -3.49908424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.845769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:71.87, Y:-3.70, Z:-0.35 [[ 9.97757623e-01 6.69095873e-02 1.68327917e-03 7.18680379e+01] [-6.69094164e-02 9.97759042e-01 -1.57700765e-04 -3.69734320e+00] [-1.69005870e-03 4.47199132e-05 9.99998571e-01 -3.48994398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.90, Y:-3.70, Z:-0.35 [[ 9.97753489e-01 6.69712052e-02 1.68328896e-03 7.18963668e+01] [-6.69710345e-02 9.97754908e-01 -1.57596228e-04 -3.70094613e+00] [-1.69006423e-03 4.45105830e-05 9.99998571e-01 -3.49737523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.92, Y:-3.71, Z:-0.35 [[ 9.97835524e-01 6.57376057e-02 1.68329634e-03 7.19245299e+01] [-6.57374335e-02 9.97836943e-01 -1.57517354e-04 -3.70827105e+00] [-1.69001009e-03 4.65208301e-05 9.99998571e-01 -3.51234132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-3.71, Z:-0.35 [[ 9.97913657e-01 6.45406795e-02 1.68330385e-03 7.19529325e+01] [-6.45405057e-02 9.97915076e-01 -1.57437042e-04 -3.71423579e+00] [-1.68995538e-03 4.84672923e-05 9.99998571e-01 -3.51790669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-3.72, Z:-0.35 [[ 9.98017080e-01 6.29211745e-02 1.68331139e-03 7.19799258e+01] [-6.29209985e-02 9.98018498e-01 -1.57356390e-04 -3.71999863e+00] [-1.68987695e-03 5.11287316e-05 9.99998571e-01 -3.51393392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.01, Y:-3.73, Z:-0.35 [[ 9.98208748e-01 5.98035220e-02 1.68332075e-03 7.20071446e+01] [-5.98033418e-02 9.98210166e-01 -1.57256211e-04 -3.72921347e+00] [-1.68971236e-03 5.63063200e-05 9.99998571e-01 -3.48683461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.04, Y:-3.73, Z:-0.35 [[ 9.98264743e-01 5.88614402e-02 1.68332973e-03 7.20351874e+01] [-5.88612587e-02 9.98266161e-01 -1.57159997e-04 -3.73499365e+00] [-1.68966177e-03 5.78043768e-05 9.99998571e-01 -3.48878021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.06, Y:-3.74, Z:-0.35 [[ 9.98282660e-01 5.85567936e-02 1.68333670e-03 7.20639963e+01] [-5.85566119e-02 9.98284077e-01 -1.57085311e-04 -3.74113399e+00] [-1.68964664e-03 5.82450483e-05 9.99998571e-01 -3.48799215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:72.09, Y:-3.75, Z:-0.35 [[ 9.98178368e-01 6.03084702e-02 1.68334418e-03 7.20912484e+01] [-6.03082911e-02 9.98179786e-01 -1.57005126e-04 -3.75054059e+00] [-1.68974887e-03 5.51995099e-05 9.99998571e-01 -3.50555274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:-3.76, Z:-0.35 [[ 9.98080808e-01 6.19020715e-02 1.68335162e-03 7.21197028e+01] [-6.19018948e-02 9.98082226e-01 -1.56925326e-04 -3.75706672e+00] [-1.68983733e-03 5.24215017e-05 9.99998571e-01 -3.50034949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:-3.76, Z:-0.35 [[ 9.98082236e-01 6.18790545e-02 1.68335887e-03 7.21497400e+01] [-6.18788779e-02 9.98083654e-01 -1.56847542e-04 -3.75982134e+00] [-1.68983854e-03 5.23823873e-05 9.99998571e-01 -3.50085948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:-3.77, Z:-0.35 [[ 9.97834225e-01 6.57573225e-02 1.68336248e-03 7.21768408e+01] [-6.57571515e-02 9.97835644e-01 -1.56808721e-04 -3.77052084e+00] [-1.69003041e-03 4.57759873e-05 9.99998571e-01 -3.49790217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.20, Y:-3.78, Z:-0.35 [[ 9.97701422e-01 6.77424384e-02 1.68337147e-03 7.22046515e+01] [-6.77422704e-02 9.97702842e-01 -1.56712173e-04 -3.77652723e+00] [-1.69012056e-03 4.23165527e-05 9.99998571e-01 -3.49452628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:-3.78, Z:-0.35 [[ 9.97559792e-01 6.97970431e-02 1.68337674e-03 7.22337003e+01] [-6.97968781e-02 9.97561212e-01 -1.56655532e-04 -3.78245888e+00] [-1.69020543e-03 3.87788189e-05 9.99998571e-01 -3.47860124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-3.79, Z:-0.35 [[ 9.97429551e-01 7.16341912e-02 1.68338024e-03 7.22634325e+01] [-7.16340289e-02 9.97430971e-01 -1.56617905e-04 -3.78810374e+00] [-1.69027479e-03 3.56280175e-05 9.99998571e-01 -3.46114134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.29, Y:-3.80, Z:-0.34 [[ 9.97120513e-01 7.58145711e-02 1.68338383e-03 7.22921218e+01] [-7.58144148e-02 9.97121933e-01 -1.56579275e-04 -3.79563476e+00] [-1.69040993e-03 2.85036467e-05 9.99998571e-01 -3.43733950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-3.80, Z:-0.35 [[ 9.96752251e-01 8.05115944e-02 1.68338748e-03 7.23203611e+01] [-8.05114448e-02 9.96753672e-01 -1.56540082e-04 -3.80144996e+00] [-1.69052594e-03 2.04997214e-05 9.99998571e-01 -3.46683007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.35, Y:-3.81, Z:-0.35 [[ 9.96548015e-01 8.30013254e-02 1.68339110e-03 7.23478390e+01] [-8.30011795e-02 9.96549437e-01 -1.56501095e-04 -3.80506728e+00] [-1.69057225e-03 1.62374084e-05 9.99998571e-01 -3.49124175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.38, Y:-3.81, Z:-0.35 [[ 9.96327806e-01 8.56041456e-02 1.68340081e-03 7.23766374e+01] [-8.56040035e-02 9.96329228e-01 -1.56396657e-04 -3.80815693e+00] [-1.69060963e-03 1.17164899e-05 9.99998571e-01 -3.49414294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.415769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:72.41, Y:-3.81, Z:-0.35 [[ 9.96083154e-01 8.84054093e-02 1.68340801e-03 7.24051054e+01] [-8.84052714e-02 9.96084577e-01 -1.56319029e-04 -3.81060070e+00] [-1.69063621e-03 6.88460864e-06 9.99998571e-01 -3.50454592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.43, Y:-3.81, Z:-0.35 [[ 9.95527461e-01 9.44576090e-02 1.68341521e-03 7.24328671e+01] [-9.44574798e-02 9.95528885e-01 -1.56241473e-04 -3.81066158e+00] [-1.69064667e-03 -3.46848165e-06 9.99998571e-01 -3.51130891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.475769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.46, Y:-3.81, Z:-0.35 [[ 9.95273377e-01 9.70982597e-02 1.68342239e-03 7.24609918e+01] [-9.70981344e-02 9.95274800e-01 -1.56164095e-04 -3.81072881e+00] [-1.69063115e-03 -8.03120738e-06 9.99998571e-01 -3.52491828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:72.49, Y:-3.81, Z:-0.35 [[ 9.94872489e-01 1.01123178e-01 1.68343132e-03 7.24904759e+01] [-1.01123059e-01 9.94873913e-01 -1.56067797e-04 -3.80849163e+00] [-1.69058397e-03 -1.49661674e-05 9.99998571e-01 -3.51708017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.535769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:72.52, Y:-3.81, Z:-0.35 [[ 9.94777845e-01 1.02050017e-01 1.68343858e-03 7.25181192e+01] [-1.02049899e-01 9.94779269e-01 -1.55989460e-04 -3.80865438e+00] [-1.69056852e-03 -1.66198777e-05 9.99998571e-01 -3.50692145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.565769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:72.55, Y:-3.81, Z:-0.35 [[ 9.94848754e-01 1.01356416e-01 1.68344761e-03 7.25475444e+01] [-1.01356298e-01 9.94850178e-01 -1.55891935e-04 -3.80747378e+00] [-1.69057880e-03 -1.55391201e-05 9.99998571e-01 -3.48865277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.595769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.58, Y:-3.81, Z:-0.35 [[ 9.95059603e-01 9.92650662e-02 1.68345507e-03 7.25755009e+01] [-9.92649447e-02 9.95061027e-01 -1.55811350e-04 -3.80840926e+00] [-1.69060715e-03 -1.20664942e-05 9.99998571e-01 -3.49799051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.625769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.60, Y:-3.81, Z:-0.35 [[ 9.95331402e-01 9.65016381e-02 1.68346434e-03 7.26031057e+01] [-9.65015128e-02 9.95332826e-01 -1.55711043e-04 -3.80954565e+00] [-1.69063369e-03 -7.47276490e-06 9.99998571e-01 -3.51874387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:72.63, Y:-3.81, Z:-0.35 [[ 9.96007808e-01 8.92502843e-02 1.68347325e-03 7.26323874e+01] [-8.92501488e-02 9.96009230e-01 -1.55614710e-04 -3.81109752e+00] [-1.69064355e-03 4.74322829e-06 9.99998571e-01 -3.53927187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:72.66, Y:-3.81, Z:-0.36 [[ 9.96353602e-01 8.53033694e-02 1.68348075e-03 7.26600848e+01] [-8.53032284e-02 9.96355025e-01 -1.55533553e-04 -3.81426054e+00] [-1.69061204e-03 1.13600737e-05 9.99998571e-01 -3.55115115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.69, Y:-3.82, Z:-0.35 [[ 9.96992323e-01 7.74820830e-02 1.68349004e-03 7.26876770e+01] [-7.74819310e-02 9.96993744e-01 -1.55432907e-04 -3.82006848e+00] [-1.69047230e-03 2.45253562e-05 9.99998571e-01 -3.50318753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.72, Y:-3.82, Z:-0.35 [[ 9.97217361e-01 7.45298641e-02 1.68349872e-03 7.27162576e+01] [-7.45297080e-02 9.97218782e-01 -1.55338819e-04 -3.82399335e+00] [-1.69039392e-03 2.94358991e-05 9.99998571e-01 -3.47612357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.775769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:72.74, Y:-3.83, Z:-0.35 [[ 9.97379533e-01 7.23272575e-02 1.68350562e-03 7.27443473e+01] [-7.23270984e-02 9.97380954e-01 -1.55264004e-04 -3.82926798e+00] [-1.69032626e-03 3.30940630e-05 9.99998571e-01 -3.47167183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:72.77, Y:-3.83, Z:-0.35 [[ 9.97355657e-01 7.26557535e-02 1.68351077e-03 7.27728434e+01] [-7.26555950e-02 9.97357078e-01 -1.55208172e-04 -3.83313865e+00] [-1.69033815e-03 3.24812716e-05 9.99998571e-01 -3.48812834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.835769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:72.80, Y:-3.84, Z:-0.35 [[ 9.97307684e-01 7.33113197e-02 1.68351587e-03 7.28011444e+01] [-7.33111622e-02 9.97309104e-01 -1.55152871e-04 -3.83699670e+00] [-1.69036016e-03 3.13146456e-05 9.99998571e-01 -3.50786288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.83, Y:-3.84, Z:-0.35 [[ 9.97230395e-01 7.43552640e-02 1.68352263e-03 7.28292837e+01] [-7.43551081e-02 9.97231815e-01 -1.55079403e-04 -3.84217432e+00] [-1.69039330e-03 2.94713869e-05 9.99998571e-01 -3.51492693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.895769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.86, Y:-3.85, Z:-0.35 [[ 9.97212251e-01 7.45982048e-02 1.68352651e-03 7.28583280e+01] [-7.45980493e-02 9.97213672e-01 -1.55037342e-04 -3.84585969e+00] [-1.69040116e-03 2.90173433e-05 9.99998571e-01 -3.51124236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.925769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:72.89, Y:-3.85, Z:-0.35 [[ 9.97113461e-01 7.59072630e-02 1.68353321e-03 7.28881582e+01] [-7.59071095e-02 9.97114881e-01 -1.54964462e-04 -3.85014536e+00] [-1.69043895e-03 2.67250110e-05 9.99998571e-01 -3.50500599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.955769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:72.92, Y:-3.85, Z:-0.35 [[ 9.97044226e-01 7.68113062e-02 1.68353675e-03 7.29163194e+01] [-7.68111541e-02 9.97045647e-01 -1.54926011e-04 -3.85382510e+00] [-1.69046306e-03 2.51536833e-05 9.99998571e-01 -3.52027675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.985769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:72.95, Y:-3.86, Z:-0.35 [[ 9.96989560e-01 7.75176241e-02 1.68354204e-03 7.29461643e+01] [-7.75174731e-02 9.96990982e-01 -1.54868527e-04 -3.85731071e+00] [-1.69048127e-03 2.38983793e-05 9.99998571e-01 -3.51036676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:72.97, Y:-3.86, Z:-0.35 [[ 9.96956844e-01 7.79372574e-02 1.68354561e-03 7.29744292e+01] [-7.79371071e-02 9.96958266e-01 -1.54829723e-04 -3.86013434e+00] [-1.69049172e-03 2.31478777e-05 9.99998571e-01 -3.52111950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.00, Y:-3.86, Z:-0.35 [[ 9.96972566e-01 7.77358890e-02 1.68355096e-03 7.30031750e+01] [-7.77357384e-02 9.96973987e-01 -1.54771534e-04 -3.86293311e+00] [-1.69048781e-03 2.34308967e-05 9.99998571e-01 -3.53493777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:73.03, Y:-3.87, Z:-0.35 [[ 9.96889621e-01 7.87924447e-02 1.68355802e-03 7.30318202e+01] [-7.87922958e-02 9.96891042e-01 -1.54694695e-04 -3.86835086e+00] [-1.69051268e-03 2.15621343e-05 9.99998571e-01 -3.54192096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:73.06, Y:-3.87, Z:-0.35 [[ 9.96842540e-01 7.93858721e-02 1.68356330e-03 7.30604449e+01] [-7.93857242e-02 9.96843961e-01 -1.54637214e-04 -3.87192466e+00] [-1.69052592e-03 2.04980613e-05 9.99998571e-01 -3.51891586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.135769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.09, Y:-3.87, Z:-0.35 [[ 9.96770286e-01 8.02879947e-02 1.68357029e-03 7.30891553e+01] [-8.02878482e-02 9.96771708e-01 -1.54561033e-04 -3.87446480e+00] [-1.69054463e-03 1.88916091e-05 9.99998571e-01 -3.49338978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:73.12, Y:-3.87, Z:-0.35 [[ 9.96557837e-01 8.28833050e-02 1.68357728e-03 7.31167828e+01] [-8.28831622e-02 9.96559259e-01 -1.54484877e-04 -3.87468016e+00] [-1.69058875e-03 1.44129062e-05 9.99998571e-01 -3.49010695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.195769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:73.15, Y:-3.88, Z:-0.35 [[ 9.96404497e-01 8.47068130e-02 1.68358596e-03 7.31453206e+01] [-8.47066730e-02 9.96405919e-01 -1.54390193e-04 -3.87663715e+00] [-1.69061292e-03 1.12241171e-05 9.99998571e-01 -3.51092012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:73.17, Y:-3.88, Z:-0.35 [[ 9.96149405e-01 8.76557358e-02 1.68359286e-03 7.31732387e+01] [-8.76556002e-02 9.96150828e-01 -1.54314967e-04 -3.87860020e+00] [-1.69063901e-03 6.14441977e-06 9.99998571e-01 -3.52404929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.255769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:73.20, Y:-3.88, Z:-0.35 [[ 9.96050347e-01 8.87742746e-02 1.68360143e-03 7.32009211e+01] [-8.87741407e-02 9.96051770e-01 -1.54221407e-04 -3.88004726e+00] [-1.69064508e-03 4.15201625e-06 9.99998571e-01 -3.52459293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.285769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:73.23, Y:-3.88, Z:-0.35 [[ 9.95846036e-01 9.10375605e-02 1.68360993e-03 7.32299358e+01] [-9.10374300e-02 9.95847459e-01 -1.54128533e-04 -3.88010191e+00] [-1.69065016e-03 2.16767623e-07 9.99998571e-01 -3.52982001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.315769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.26, Y:-3.88, Z:-0.35 [[ 9.95760875e-01 9.19643666e-02 1.68361669e-03 7.32582708e+01] [-9.19642375e-02 9.95762299e-01 -1.54054673e-04 -3.88162560e+00] [-1.69064957e-03 -1.43090934e-06 9.99998571e-01 -3.53444798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.345769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:73.29, Y:-3.88, Z:-0.35 [[ 9.95668371e-01 9.29605301e-02 1.68362345e-03 7.32860699e+01] [-9.29604027e-02 9.95669795e-01 -1.53980793e-04 -3.88290751e+00] [-1.69064715e-03 -3.19650815e-06 9.99998571e-01 -3.53991500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.375769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:73.32, Y:-3.88, Z:-0.35 [[ 9.95584540e-01 9.38540873e-02 1.68363187e-03 7.33152042e+01] [-9.38539612e-02 9.95585963e-01 -1.53888617e-04 -3.88401148e+00] [-1.69064333e-03 -4.80639269e-06 9.99998571e-01 -3.53764372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.34, Y:-3.88, Z:-0.35 [[ 9.95489970e-01 9.48519122e-02 1.68363858e-03 7.33445343e+01] [-9.48517877e-02 9.95491394e-01 -1.53815167e-04 -3.88411347e+00] [-1.69063738e-03 -6.57467307e-06 9.99998571e-01 -3.50909101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:73.37, Y:-3.89, Z:-0.35 [[ 9.95495868e-01 9.47899927e-02 1.68364582e-03 7.33725342e+01] [-9.47898682e-02 9.95497291e-01 -1.53735878e-04 -3.88601313e+00] [-1.69063748e-03 -6.54913408e-06 9.99998571e-01 -3.50940168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:73.40, Y:-3.89, Z:-0.35 [[ 9.95629125e-01 9.33799218e-02 1.68365483e-03 7.34013920e+01] [-9.33797955e-02 9.95630549e-01 -1.53637205e-04 -3.88773037e+00] [-1.69064481e-03 -4.25366703e-06 9.99998571e-01 -3.52447745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49576923100001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:73.43, Y:-3.89, Z:-0.35 [[ 9.95727647e-01 9.23234417e-02 1.68366142e-03 7.34302024e+01] [-9.23233140e-02 9.95729071e-01 -1.53564959e-04 -3.88974057e+00] [-1.69064826e-03 -2.53232662e-06 9.99998571e-01 -3.54063837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:73.46, Y:-3.89, Z:-0.36 [[ 9.95792449e-01 9.16218534e-02 1.68366799e-03 7.34591388e+01] [-9.16217248e-02 9.95793872e-01 -1.53492830e-04 -3.89206985e+00] [-1.69064957e-03 -1.41356429e-06 9.99998571e-01 -3.55778878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.555769231 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:73.49, Y:-3.89, Z:-0.36 [[ 9.95836349e-01 9.11434633e-02 1.68367452e-03 7.34872783e+01] [-9.11433341e-02 9.95837772e-01 -1.53421206e-04 -3.89393970e+00] [-1.69065002e-03 -6.73295297e-07 9.99998571e-01 -3.56114650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:73.52, Y:-3.90, Z:-0.35 [[ 9.95837329e-01 9.11327615e-02 1.68368264e-03 7.35161917e+01] [-9.11326325e-02 9.95838752e-01 -1.53332034e-04 -3.89559134e+00] [-1.69064999e-03 -7.44667852e-07 9.99998571e-01 -3.54759116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.615769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:73.54, Y:-3.90, Z:-0.35 [[ 9.95846130e-01 9.10365316e-02 1.68368912e-03 7.35443135e+01] [-9.10364026e-02 9.95847554e-01 -1.53260815e-04 -3.89653220e+00] [-1.69065003e-03 -6.52811507e-07 9.99998571e-01 -3.52838440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.645769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:73.57, Y:-3.90, Z:-0.35 [[ 9.95879583e-01 9.06698480e-02 1.68369718e-03 7.35726111e+01] [-9.06697186e-02 9.95881006e-01 -1.53172238e-04 -3.89944803e+00] [-1.69065015e-03 -1.19245474e-07 9.99998571e-01 -3.51663018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.675769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.60, Y:-3.90, Z:-0.35 [[ 9.96028481e-01 8.90192644e-02 1.68370405e-03 7.36015028e+01] [-8.90191328e-02 9.96029904e-01 -1.53096684e-04 -3.90481812e+00] [-1.69064814e-03 2.60678281e-06 9.99998571e-01 -3.50661313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.705769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.63, Y:-3.91, Z:-0.35 [[ 9.96134091e-01 8.78295976e-02 1.68371104e-03 7.36299073e+01] [-8.78294644e-02 9.96135514e-01 -1.53019719e-04 -3.90944038e+00] [-1.69064403e-03 4.54871908e-06 9.99998571e-01 -3.50681394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.735769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.66, Y:-3.91, Z:-0.35 [[ 9.96271129e-01 8.62612489e-02 1.68371811e-03 7.36587360e+01] [-8.62611136e-02 9.96272552e-01 -1.52941939e-04 -3.91457760e+00] [-1.69063510e-03 7.13223875e-06 9.99998571e-01 -3.50357676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.69, Y:-3.92, Z:-0.35 [[ 9.96433616e-01 8.43635764e-02 1.68372537e-03 7.36864745e+01] [-8.43634386e-02 9.96435039e-01 -1.52861926e-04 -3.91987780e+00] [-1.69061894e-03 1.02718998e-05 9.99998571e-01 -3.50066454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:73.71, Y:-3.93, Z:-0.35 [[ 9.96704688e-01 8.10982759e-02 1.68373465e-03 7.37142909e+01] [-8.10981335e-02 9.96706110e-01 -1.52759739e-04 -3.92748485e+00] [-1.69057716e-03 1.57086108e-05 9.99998571e-01 -3.50612010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:73.74, Y:-3.94, Z:-0.35 [[ 9.96812160e-01 7.97664203e-02 1.68373861e-03 7.37428968e+01] [-7.97662762e-02 9.96813582e-01 -1.52716016e-04 -3.93638012e+00] [-1.69055513e-03 1.79236229e-05 9.99998571e-01 -3.49075492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:73.77, Y:-3.94, Z:-0.35 [[ 9.96767522e-01 8.03223007e-02 1.68374221e-03 7.37713948e+01] [-8.03221573e-02 9.96768944e-01 -1.52676313e-04 -3.94204864e+00] [-1.69056526e-03 1.69409830e-05 9.99998571e-01 -3.48930559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:73.80, Y:-3.95, Z:-0.35 [[ 9.96665466e-01 8.15788762e-02 1.68374647e-03 7.38008704e+01] [-8.15787348e-02 9.96666889e-01 -1.52629369e-04 -3.94708026e+00] [-1.69058568e-03 1.47625153e-05 9.99998571e-01 -3.49407984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.915769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:73.83, Y:-3.95, Z:-0.35 [[ 9.96302466e-01 8.58985491e-02 1.68375001e-03 7.38300496e+01] [-8.58984138e-02 9.96303889e-01 -1.52590217e-04 -3.95128979e+00] [-1.69063397e-03 7.39455354e-06 9.99998571e-01 -3.52053866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:73.86, Y:-3.95, Z:-0.35 [[ 9.96075867e-01 8.84874697e-02 1.68375357e-03 7.38585839e+01] [-8.84873383e-02 9.96077290e-01 -1.52550972e-04 -3.95439037e+00] [-1.69064754e-03 2.96147039e-06 9.99998571e-01 -3.53057554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.975769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:73.89, Y:-3.96, Z:-0.35 [[ 9.95564303e-01 9.40685079e-02 1.68375889e-03 7.38868327e+01] [-9.40683845e-02 9.95565726e-01 -1.52492207e-04 -3.95865925e+00] [-1.69063736e-03 -6.57268091e-06 9.99998571e-01 -3.50345811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:73.92, Y:-3.96, Z:-0.35 [[ 9.95329735e-01 9.65188297e-02 1.68376424e-03 7.39157209e+01] [-9.65187099e-02 9.95331159e-01 -1.52433097e-04 -3.96149158e+00] [-1.69061568e-03 -1.07935584e-05 9.99998571e-01 -3.48378988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.035769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:73.94, Y:-3.96, Z:-0.35 [[ 9.95127728e-01 9.85797642e-02 1.68377138e-03 7.39448554e+01] [-9.85796475e-02 9.95129152e-01 -1.52354184e-04 -3.96414097e+00] [-1.69058903e-03 -1.43737161e-05 9.99998571e-01 -3.47697716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.065769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:73.97, Y:-3.97, Z:-0.35 [[ 9.95132376e-01 9.85328315e-02 1.68377857e-03 7.39740736e+01] [-9.85327149e-02 9.95133801e-01 -1.52274768e-04 -3.96669140e+00] [-1.69058903e-03 -1.43737214e-05 9.99998571e-01 -3.47747301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.095769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.00, Y:-3.97, Z:-0.35 [[ 9.94976173e-01 1.00097848e-01 1.68378574e-03 7.40016069e+01] [-1.00097734e-01 9.94977598e-01 -1.52195357e-04 -3.96917406e+00] [-1.69056352e-03 -1.71123827e-05 9.99998571e-01 -3.48266492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.125769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.03, Y:-3.97, Z:-0.35 [[ 9.94745223e-01 1.02367502e-01 1.68379466e-03 7.40292961e+01] [-1.02367391e-01 9.94746648e-01 -1.52096621e-04 -3.97214228e+00] [-1.69051885e-03 -2.10682789e-05 9.99998571e-01 -3.50900437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15576923100001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:74.06, Y:-3.97, Z:-0.35 [[ 9.94634658e-01 1.03436265e-01 1.68380348e-03 7.40579269e+01] [-1.03436156e-01 9.94636083e-01 -1.51998989e-04 -3.97468023e+00] [-1.69049390e-03 -2.29826969e-05 9.99998571e-01 -3.52709940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18576923100001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:74.09, Y:-3.98, Z:-0.35 [[ 9.94664102e-01 1.03152744e-01 1.68381032e-03 7.40862157e+01] [-1.03152634e-01 9.94665527e-01 -1.51923125e-04 -3.97674743e+00] [-1.69049937e-03 -2.25769918e-05 9.99998571e-01 -3.51907583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.98, Z:-0.35 [[ 9.94723409e-01 1.02579257e-01 1.68381778e-03 7.41148897e+01] [-1.02579147e-01 9.94724834e-01 -1.51840357e-04 -3.97892743e+00] [-1.69051104e-03 -2.16854347e-05 9.99998571e-01 -3.54016848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.14, Y:-3.98, Z:-0.36 [[ 9.94925590e-01 1.00599380e-01 1.68382177e-03 7.41429349e+01] [-1.00599267e-01 9.94927015e-01 -1.51796174e-04 -3.98194328e+00] [-1.69055037e-03 -1.83653380e-05 9.99998571e-01 -3.55092774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.275769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.99, Z:-0.35 [[ 9.95065357e-01 9.92073567e-02 1.68383043e-03 7.41719034e+01] [-9.92072420e-02 9.95066782e-01 -1.51700021e-04 -3.98543182e+00] [-1.69057349e-03 -1.60967379e-05 9.99998571e-01 -3.54342590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.20, Y:-3.99, Z:-0.35 [[ 9.95230491e-01 9.75368332e-02 1.68383730e-03 7.42009015e+01] [-9.75367162e-02 9.95231916e-01 -1.51623767e-04 -3.98853826e+00] [-1.69059752e-03 -1.33353647e-05 9.99998571e-01 -3.53080826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.335769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.99, Z:-0.35 [[ 9.95600276e-01 9.36870054e-02 1.68384415e-03 7.42308022e+01] [-9.36868830e-02 9.95601700e-01 -1.51547594e-04 -3.99263565e+00] [-1.69063614e-03 -6.87328384e-06 9.99998571e-01 -3.49733242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:74.26, Y:-4.00, Z:-0.35 [[ 9.95790865e-01 9.16390581e-02 1.68384758e-03 7.42605976e+01] [-9.16389329e-02 9.95792289e-01 -1.51509554e-04 -3.99723102e+00] [-1.69064662e-03 -3.43416525e-06 9.99998571e-01 -3.49635884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.395769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:74.29, Y:-4.01, Z:-0.35 [[ 9.96207876e-01 8.69886972e-02 1.68385102e-03 7.42899512e+01] [-8.69885654e-02 9.96209299e-01 -1.51471237e-04 -4.00529233e+00] [-1.69064433e-03 4.42105401e-06 9.99998571e-01 -3.51793280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.425769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:74.32, Y:-4.01, Z:-0.35 [[ 9.96393115e-01 8.48405813e-02 1.68385459e-03 7.43192317e+01] [-8.48404465e-02 9.96394538e-01 -1.51431542e-04 -4.01098991e+00] [-1.69063106e-03 8.02636996e-06 9.99998571e-01 -3.52719112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.455769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.35, Y:-4.02, Z:-0.35 [[ 9.96537835e-01 8.31234469e-02 1.68385815e-03 7.43486484e+01] [-8.31233098e-02 9.96539258e-01 -1.51391978e-04 -4.01639412e+00] [-1.69061497e-03 1.08999714e-05 9.99998571e-01 -3.53512989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:74.38, Y:-4.03, Z:-0.35 [[ 9.96678837e-01 8.14153596e-02 1.68385991e-03 7.43780992e+01] [-8.14152200e-02 9.96680259e-01 -1.51372387e-04 -4.02530634e+00] [-1.69059397e-03 1.37778296e-05 9.99998571e-01 -3.54202837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.41, Y:-4.03, Z:-0.35 [[ 9.96677728e-01 8.14289325e-02 1.68385991e-03 7.44077365e+01] [-8.14287929e-02 9.96679150e-01 -1.51372387e-04 -4.03104255e+00] [-1.69059416e-03 1.37548069e-05 9.99998571e-01 -3.52856886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.44, Y:-4.04, Z:-0.35 [[ 9.96566918e-01 8.27740469e-02 1.68385991e-03 7.44366237e+01] [-8.27739093e-02 9.96568340e-01 -1.51372387e-04 -4.03893687e+00] [-1.69061118e-03 1.14730457e-05 9.99998571e-01 -3.50147653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:74.47, Y:-4.04, Z:-0.35 [[ 9.96462105e-01 8.40264120e-02 1.68386168e-03 7.44660487e+01] [-8.40262762e-02 9.96463528e-01 -1.51352686e-04 -4.04393488e+00] [-1.69062437e-03 9.32858905e-06 9.99998571e-01 -3.49304811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:74.50, Y:-4.05, Z:-0.35 [[ 9.96335533e-01 8.55141535e-02 1.68386332e-03 7.44964609e+01] [-8.55140199e-02 9.96336956e-01 -1.51334472e-04 -4.04867475e+00] [-1.69063649e-03 6.78599063e-06 9.99998571e-01 -3.48489757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.635769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.53, Y:-4.05, Z:-0.35 [[ 9.96175054e-01 8.73637567e-02 1.68386332e-03 7.45266994e+01] [-8.73636257e-02 9.96176477e-01 -1.51334472e-04 -4.05319680e+00] [-1.69064618e-03 3.64722125e-06 9.99998571e-01 -3.48837648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:74.56, Y:-4.06, Z:-0.35 [[ 9.95926828e-01 9.01494193e-02 1.68386332e-03 7.45566615e+01] [-9.01492922e-02 9.95928252e-01 -1.51334472e-04 -4.05826530e+00] [-1.69064976e-03 -1.08102560e-06 9.99998571e-01 -3.50790093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.695769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.59, Y:-4.06, Z:-0.35 [[ 9.95854884e-01 9.09407149e-02 1.68386332e-03 7.45869998e+01] [-9.09405891e-02 9.95856308e-01 -1.51334472e-04 -4.06171239e+00] [-1.69064837e-03 -2.42434881e-06 9.99998571e-01 -3.51848427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.62, Y:-4.07, Z:-0.35 [[ 9.95767243e-01 9.18953887e-02 1.68386332e-03 7.46163971e+01] [-9.18952642e-02 9.95768667e-01 -1.51334472e-04 -4.06546991e+00] [-1.69064527e-03 -4.04515442e-06 9.99998571e-01 -3.52343764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.755769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.65, Y:-4.07, Z:-0.35 [[ 9.95702518e-01 9.25940608e-02 1.68386132e-03 7.46464331e+01] [-9.25939372e-02 9.95703942e-01 -1.51356744e-04 -4.06867038e+00] [-1.69064209e-03 -5.20905757e-06 9.99998571e-01 -3.51329455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.785769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.68, Y:-4.07, Z:-0.35 [[ 9.95677030e-01 9.28677418e-02 1.68386132e-03 7.46768264e+01] [-9.28676186e-02 9.95678453e-01 -1.51356744e-04 -4.07272328e+00] [-1.69064059e-03 -5.67375700e-06 9.99998571e-01 -3.48921928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.08, Z:-0.35 [[ 9.95720952e-01 9.23956198e-02 1.68385953e-03 7.47068124e+01] [-9.23954960e-02 9.95722376e-01 -1.51376596e-04 -4.07586080e+00] [-1.69064315e-03 -4.85218808e-06 9.99998571e-01 -3.47708429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.845769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.74, Y:-4.08, Z:-0.35 [[ 9.95754562e-01 9.20326933e-02 1.68385776e-03 7.47375947e+01] [-9.20325689e-02 9.95755986e-01 -1.51396278e-04 -4.07902731e+00] [-1.69064485e-03 -4.21622134e-06 9.99998571e-01 -3.47873459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.875769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.08, Z:-0.35 [[ 9.95810590e-01 9.14244721e-02 1.68385776e-03 7.47677258e+01] [-9.14243468e-02 9.95812013e-01 -1.51396278e-04 -4.08181152e+00] [-1.69064711e-03 -3.18357950e-06 9.99998571e-01 -3.49042359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.80, Y:-4.09, Z:-0.35 [[ 9.95894428e-01 9.05066421e-02 1.68385601e-03 7.47980350e+01] [-9.05065154e-02 9.95895852e-01 -1.51415814e-04 -4.08566631e+00] [-1.69064935e-03 -1.60577389e-06 9.99998571e-01 -3.49024581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:74.83, Y:-4.09, Z:-0.35 [[ 9.95960761e-01 8.97737596e-02 1.68385601e-03 7.48285054e+01] [-8.97736319e-02 9.95962184e-01 -1.51415814e-04 -4.08895915e+00] [-1.69065007e-03 -3.61659807e-07 9.99998571e-01 -3.48587672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.86, Y:-4.09, Z:-0.35 [[ 9.96219331e-01 8.68574053e-02 1.68385424e-03 7.48595458e+01] [-8.68572734e-02 9.96220754e-01 -1.51435466e-04 -4.09384300e+00] [-1.69064383e-03 4.60795053e-06 9.99998571e-01 -3.48417013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.89, Y:-4.10, Z:-0.35 [[ 9.96417895e-01 8.45490596e-02 1.68384902e-03 7.48917597e+01] [-8.45489243e-02 9.96419318e-01 -1.51493454e-04 -4.09838373e+00] [-1.69062832e-03 8.58316487e-06 9.99998571e-01 -3.49927807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-4.10, Z:-0.35 [[ 9.96632467e-01 8.19810341e-02 1.68382324e-03 7.49225756e+01] [-8.19808947e-02 9.96633890e-01 -1.51779434e-04 -4.10348818e+00] [-1.69059834e-03 1.32269757e-05 9.99998571e-01 -3.52147852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.055769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.95, Y:-4.11, Z:-0.35 [[ 9.97038462e-01 7.68860813e-02 1.68379951e-03 7.49543644e+01] [-7.68859341e-02 9.97039884e-01 -1.52042231e-04 -4.11215571e+00] [-1.69050520e-03 2.21314534e-05 9.99998571e-01 -3.52134212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.99, Y:-4.12, Z:-0.35 [[ 9.97149700e-01 7.54297064e-02 1.68377389e-03 7.49861184e+01] [-7.54295567e-02 9.97151121e-01 -1.52325445e-04 -4.11771770e+00] [-1.69046689e-03 2.48849541e-05 9.99998571e-01 -3.51948781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.115769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:75.02, Y:-4.12, Z:-0.35 [[ 9.97135753e-01 7.56138541e-02 1.68374728e-03 7.50172843e+01] [-7.56137041e-02 9.97137174e-01 -1.52619078e-04 -4.12419737e+00] [-1.69046712e-03 2.48675709e-05 9.99998571e-01 -3.54390043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.145769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:75.05, Y:-4.13, Z:-0.35 [[ 9.97052803e-01 7.66998875e-02 1.68371880e-03 7.50488314e+01] [-7.66997385e-02 9.97054225e-01 -1.52932619e-04 -4.12809685e+00] [-1.69048885e-03 2.33411049e-05 9.99998571e-01 -3.54765701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.175769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.08, Y:-4.13, Z:-0.36 [[ 9.96920358e-01 7.84025810e-02 1.68369463e-03 7.50800417e+01] [-7.84024340e-02 9.96921780e-01 -1.53198188e-04 -4.13148952e+00] [-1.69052298e-03 2.07206354e-05 9.99998571e-01 -3.55244300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.11, Y:-4.13, Z:-0.36 [[ 9.96535775e-01 8.31481457e-02 1.68367223e-03 7.51102591e+01] [-8.31480052e-02 9.96537197e-01 -1.53444019e-04 -4.13274979e+00] [-1.69060059e-03 1.29184674e-05 9.99998571e-01 -3.55265238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.235769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.14, Y:-4.13, Z:-0.35 [[ 9.96259297e-01 8.63977968e-02 1.68367052e-03 7.51414883e+01] [-8.63976608e-02 9.96260719e-01 -1.53462739e-04 -4.13353902e+00] [-1.69063365e-03 7.42348577e-06 9.99998571e-01 -3.53756655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.17, Y:-4.13, Z:-0.35 [[ 9.95695769e-01 9.26666098e-02 1.68366692e-03 7.51725733e+01] [-9.26664828e-02 9.95697193e-01 -1.53502218e-04 -4.13012990e+00] [-1.69064696e-03 -3.17798276e-06 9.99998571e-01 -3.52609988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.20, Y:-4.13, Z:-0.35 [[ 9.95486488e-01 9.48884429e-02 1.68366692e-03 7.52035077e+01] [-9.48883190e-02 9.95487912e-01 -1.53502218e-04 -4.13016388e+00] [-1.69063566e-03 -6.95094004e-06 9.99998571e-01 -3.52437815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.23, Y:-4.13, Z:-0.35 [[ 9.95202138e-01 9.78257118e-02 1.68366507e-03 7.52339758e+01] [-9.78255920e-02 9.95203562e-01 -1.53522551e-04 -4.12711239e+00] [-1.69060793e-03 -1.19195613e-05 9.99998571e-01 -3.51342507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:75.26, Y:-4.13, Z:-0.35 [[ 9.95187405e-01 9.79754800e-02 1.68366507e-03 7.52636037e+01] [-9.79753604e-02 9.95188829e-01 -1.53522551e-04 -4.12605427e+00] [-1.69060611e-03 -1.21739830e-05 9.99998571e-01 -3.51672850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.29, Y:-4.13, Z:-0.35 [[ 9.95210490e-01 9.77407077e-02 1.68366690e-03 7.52939037e+01] [-9.77405879e-02 9.95211914e-01 -1.53502433e-04 -4.12504269e+00] [-1.69060880e-03 -1.17953617e-05 9.99998571e-01 -3.51817169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.32, Y:-4.12, Z:-0.35 [[ 9.95285501e-01 9.69738942e-02 1.68366510e-03 7.53241241e+01] [-9.69737732e-02 9.95286925e-01 -1.53522188e-04 -4.12055944e+00] [-1.69061751e-03 -1.04729500e-05 9.99998571e-01 -3.51463860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.35, Y:-4.12, Z:-0.35 [[ 9.95309694e-01 9.67252701e-02 1.68366688e-03 7.53538559e+01] [-9.67251489e-02 9.95311118e-01 -1.53502670e-04 -4.12001780e+00] [-1.69061995e-03 -1.00702343e-05 9.99998571e-01 -3.50081212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.475769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.38, Y:-4.12, Z:-0.35 [[ 9.95340592e-01 9.64067969e-02 1.68367049e-03 7.53829851e+01] [-9.64066752e-02 9.95342016e-01 -1.53463075e-04 -4.11931003e+00] [-1.69062286e-03 -9.56904596e-06 9.99998571e-01 -3.48998573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:-4.12, Z:-0.35 [[ 9.95379270e-01 9.60066367e-02 1.68367588e-03 7.54130802e+01] [-9.60065145e-02 9.95380694e-01 -1.53403941e-04 -4.11619276e+00] [-1.69062626e-03 -8.94874965e-06 9.99998571e-01 -3.48554528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.44, Y:-4.12, Z:-0.35 [[ 9.95378490e-01 9.60147179e-02 1.68367932e-03 7.54414322e+01] [-9.60145958e-02 9.95379914e-01 -1.53366156e-04 -4.11588075e+00] [-1.69062599e-03 -9.00041681e-06 9.99998571e-01 -3.49162629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.47, Y:-4.11, Z:-0.35 [[ 9.95295495e-01 9.68712643e-02 1.68368445e-03 7.54714647e+01] [-9.68711436e-02 9.95296920e-01 -1.53309794e-04 -4.11200637e+00] [-1.69061726e-03 -1.05118908e-05 9.99998571e-01 -3.50391109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.595769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:75.50, Y:-4.11, Z:-0.35 [[ 9.95240824e-01 9.74313440e-02 1.68368802e-03 7.55000801e+01] [-9.74312241e-02 9.95242248e-01 -1.53270629e-04 -4.11017686e+00] [-1.69061081e-03 -1.15025970e-05 9.99998571e-01 -3.50651402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.625769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.53, Y:-4.11, Z:-0.35 [[ 9.95255920e-01 9.72770230e-02 1.68369182e-03 7.55282128e+01] [-9.72769030e-02 9.95257344e-01 -1.53228793e-04 -4.10755506e+00] [-1.69061229e-03 -1.12824632e-05 9.99998571e-01 -3.50217733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:-4.10, Z:-0.35 [[ 9.95565874e-01 9.40518797e-02 1.68370029e-03 7.55573795e+01] [-9.40517552e-02 9.95567298e-01 -1.53135678e-04 -4.10290223e+00] [-1.69063965e-03 -5.89831275e-06 9.99998571e-01 -3.49781753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.59, Y:-4.10, Z:-0.35 [[ 9.95868616e-01 9.07902226e-02 1.68370731e-03 7.55864685e+01] [-9.07900936e-02 9.95870039e-01 -1.53058516e-04 -4.10332409e+00] [-1.69064988e-03 -4.37771367e-07 9.99998571e-01 -3.50454141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.62, Y:-4.10, Z:-0.35 [[ 9.96172233e-01 8.73959219e-02 1.68371254e-03 7.56164897e+01] [-8.73957881e-02 9.96173656e-01 -1.53000946e-04 -4.10455493e+00] [-1.69064173e-03 5.26590919e-06 9.99998571e-01 -3.51562704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.65, Y:-4.10, Z:-0.35 [[ 9.96717547e-01 8.09400834e-02 1.68371605e-03 7.56451125e+01] [-8.09399405e-02 9.96718969e-01 -1.52962353e-04 -4.10372804e+00] [-1.69057251e-03 1.61803843e-05 9.99998571e-01 -3.54427256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.775769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.67, Y:-4.11, Z:-0.35 [[ 9.96948443e-01 7.80446542e-02 1.68372128e-03 7.56749637e+01] [-7.80445072e-02 9.96949864e-01 -1.52904747e-04 -4.10527937e+00] [-1.69051910e-03 2.10329518e-05 9.99998571e-01 -3.54728623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.11, Z:-0.35 [[ 9.97391003e-01 7.21689159e-02 1.68372481e-03 7.57032506e+01] [-7.21687607e-02 9.97392424e-01 -1.52865789e-04 -4.10713733e+00] [-1.69036653e-03 3.09546294e-05 9.99998571e-01 -3.53303223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.73, Y:-4.11, Z:-0.35 [[ 9.97601558e-01 6.91975229e-02 1.68373009e-03 7.57332465e+01] [-6.91973635e-02 9.97602978e-01 -1.52807696e-04 -4.10960835e+00] [-1.69026806e-03 3.59315128e-05 9.99998571e-01 -3.52949372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.76, Y:-4.11, Z:-0.35 [[ 9.97824678e-01 6.59020258e-02 1.68373347e-03 7.57623469e+01] [-6.59018618e-02 9.97826098e-01 -1.52770440e-04 -4.11154370e+00] [-1.69014108e-03 4.14769452e-05 9.99998571e-01 -3.50455105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:-4.11, Z:-0.35 [[ 9.97839220e-01 6.56814712e-02 1.68373852e-03 7.57908484e+01] [-6.56813069e-02 9.97840640e-01 -1.52714742e-04 -4.11309240e+00] [-1.69013325e-03 4.17946122e-05 9.99998571e-01 -3.48339409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:-4.11, Z:-0.35 [[ 9.97810841e-01 6.61111996e-02 1.68374188e-03 7.58200429e+01] [-6.61110360e-02 9.97812261e-01 -1.52677683e-04 -4.11487991e+00] [-1.69015200e-03 4.10295271e-05 9.99998571e-01 -3.48549450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.85, Y:-4.12, Z:-0.35 [[ 9.97730667e-01 6.73103345e-02 1.68374525e-03 7.58497040e+01] [-6.73101727e-02 9.97732087e-01 -1.52640460e-04 -4.11502236e+00] [-1.69020095e-03 3.89608846e-05 9.99998571e-01 -3.54865060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.88, Y:-4.12, Z:-0.35 [[ 9.97732234e-01 6.72870990e-02 1.68374880e-03 7.58797487e+01] [-6.72869372e-02 9.97733654e-01 -1.52601353e-04 -4.11770088e+00] [-1.69020094e-03 3.89609894e-05 9.99998571e-01 -3.54916058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:-4.12, Z:-0.36 [[ 9.97683773e-01 6.80018657e-02 1.68375235e-03 7.59089309e+01] [-6.80017050e-02 9.97685193e-01 -1.52562141e-04 -4.11906999e+00] [-1.69022930e-03 3.77107421e-05 9.99998571e-01 -3.57246715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.94, Y:-4.12, Z:-0.36 [[ 9.97619185e-01 6.89429170e-02 1.68375589e-03 7.59390617e+01] [-6.89427577e-02 9.97620606e-01 -1.52523045e-04 -4.11999217e+00] [-1.69026496e-03 3.60771409e-05 9.99998571e-01 -3.57767121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:-4.12, Z:-0.36 [[ 9.97652858e-01 6.84539290e-02 1.68375943e-03 7.59685306e+01] [-6.84537691e-02 9.97654278e-01 -1.52483961e-04 -4.12255890e+00] [-1.69024793e-03 3.68663800e-05 9.99998571e-01 -3.57076879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.00, Y:-4.13, Z:-0.36 [[ 9.97726202e-01 6.73764895e-02 1.68376306e-03 7.59970068e+01] [-6.73763281e-02 9.97727622e-01 -1.52443868e-04 -4.12550008e+00] [-1.69020805e-03 3.86514691e-05 9.99998571e-01 -3.57677333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-4.13, Z:-0.36 [[ 9.97802397e-01 6.62385172e-02 1.68376846e-03 7.60267052e+01] [-6.62383543e-02 9.97803817e-01 -1.52384234e-04 -4.12884817e+00] [-1.69016430e-03 4.05193027e-05 9.99998571e-01 -3.57563607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:-4.13, Z:-0.36 [[ 9.97891292e-01 6.48855492e-02 1.68377205e-03 7.60547297e+01] [-6.48853844e-02 9.97892712e-01 -1.52344577e-04 -4.13335097e+00] [-1.69010881e-03 4.27711303e-05 9.99998571e-01 -3.57069225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-4.14, Z:-0.36 [[ 9.97888793e-01 6.49239621e-02 1.68377740e-03 7.60842045e+01] [-6.49237975e-02 9.97890213e-01 -1.52285337e-04 -4.13710458e+00] [-1.69011196e-03 4.26466085e-05 9.99998571e-01 -3.56449830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-4.14, Z:-0.36 [[ 9.97750977e-01 6.70085954e-02 1.68378093e-03 7.61129005e+01] [-6.70084338e-02 9.97752397e-01 -1.52246309e-04 -4.14285760e+00] [-1.69019827e-03 3.90763808e-05 9.99998571e-01 -3.56338639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-4.15, Z:-0.36 [[ 9.97626366e-01 6.88389265e-02 1.68378621e-03 7.61415212e+01] [-6.88387677e-02 9.97627787e-01 -1.52187903e-04 -4.14654499e+00] [-1.69026836e-03 3.59168967e-05 9.99998571e-01 -3.56339562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:-4.15, Z:-0.36 [[ 9.97499989e-01 7.06465622e-02 1.68379146e-03 7.61705680e+01] [-7.06464060e-02 9.97501410e-01 -1.52129839e-04 -4.14997734e+00] [-1.69033180e-03 3.27956981e-05 9.99998571e-01 -3.56799982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:-4.15, Z:-0.36 [[ 9.97248032e-01 7.41183382e-02 1.68379495e-03 7.61986516e+01] [-7.41181870e-02 9.97249453e-01 -1.52091177e-04 -4.15400258e+00] [-1.69043634e-03 2.68727978e-05 9.99998571e-01 -3.59582938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:-4.16, Z:-0.36 [[ 9.97149506e-01 7.54322703e-02 1.68380016e-03 7.62276324e+01] [-7.54321211e-02 9.97150927e-01 -1.52033518e-04 -4.15775539e+00] [-1.69047112e-03 2.45875303e-05 9.99998571e-01 -3.61308995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-4.16, Z:-0.36 [[ 9.97068608e-01 7.64941535e-02 1.68380362e-03 7.62561818e+01] [-7.64940058e-02 9.97070030e-01 -1.51995158e-04 -4.16174521e+00] [-1.69049687e-03 2.27487172e-05 9.99998571e-01 -3.58870529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-4.16, Z:-0.35 [[ 9.97064550e-01 7.65470366e-02 1.68380878e-03 7.62856649e+01] [-7.65468891e-02 9.97065971e-01 -1.51937918e-04 -4.16425180e+00] [-1.69049884e-03 2.26015873e-05 9.99998571e-01 -3.54551034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:-4.17, Z:-0.35 [[ 9.97007576e-01 7.72855575e-02 1.68381220e-03 7.63145478e+01] [-7.72854111e-02 9.97008998e-01 -1.51900055e-04 -4.16698755e+00] [-1.69051560e-03 2.13113870e-05 9.99998571e-01 -3.48849287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-4.17, Z:-0.35 [[ 9.96986249e-01 7.75601923e-02 1.68381730e-03 7.63425848e+01] [-7.75600465e-02 9.96987671e-01 -1.51843496e-04 -4.16989677e+00] [-1.69052210e-03 2.07889291e-05 9.99998571e-01 -3.48571577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:-4.17, Z:-0.35 [[ 9.96973214e-01 7.77275728e-02 1.68382235e-03 7.63724191e+01] [-7.77274273e-02 9.96974636e-01 -1.51787434e-04 -4.17304250e+00] [-1.69052625e-03 2.04488267e-05 9.99998571e-01 -3.49826426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:-4.18, Z:-0.35 [[ 9.96898544e-01 7.86794599e-02 1.68382571e-03 7.64022963e+01] [-7.86793158e-02 9.96899966e-01 -1.51750210e-04 -4.17518922e+00] [-1.69054542e-03 1.87973089e-05 9.99998571e-01 -3.50655586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-4.18, Z:-0.35 [[ 9.96826329e-01 7.95891572e-02 1.68382906e-03 7.64318549e+01] [-7.95890145e-02 9.96827751e-01 -1.51713025e-04 -4.17713138e+00] [-1.69056225e-03 1.72172422e-05 9.99998571e-01 -3.50754348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:-4.18, Z:-0.35 [[ 9.96619934e-01 8.21332605e-02 1.68383252e-03 7.64610553e+01] [-8.21331215e-02 9.96621356e-01 -1.51674608e-04 -4.17851247e+00] [-1.69060098e-03 1.28635166e-05 9.99998571e-01 -3.51185819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:-4.18, Z:-0.35 [[ 9.96529889e-01 8.32186543e-02 1.68383940e-03 7.64896587e+01] [-8.32185169e-02 9.96531312e-01 -1.51598176e-04 -4.18111559e+00] [-1.69061448e-03 1.09454957e-05 9.99998571e-01 -3.52911031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-4.19, Z:-0.36 [[ 9.96526352e-01 8.32610064e-02 1.68384454e-03 7.65173174e+01] [-8.32608692e-02 9.96527774e-01 -1.51541048e-04 -4.18529454e+00] [-1.69061531e-03 1.08162878e-05 9.99998571e-01 -3.55386681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-4.19, Z:-0.36 [[ 9.96596264e-01 8.24199714e-02 1.68385272e-03 7.65471988e+01] [-8.24198332e-02 9.96597686e-01 -1.51450176e-04 -4.18868802e+00] [-1.69060624e-03 1.21518194e-05 9.99998571e-01 -3.56098262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-4.19, Z:-0.36 [[ 9.96674978e-01 8.14625842e-02 1.68385598e-03 7.65756151e+01] [-8.14624446e-02 9.96676400e-01 -1.51413859e-04 -4.19158282e+00] [-1.69059408e-03 1.37393803e-05 9.99998571e-01 -3.56460022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.19, Z:-0.36 [[ 9.96710295e-01 8.10293290e-02 1.68385943e-03 7.66044374e+01] [-8.10291889e-02 9.96711717e-01 -1.51375485e-04 -4.19422214e+00] [-1.69058828e-03 1.44357402e-05 9.99998571e-01 -3.55410688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:-4.20, Z:-0.36 [[ 9.96684472e-01 8.13463403e-02 1.68386611e-03 7.66335306e+01] [-8.13462008e-02 9.96685895e-01 -1.51301178e-04 -4.19673193e+00] [-1.69059340e-03 1.38234240e-05 9.99998571e-01 -3.55505321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.20, Z:-0.36 [[ 9.96649832e-01 8.17696525e-02 1.68387278e-03 7.66627514e+01] [-8.17695137e-02 9.96651255e-01 -1.51226928e-04 -4.19897182e+00] [-1.69059969e-03 1.30308347e-05 9.99998571e-01 -3.55154869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:-4.20, Z:-0.35 [[ 9.96639216e-01 8.18989488e-02 1.68387621e-03 7.66922121e+01] [-8.18988103e-02 9.96640638e-01 -1.51188656e-04 -4.20098023e+00] [-1.69060166e-03 1.27730854e-05 9.99998571e-01 -3.54458422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.20, Z:-0.35 [[ 9.96544206e-01 8.30470337e-02 1.68387976e-03 7.67212282e+01] [-8.30468969e-02 9.96545629e-01 -1.51149171e-04 -4.20385519e+00] [-1.69061550e-03 1.07858425e-05 9.99998571e-01 -3.54236086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-4.21, Z:-0.35 [[ 9.96421363e-01 8.45081746e-02 1.68388393e-03 7.67503464e+01] [-8.45080399e-02 9.96422786e-01 -1.51102703e-04 -4.20579808e+00] [-1.69062973e-03 8.26023099e-06 9.99998571e-01 -3.53516622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-4.21, Z:-0.35 [[ 9.96287510e-01 8.60718370e-02 1.68388755e-03 7.67789141e+01] [-8.60717046e-02 9.96288933e-01 -1.51062276e-04 -4.20674777e+00] [-1.69064074e-03 5.56638690e-06 9.99998571e-01 -3.54389991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:-4.21, Z:-0.36 [[ 9.96179472e-01 8.73133699e-02 1.68389294e-03 7.68080905e+01] [-8.73132394e-02 9.96180895e-01 -1.51002167e-04 -4.20721433e+00] [-1.69064649e-03 3.39911095e-06 9.99998571e-01 -3.55363095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:-4.21, Z:-0.36 [[ 9.96157744e-01 8.75609142e-02 1.68390009e-03 7.68364464e+01] [-8.75607842e-02 9.96159167e-01 -1.50922386e-04 -4.20769775e+00] [-1.69064742e-03 2.89889034e-06 9.99998571e-01 -3.56510788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-4.21, Z:-0.36 [[ 9.96257479e-01 8.64187515e-02 1.68390897e-03 7.68652816e+01] [-8.64186200e-02 9.96258902e-01 -1.50823281e-04 -4.21030771e+00] [-1.69064326e-03 4.73773241e-06 9.99998571e-01 -3.55084007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:-4.21, Z:-0.35 [[ 9.96556665e-01 8.28973933e-02 1.68391605e-03 7.68934961e+01] [-8.28972570e-02 9.96558088e-01 -1.50744215e-04 -4.21366248e+00] [-1.69061646e-03 1.06331306e-05 9.99998571e-01 -3.53890116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:-4.22, Z:-0.35 [[ 9.96716967e-01 8.09472200e-02 1.68392133e-03 7.69219875e+01] [-8.09470810e-02 9.96718389e-01 -1.50685145e-04 -4.21750688e+00] [-1.69059290e-03 1.38819244e-05 9.99998571e-01 -3.54288738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.22, Z:-0.35 [[ 9.96891951e-01 7.87629548e-02 1.68392642e-03 7.69501070e+01] [-7.87628127e-02 9.96893373e-01 -1.50628325e-04 -4.22191900e+00] [-1.69055902e-03 1.75293834e-05 9.99998571e-01 -3.54752985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.98, Y:-4.23, Z:-0.35 [[ 9.97037986e-01 7.68922554e-02 1.68393145e-03 7.69793951e+01] [-7.68921107e-02 9.97039408e-01 -1.50572003e-04 -4.22680682e+00] [-1.69052384e-03 2.06449626e-05 9.99998571e-01 -3.54838460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.23, Z:-0.35 [[ 9.97177388e-01 7.50627872e-02 1.68393480e-03 7.70087684e+01] [-7.50626400e-02 9.97178809e-01 -1.50534584e-04 -4.23312710e+00] [-1.69048364e-03 2.37090919e-05 9.99998571e-01 -3.52909345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.04, Y:-4.24, Z:-0.35 [[ 9.97128604e-01 7.57080693e-02 1.68393826e-03 7.70377569e+01] [-7.57079231e-02 9.97130025e-01 -1.50495885e-04 -4.23870143e+00] [-1.69049915e-03 2.25762833e-05 9.99998571e-01 -3.52280943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.24, Z:-0.35 [[ 9.97070259e-01 7.64726287e-02 1.68394180e-03 7.70658934e+01] [-7.64724837e-02 9.97071681e-01 -1.50456234e-04 -4.24291938e+00] [-1.69051646e-03 2.12402246e-05 9.99998571e-01 -3.54134057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:-4.25, Z:-0.36 [[ 9.97012287e-01 7.72247561e-02 1.68394709e-03 7.70948798e+01] [-7.72246123e-02 9.97013709e-01 -1.50396968e-04 -4.24716276e+00] [-1.69053271e-03 1.99054641e-05 9.99998571e-01 -3.57115523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:-4.25, Z:-0.36 [[ 9.96917340e-01 7.84409425e-02 1.68395060e-03 7.71239880e+01] [-7.84408004e-02 9.96918762e-01 -1.50357695e-04 -4.25335214e+00] [-1.69055615e-03 1.78037609e-05 9.99998571e-01 -3.59898196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:-4.26, Z:-0.36 [[ 9.96904423e-01 7.86049401e-02 1.68395234e-03 7.71536582e+01] [-7.86047983e-02 9.96905845e-01 -1.50338190e-04 -4.25827690e+00] [-1.69055925e-03 1.75060726e-05 9.99998571e-01 -3.59069807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:-4.26, Z:-0.36 [[ 9.96908366e-01 7.85549079e-02 1.68395401e-03 7.71838361e+01] [-7.85547660e-02 9.96909788e-01 -1.50319527e-04 -4.26332269e+00] [-1.69055857e-03 1.75721813e-05 9.99998571e-01 -3.57405664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-4.27, Z:-0.36 [[ 9.96889748e-01 7.87908237e-02 1.68395401e-03 7.72133143e+01] [-7.87906822e-02 9.96891170e-01 -1.50319527e-04 -4.26891195e+00] [-1.69056268e-03 1.71721106e-05 9.99998571e-01 -3.56335819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-4.27, Z:-0.36 [[ 9.96816750e-01 7.97090450e-02 1.68395760e-03 7.72422091e+01] [-7.97089049e-02 9.96818172e-01 -1.50279235e-04 -4.27203686e+00] [-1.69057815e-03 1.55744425e-05 9.99998571e-01 -3.55673809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.27, Y:-4.28, Z:-0.35 [[ 9.96544992e-01 8.30375991e-02 1.68396299e-03 7.72712390e+01] [-8.30374638e-02 9.96546415e-01 -1.50218794e-04 -4.27546944e+00] [-1.69062109e-03 9.86777046e-06 9.99998571e-01 -3.53258822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.30, Y:-4.28, Z:-0.35 [[ 9.96390808e-01 8.48676760e-02 1.68396649e-03 7.73003886e+01] [-8.48675434e-02 9.96392231e-01 -1.50179614e-04 -4.27832351e+00] [-1.69063652e-03 6.72348827e-06 9.99998571e-01 -3.51514225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-4.28, Z:-0.35 [[ 9.96223087e-01 8.68143111e-02 1.68396998e-03 7.73292211e+01] [-8.68141813e-02 9.96224511e-01 -1.50140502e-04 -4.28042244e+00] [-1.69064651e-03 3.38095951e-06 9.99998571e-01 -3.50292687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:-4.28, Z:-0.35 [[ 9.95925610e-01 9.01628690e-02 1.68397519e-03 7.73588975e+01] [-9.01627441e-02 9.95927034e-01 -1.50082037e-04 -4.27971040e+00] [-1.69064824e-03 -2.36127927e-06 9.99998571e-01 -3.51357194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.28, Z:-0.35 [[ 9.95783056e-01 9.17238809e-02 1.68397875e-03 7.73878355e+01] [-9.17237584e-02 9.95784480e-01 -1.50042076e-04 -4.28055355e+00] [-1.69064234e-03 -5.05150249e-06 9.99998571e-01 -3.54583978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:-4.28, Z:-0.36 [[ 9.95524824e-01 9.44853927e-02 1.68398407e-03 7.74166357e+01] [-9.44852742e-02 9.95526248e-01 -1.49982327e-04 -4.27957726e+00] [-1.69062148e-03 -9.80056664e-06 9.99998571e-01 -3.59961208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:-4.28, Z:-0.36 [[ 9.95434830e-01 9.54288344e-02 1.68399115e-03 7.74453692e+01] [-9.54287174e-02 9.95436255e-01 -1.49902785e-04 -4.28062238e+00] [-1.69061089e-03 -1.14826619e-05 9.99998571e-01 -3.59758169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:-4.28, Z:-0.36 [[ 9.95352239e-01 9.62864727e-02 1.68399820e-03 7.74753007e+01] [-9.62863570e-02 9.95353663e-01 -1.49823573e-04 -4.28157903e+00] [-1.69059976e-03 -1.30188231e-05 9.99998571e-01 -3.57259168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.28, Z:-0.35 [[ 9.95197669e-01 9.78711607e-02 1.68400169e-03 7.75035455e+01] [-9.78710473e-02 9.95199093e-01 -1.49784239e-04 -4.27993969e+00] [-1.69057652e-03 -1.57500838e-05 9.99998571e-01 -3.53553617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-4.28, Z:-0.35 [[ 9.95138568e-01 9.84702771e-02 1.68401039e-03 7.75320678e+01] [-9.84701648e-02 9.95139992e-01 -1.49686421e-04 -4.27971718e+00] [-1.69056575e-03 -1.68660497e-05 9.99998571e-01 -3.54143489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.28, Z:-0.36 [[ 9.95134053e-01 9.85158893e-02 1.68401732e-03 7.75606232e+01] [-9.85157771e-02 9.95135478e-01 -1.49608447e-04 -4.27779000e+00] [-1.69056419e-03 -1.70218140e-05 9.99998571e-01 -3.58334912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:-4.28, Z:-0.36 [[ 9.95249176e-01 9.73459878e-02 1.68402590e-03 7.75899731e+01] [-9.73458741e-02 9.95250601e-01 -1.49511744e-04 -4.27873826e+00] [-1.69058216e-03 -1.51315331e-05 9.99998571e-01 -3.60460042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.28, Z:-0.36 [[ 9.95426948e-01 9.55110221e-02 1.68403717e-03 7.76191422e+01] [-9.55109061e-02 9.95428372e-01 -1.49384711e-04 -4.28005767e+00] [-1.69060627e-03 -1.21423486e-05 9.99998571e-01 -3.60716064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.65, Y:-4.28, Z:-0.36 [[ 9.95912548e-01 9.03070394e-02 1.68404416e-03 7.76480934e+01] [-9.03069161e-02 9.95913971e-01 -1.49305927e-04 -4.28052249e+00] [-1.69064648e-03 -3.38518823e-06 9.99998571e-01 -3.58809401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.28, Z:-0.36 [[ 9.96169936e-01 8.74220889e-02 1.68405112e-03 7.76765989e+01] [-8.74219615e-02 9.96171360e-01 -1.49227282e-04 -4.28224551e+00] [-1.69064926e-03 1.43267987e-06 9.99998571e-01 -3.56821009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-4.28, Z:-0.36 [[ 9.96174032e-01 8.73754113e-02 1.68405811e-03 7.77058210e+01] [-8.73752840e-02 9.96175455e-01 -1.49148356e-04 -4.28474181e+00] [-1.69064926e-03 1.43266320e-06 9.99998571e-01 -3.56870595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.73, Y:-4.29, Z:-0.35 [[ 9.96669942e-01 8.15241734e-02 1.68406510e-03 7.77340961e+01] [-8.15240379e-02 9.96671365e-01 -1.49069446e-04 -4.28786574e+00] [-1.69061222e-03 1.12812491e-05 9.99998571e-01 -3.54269109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.76, Y:-4.29, Z:-0.35 [[ 9.96897489e-01 7.86928270e-02 1.68406884e-03 7.77627300e+01] [-7.86926875e-02 9.96898911e-01 -1.49027162e-04 -4.29132482e+00] [-1.69057376e-03 1.60409004e-05 9.99998571e-01 -3.53743014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-4.29, Z:-0.35 [[ 9.97072803e-01 7.64394487e-02 1.68407385e-03 7.77921215e+01] [-7.64393061e-02 9.97074225e-01 -1.48970501e-04 -4.29477728e+00] [-1.69053386e-03 1.98049981e-05 9.99998571e-01 -3.52948039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-4.30, Z:-0.35 [[ 9.97291549e-01 7.35304737e-02 1.68407736e-03 7.78208271e+01] [-7.35303270e-02 9.97292970e-01 -1.48930801e-04 -4.29948133e+00] [-1.69046947e-03 2.46966695e-05 9.99998571e-01 -3.51426866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-4.30, Z:-0.35 [[ 9.97353857e-01 7.26804514e-02 1.68408133e-03 7.78500431e+01] [-7.26803036e-02 9.97355278e-01 -1.48885903e-04 -4.30350914e+00] [-1.69044850e-03 2.60923865e-05 9.99998571e-01 -3.51686318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:-4.31, Z:-0.35 [[ 9.97387171e-01 7.22218517e-02 1.68408490e-03 7.78780191e+01] [-7.22217034e-02 9.97388592e-01 -1.48845582e-04 -4.30734270e+00] [-1.69043697e-03 2.68291942e-05 9.99998571e-01 -3.53011576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.91, Y:-4.31, Z:-0.36 [[ 9.97486262e-01 7.08401150e-02 1.68409020e-03 7.79067209e+01] [-7.08399648e-02 9.97487683e-01 -1.48785575e-04 -4.31278491e+00] [-1.69039922e-03 2.91106766e-05 9.99998571e-01 -3.56148646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.94, Y:-4.32, Z:-0.36 [[ 9.97531678e-01 7.01976919e-02 1.68409540e-03 7.79358890e+01] [-7.01975408e-02 9.97533099e-01 -1.48726690e-04 -4.31739084e+00] [-1.69038117e-03 3.01402286e-05 9.99998571e-01 -3.57297162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:-4.33, Z:-0.36 [[ 9.97633310e-01 6.87382137e-02 1.68409885e-03 7.79643885e+01] [-6.87380606e-02 9.97634731e-01 -1.48687598e-04 -4.32549858e+00] [-1.69033602e-03 3.25740118e-05 9.99998571e-01 -3.60006364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.99, Y:-4.33, Z:-0.36 [[ 9.97691556e-01 6.78875735e-02 1.68410056e-03 7.79945721e+01] [-6.78874192e-02 9.97692977e-01 -1.48668184e-04 -4.33153830e+00] [-1.69030803e-03 3.39957504e-05 9.99998571e-01 -3.60630260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:-4.34, Z:-0.36 [[ 9.97736162e-01 6.72288257e-02 1.68410056e-03 7.80247537e+01] [-6.72286705e-02 9.97737583e-01 -1.48668184e-04 -4.33746451e+00] [-1.69028521e-03 3.51117810e-05 9.99998571e-01 -3.60749634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-4.35, Z:-0.36 [[ 9.97776105e-01 6.66333891e-02 1.68410056e-03 7.80533632e+01] [-6.66332330e-02 9.97777525e-01 -1.48668184e-04 -4.34664800e+00] [-1.69026396e-03 3.61204957e-05 9.99998571e-01 -3.58724758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-4.35, Z:-0.36 [[ 9.97753281e-01 6.69742754e-02 1.68410231e-03 7.80838276e+01] [-6.69741198e-02 9.97754702e-01 -1.48648432e-04 -4.35269716e+00] [-1.69027662e-03 3.55231909e-05 9.99998571e-01 -3.57943519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:-4.36, Z:-0.36 [[ 9.97656281e-01 6.84040132e-02 1.68410231e-03 7.81129197e+01] [-6.84038597e-02 9.97657702e-01 -1.48648432e-04 -4.36117996e+00] [-1.69032579e-03 3.31009436e-05 9.99998571e-01 -3.59951355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-4.37, Z:-0.36 [[ 9.97584817e-01 6.94384437e-02 1.68410403e-03 7.81433091e+01] [-6.94382917e-02 9.97586238e-01 -1.48628914e-04 -4.36700016e+00] [-1.69035956e-03 3.13286412e-05 9.99998571e-01 -3.61050907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-4.37, Z:-0.36 [[ 9.97473460e-01 7.10201471e-02 1.68410403e-03 7.81734588e+01] [-7.10199974e-02 9.97474881e-01 -1.48628914e-04 -4.37331001e+00] [-1.69040711e-03 2.86483334e-05 9.99998571e-01 -3.62018415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.20, Y:-4.38, Z:-0.36 [[ 9.97218800e-01 7.45106007e-02 1.68410403e-03 7.82026844e+01] [-7.45104559e-02 9.97220221e-01 -1.48628914e-04 -4.38306551e+00] [-1.69049702e-03 2.27321883e-05 9.99998571e-01 -3.64412418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.23, Y:-4.39, Z:-0.36 [[ 9.97078895e-01 7.63599456e-02 1.68410232e-03 7.82326031e+01] [-7.63598034e-02 9.97080317e-01 -1.48648258e-04 -4.38835879e+00] [-1.69053605e-03 1.96163188e-05 9.99998571e-01 -3.63984558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:-4.39, Z:-0.36 [[ 9.96723033e-01 8.08724881e-02 1.68410063e-03 7.82625744e+01] [-8.08723523e-02 9.96724456e-01 -1.48667479e-04 -4.39498615e+00] [-1.69060739e-03 1.19831216e-05 9.99998571e-01 -3.58780610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:-4.40, Z:-0.36 [[ 9.96538821e-01 8.31116275e-02 1.68410063e-03 7.82938481e+01] [-8.31114950e-02 9.96540244e-01 -1.48667479e-04 -4.39851984e+00] [-1.69063004e-03 8.18479367e-06 9.99998571e-01 -3.56889938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.32, Y:-4.40, Z:-0.36 [[ 9.96076263e-01 8.84830046e-02 1.68409723e-03 7.83240177e+01] [-8.84828797e-02 9.96077687e-01 -1.48705994e-04 -4.40018163e+00] [-1.69064962e-03 -8.91261143e-07 9.99998571e-01 -3.56784178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.35, Y:-4.40, Z:-0.36 [[ 9.95809711e-01 9.14340342e-02 1.68409553e-03 7.83548454e+01] [-9.14339134e-02 9.95811135e-01 -1.48725137e-04 -4.40136293e+00] [-1.69063963e-03 -5.88150995e-06 9.99998571e-01 -3.58894803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.565769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.39, Y:-4.40, Z:-0.36 [[ 9.95537025e-01 9.43567515e-02 1.68409553e-03 7.83856478e+01] [-9.43566349e-02 9.95538449e-01 -1.48725137e-04 -4.40292992e+00] [-1.69061508e-03 -1.08442075e-05 9.99998571e-01 -3.61786008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:-4.40, Z:-0.36 [[ 9.95346935e-01 9.63412802e-02 1.68409553e-03 7.84159343e+01] [-9.63411665e-02 9.95348360e-01 -1.48725137e-04 -4.40389852e+00] [-1.69059010e-03 -1.42146193e-05 9.99998571e-01 -3.63559384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:-4.40, Z:-0.36 [[ 9.95222764e-01 9.76156482e-02 1.68409553e-03 7.84452210e+01] [-9.76155363e-02 9.95224188e-01 -1.48725137e-04 -4.40183443e+00] [-1.69057051e-03 -1.63792473e-05 9.99998571e-01 -3.60717720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:-4.40, Z:-0.36 [[ 9.95266756e-01 9.71660854e-02 1.68409886e-03 7.84747921e+01] [-9.71659729e-02 9.95268181e-01 -1.48687437e-04 -4.40173078e+00] [-1.69057739e-03 -1.56534417e-05 9.99998571e-01 -3.58485489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.50, Y:-4.40, Z:-0.36 [[ 9.95390777e-01 9.58872487e-02 1.68410215e-03 7.85041766e+01] [-9.58871344e-02 9.95392202e-01 -1.48650151e-04 -4.40038407e+00] [-1.69059581e-03 -1.35187404e-05 9.99998571e-01 -3.60469806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-4.40, Z:-0.36 [[ 9.95460233e-01 9.51634782e-02 1.68410708e-03 7.85339755e+01] [-9.51633630e-02 9.95461658e-01 -1.48594379e-04 -4.40145868e+00] [-1.69060478e-03 -1.23454982e-05 9.99998571e-01 -3.61936923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-4.40, Z:-0.36 [[ 9.95479135e-01 9.49655466e-02 1.68411034e-03 7.85632275e+01] [-9.49654312e-02 9.95480560e-01 -1.48557417e-04 -4.40249187e+00] [-1.69060694e-03 -1.20464550e-05 9.99998571e-01 -3.62496695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:-4.40, Z:-0.36 [[ 9.95477252e-01 9.49852807e-02 1.68411362e-03 7.85916259e+01] [-9.49851654e-02 9.95478677e-01 -1.48520196e-04 -4.40125332e+00] [-1.69060643e-03 -1.21173336e-05 9.99998571e-01 -3.60325597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-4.40, Z:-0.36 [[ 9.95474188e-01 9.50173928e-02 1.68411851e-03 7.86207327e+01] [-9.50172776e-02 9.95475612e-01 -1.48464719e-04 -4.40170585e+00] [-1.69060563e-03 -1.22275605e-05 9.99998571e-01 -3.59152429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:-4.40, Z:-0.36 [[ 9.95473892e-01 9.50204922e-02 1.68412333e-03 7.86503039e+01] [-9.50203771e-02 9.95475317e-01 -1.48410052e-04 -4.40095273e+00] [-1.69060520e-03 -1.22877011e-05 9.99998571e-01 -3.59007941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:-4.40, Z:-0.36 [[ 9.95514253e-01 9.45967007e-02 1.68412651e-03 7.86804564e+01] [-9.45965851e-02 9.95515677e-01 -1.48373950e-04 -4.40240426e+00] [-1.69061003e-03 -1.16042348e-05 9.99998571e-01 -3.61523703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.71, Y:-4.40, Z:-0.36 [[ 9.95583078e-01 9.38695795e-02 1.68412809e-03 7.87098473e+01] [-9.38694628e-02 9.95584503e-01 -1.48355994e-04 -4.40420785e+00] [-1.69061794e-03 -1.03874820e-05 9.99998571e-01 -3.64045963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:-4.41, Z:-0.36 [[ 9.95761335e-01 9.19593829e-02 1.68413125e-03 7.87391120e+01] [-9.19592635e-02 9.95762759e-01 -1.48320106e-04 -4.40540786e+00] [-1.69063460e-03 -7.18004286e-06 9.99998571e-01 -3.63905165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.77, Y:-4.41, Z:-0.36 [[ 9.95798484e-01 9.15562301e-02 1.68413440e-03 7.87677651e+01] [-9.15561102e-02 9.95799908e-01 -1.48284334e-04 -4.40754772e+00] [-1.69063723e-03 -6.53147954e-06 9.99998571e-01 -3.61699559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.80, Y:-4.41, Z:-0.36 [[ 9.95798684e-01 9.15540553e-02 1.68413911e-03 7.87976705e+01] [-9.15539355e-02 9.95800108e-01 -1.48230791e-04 -4.40853711e+00] [-1.69063704e-03 -6.58153729e-06 9.99998571e-01 -3.56589218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-4.41, Z:-0.36 [[ 9.95790903e-01 9.16386496e-02 1.68414267e-03 7.88260950e+01] [-9.16385300e-02 9.95792327e-01 -1.48190384e-04 -4.41043671e+00] [-1.69063631e-03 -6.76572252e-06 9.99998571e-01 -3.57654312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.86, Y:-4.41, Z:-0.36 [[ 9.95893859e-01 9.05128967e-02 1.68414798e-03 7.88556896e+01] [-9.05127756e-02 9.95895283e-01 -1.48129991e-04 -4.41400744e+00] [-1.69064270e-03 -4.91516001e-06 9.99998571e-01 -3.59287539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.88, Y:-4.42, Z:-0.36 [[ 9.95992431e-01 8.94217080e-02 1.68415106e-03 7.88849311e+01] [-8.94215854e-02 9.95993854e-01 -1.48094911e-04 -4.41845673e+00] [-1.69064701e-03 -3.09804825e-06 9.99998571e-01 -3.59498448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.91, Y:-4.42, Z:-0.36 [[ 9.96102146e-01 8.81911415e-02 1.68415415e-03 7.89140060e+01] [-8.81910173e-02 9.96103570e-01 -1.48059774e-04 -4.42299773e+00] [-1.69064952e-03 -1.04460880e-06 9.99998571e-01 -3.59182129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.135769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:78.94, Y:-4.43, Z:-0.36 [[ 9.96341083e-01 8.54494543e-02 1.68415725e-03 7.89437720e+01] [-8.54493261e-02 9.96342507e-01 -1.48024563e-04 -4.42867517e+00] [-1.69064607e-03 3.57285141e-06 9.99998571e-01 -3.57376761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.97, Y:-4.43, Z:-0.36 [[ 9.96428087e-01 8.44288510e-02 1.68416033e-03 7.89738709e+01] [-8.44287215e-02 9.96429510e-01 -1.47989491e-04 -4.43240125e+00] [-1.69064163e-03 5.26938226e-06 9.99998571e-01 -3.56542521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.195769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.00, Y:-4.44, Z:-0.36 [[ 9.96474591e-01 8.38782097e-02 1.68416033e-03 7.90044521e+01] [-8.38780794e-02 9.96476014e-01 -1.47989491e-04 -4.43745906e+00] [-1.69063846e-03 6.20363381e-06 9.99998571e-01 -3.57619360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.03, Y:-4.44, Z:-0.36 [[ 9.96438003e-01 8.43117399e-02 1.68416033e-03 7.90331991e+01] [-8.43116102e-02 9.96439426e-01 -1.47989491e-04 -4.44157939e+00] [-1.69064100e-03 5.46808391e-06 9.99998571e-01 -3.57410346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.255769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.06, Y:-4.45, Z:-0.36 [[ 9.96386592e-01 8.49171488e-02 1.68416377e-03 7.90633026e+01] [-8.49170200e-02 9.96388016e-01 -1.47950327e-04 -4.44568699e+00] [-1.69064412e-03 4.40155322e-06 9.99998571e-01 -3.55748367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.09, Y:-4.45, Z:-0.35 [[ 9.96304666e-01 8.58730234e-02 1.68416377e-03 7.90925504e+01] [-8.58728960e-02 9.96306089e-01 -1.47950327e-04 -4.45005573e+00] [-1.69064756e-03 2.77958048e-06 9.99998571e-01 -3.53629958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.315769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:79.12, Y:-4.46, Z:-0.35 [[ 9.96186731e-01 8.72305067e-02 1.68416552e-03 7.91220388e+01] [-8.72303812e-02 9.96188154e-01 -1.47930366e-04 -4.45654888e+00] [-1.69064978e-03 4.55867386e-07 9.99998571e-01 -3.54064026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.345769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.15, Y:-4.46, Z:-0.36 [[ 9.96234581e-01 8.66823121e-02 1.68416724e-03 7.91531593e+01] [-8.66821859e-02 9.96236005e-01 -1.47910772e-04 -4.46151495e+00] [-1.69064929e-03 1.36652776e-06 9.99998571e-01 -3.55768592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.375769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.18, Y:-4.47, Z:-0.36 [[ 9.96491020e-01 8.36828021e-02 1.68416388e-03 7.91843335e+01] [-8.36826715e-02 9.96492443e-01 -1.47949062e-04 -4.47003418e+00] [-1.69063737e-03 6.49457898e-06 9.99998571e-01 -3.58180092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40576923100001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:79.22, Y:-4.48, Z:-0.36 [[ 9.96617090e-01 8.21677574e-02 1.68416034e-03 7.92155367e+01] [-8.21676246e-02 9.96618513e-01 -1.47989301e-04 -4.47645255e+00] [-1.69062533e-03 9.10521166e-06 9.99998571e-01 -3.58197128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.25, Y:-4.48, Z:-0.36 [[ 9.96676092e-01 8.14489450e-02 1.68415676e-03 7.92450942e+01] [-8.14488111e-02 9.96677515e-01 -1.48030070e-04 -4.48295171e+00] [-1.69061807e-03 1.03654655e-05 9.99998571e-01 -3.58449090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.28, Y:-4.49, Z:-0.36 [[ 9.96657269e-01 8.16789576e-02 1.68414846e-03 7.92760507e+01] [-8.16788239e-02 9.96658692e-01 -1.48124489e-04 -4.49219548e+00] [-1.69061985e-03 1.00700830e-05 9.99998571e-01 -3.61039851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:79.31, Y:-4.50, Z:-0.36 [[ 9.96571215e-01 8.27222906e-02 1.68414500e-03 7.93071263e+01] [-8.27221583e-02 9.96572638e-01 -1.48163792e-04 -4.49744190e+00] [-1.69062927e-03 8.33966095e-06 9.99998571e-01 -3.62219543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.34, Y:-4.50, Z:-0.36 [[ 9.96274046e-01 8.62275415e-02 1.68414152e-03 7.93374763e+01] [-8.62274142e-02 9.96275469e-01 -1.48203320e-04 -4.50451542e+00] [-1.69064809e-03 2.43195296e-06 9.99998571e-01 -3.60509922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.555769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:79.37, Y:-4.51, Z:-0.36 [[ 9.96056529e-01 8.87048742e-02 1.68411899e-03 7.93682213e+01] [-8.87047500e-02 9.96057953e-01 -1.48458864e-04 -4.50865197e+00] [-1.69064914e-03 -1.51593328e-06 9.99998571e-01 -3.59695995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.40, Y:-4.51, Z:-0.36 [[ 9.95787026e-01 9.16807611e-02 1.68411548e-03 7.93979917e+01] [-9.16806410e-02 9.95788450e-01 -1.48498666e-04 -4.51228625e+00] [-1.69063722e-03 -6.52774187e-06 9.99998571e-01 -3.60068063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.615769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.43, Y:-4.52, Z:-0.36 [[ 9.95135660e-01 9.84996590e-02 1.68411374e-03 7.94293268e+01] [-9.84995487e-02 9.95137084e-01 -1.48518480e-04 -4.51517379e+00] [-1.69055305e-03 -1.80884074e-05 9.99998571e-01 -3.61113291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.645769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.46, Y:-4.52, Z:-0.36 [[ 9.94771947e-01 1.02107479e-01 1.68411018e-03 7.94603846e+01] [-1.02107373e-01 9.94773372e-01 -1.48558826e-04 -4.51686287e+00] [-1.69047693e-03 -2.41779146e-05 9.99998571e-01 -3.62871710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.675769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.49, Y:-4.51, Z:-0.36 [[ 9.94077422e-01 1.08661141e-01 1.68408715e-03 7.94907204e+01] [-1.08661045e-01 9.94078848e-01 -1.48819405e-04 -4.51430051e+00] [-1.69028630e-03 -3.50566593e-05 9.99998571e-01 -3.61353999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.705769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.52, Y:-4.51, Z:-0.36 [[ 9.93713733e-01 1.11938286e-01 1.68408887e-03 7.95205773e+01] [-1.11938194e-01 9.93715160e-01 -1.48799962e-04 -4.51320722e+00] [-1.69016105e-03 -4.06493014e-05 9.99998571e-01 -3.59470477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.735769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.55, Y:-4.51, Z:-0.36 [[ 9.93388769e-01 1.14786395e-01 1.68409053e-03 7.95504195e+01] [-1.14786308e-01 9.93390196e-01 -1.48781107e-04 -4.51116811e+00] [-1.69003707e-03 -4.55130538e-05 9.99998571e-01 -3.57614435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.58, Y:-4.51, Z:-0.36 [[ 9.93093550e-01 1.17313106e-01 1.68409401e-03 7.95790790e+01] [-1.17313022e-01 9.93094977e-01 -1.48741771e-04 -4.50839717e+00] [-1.68991466e-03 -4.98516645e-05 9.99998571e-01 -3.58417215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.61, Y:-4.51, Z:-0.36 [[ 9.93096072e-01 1.17291758e-01 1.68409918e-03 7.96091316e+01] [-1.17291674e-01 9.93097498e-01 -1.48683235e-04 -4.51100318e+00] [-1.68991400e-03 -4.98740758e-05 9.99998571e-01 -3.58468212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:79.64, Y:-4.50, Z:-0.36 [[ 9.92791993e-01 1.19838319e-01 1.68410237e-03 7.96392617e+01] [-1.19838239e-01 9.92793420e-01 -1.48647032e-04 -4.50266966e+00] [-1.68977936e-03 -5.42442795e-05 9.99998571e-01 -3.60410627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:79.67, Y:-4.50, Z:-0.36 [[ 9.92770670e-01 1.20014836e-01 1.68410897e-03 7.96679775e+01] [-1.20014756e-01 9.92772097e-01 -1.48572205e-04 -4.50047461e+00] [-1.68976727e-03 -5.46198003e-05 9.99998571e-01 -3.61036913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:79.70, Y:-4.49, Z:-0.36 [[ 9.92947890e-01 1.18539666e-01 1.68411578e-03 7.96970473e+01] [-1.18539584e-01 9.92949316e-01 -1.48495020e-04 -4.49409284e+00] [-1.68984416e-03 -5.21865680e-05 9.99998571e-01 -3.62243152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.915769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.73, Y:-4.49, Z:-0.36 [[ 9.93114835e-01 1.17132779e-01 1.68412261e-03 7.97266421e+01] [-1.17132695e-01 9.93116262e-01 -1.48417494e-04 -4.49236427e+00] [-1.68991411e-03 -4.98702049e-05 9.99998571e-01 -3.62518249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.76, Y:-4.49, Z:-0.36 [[ 9.93521900e-01 1.13628329e-01 1.68412777e-03 7.97551283e+01] [-1.13628240e-01 9.93523327e-01 -1.48358912e-04 -4.48731303e+00] [-1.69007800e-03 -4.39666476e-05 9.99998571e-01 -3.61498927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.975769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.78, Y:-4.49, Z:-0.36 [[ 9.93669816e-01 1.12327466e-01 1.68413631e-03 7.97834921e+01] [-1.12327376e-01 9.93671243e-01 -1.48261921e-04 -4.48624965e+00] [-1.69013171e-03 -4.18512175e-05 9.99998571e-01 -3.60011142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.81, Y:-4.48, Z:-0.36 [[ 9.93749610e-01 1.11619337e-01 1.68414483e-03 7.98121782e+01] [-1.11619247e-01 9.93751036e-01 -1.48165126e-04 -4.48143144e+00] [-1.69015876e-03 -4.07439406e-05 9.99998571e-01 -3.57050546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.035769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:79.84, Y:-4.48, Z:-0.36 [[ 9.93728902e-01 1.11803542e-01 1.68415310e-03 7.98408068e+01] [-1.11803452e-01 9.93730329e-01 -1.48071001e-04 -4.48075361e+00] [-1.69014888e-03 -4.11516962e-05 9.99998571e-01 -3.56514084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.065769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.87, Y:-4.48, Z:-0.36 [[ 9.93709243e-01 1.11978144e-01 1.68415966e-03 7.98701814e+01] [-1.11978054e-01 9.93710669e-01 -1.47996362e-04 -4.48085732e+00] [-1.69013978e-03 -4.15235687e-05 9.99998571e-01 -3.56860853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.095769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:79.90, Y:-4.48, Z:-0.36 [[ 9.93835447e-01 1.10852464e-01 1.68416638e-03 7.98987728e+01] [-1.10852372e-01 9.93836873e-01 -1.47919869e-04 -4.47959209e+00] [-1.69018393e-03 -3.96858293e-05 9.99998571e-01 -3.56846529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.125769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.93, Y:-4.48, Z:-0.36 [[ 9.93956165e-01 1.09764773e-01 1.68417333e-03 7.99262845e+01] [-1.09764680e-01 9.93957591e-01 -1.47840720e-04 -4.47988180e+00] [-1.69022457e-03 -3.79155520e-05 9.99998571e-01 -3.57125970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.96, Y:-4.48, Z:-0.36 [[ 9.94100154e-01 1.08452976e-01 1.68418198e-03 7.99550451e+01] [-1.08452881e-01 9.94101580e-01 -1.47742077e-04 -4.48033055e+00] [-1.69027103e-03 -3.57839672e-05 9.99998571e-01 -3.56908948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:79.98, Y:-4.48, Z:-0.36 [[ 9.94427323e-01 1.05410928e-01 1.68418861e-03 7.99829500e+01] [-1.05410829e-01 9.94428748e-01 -1.47666476e-04 -4.47924380e+00] [-1.69037123e-03 -3.06881388e-05 9.99998571e-01 -3.58893156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:80.01, Y:-4.48, Z:-0.36 [[ 9.94629935e-01 1.03481670e-01 1.68419745e-03 8.00112790e+01] [-1.03481568e-01 9.94631360e-01 -1.47565529e-04 -4.48088431e+00] [-1.69042593e-03 -2.75103004e-05 9.99998571e-01 -3.59454542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:80.04, Y:-4.48, Z:-0.36 [[ 9.95058260e-01 9.92785151e-02 1.68420400e-03 8.00399913e+01] [-9.92784076e-02 9.95059685e-01 -1.47490742e-04 -4.48223830e+00] [-1.69052617e-03 -2.04432104e-05 9.99998571e-01 -3.58820158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.275769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:80.07, Y:-4.48, Z:-0.36 [[ 9.95244046e-01 9.73984160e-02 1.68421084e-03 8.00676778e+01] [-9.73983060e-02 9.95245471e-01 -1.47412647e-04 -4.48405180e+00] [-1.69056097e-03 -1.73277228e-05 9.99998571e-01 -3.58156560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.10, Y:-4.49, Z:-0.36 [[ 9.95457366e-01 9.51934686e-02 1.68421934e-03 8.00950371e+01] [-9.51933556e-02 9.95458790e-01 -1.47315481e-04 -4.48645058e+00] [-1.69059442e-03 -1.36802099e-05 9.99998571e-01 -3.57123959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.335769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:80.12, Y:-4.49, Z:-0.36 [[ 9.95533287e-01 9.43961781e-02 1.68422779e-03 8.01233868e+01] [-9.43960641e-02 9.95534711e-01 -1.47218792e-04 -4.48842083e+00] [-1.69060412e-03 -1.24232662e-05 9.99998571e-01 -3.57594562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.15, Y:-4.49, Z:-0.36 [[ 9.95753769e-01 9.20412640e-02 1.68423451e-03 8.01515539e+01] [-9.20411468e-02 9.95755194e-01 -1.47141850e-04 -4.49091624e+00] [-1.69062838e-03 -8.50182411e-06 9.99998571e-01 -3.60107403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.395769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:80.18, Y:-4.49, Z:-0.36 [[ 9.95907749e-01 9.03599381e-02 1.68424377e-03 8.01801455e+01] [-9.03598186e-02 9.95909173e-01 -1.47035823e-04 -4.49392292e+00] [-1.69063997e-03 -5.75384576e-06 9.99998571e-01 -3.62336078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.425769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:80.21, Y:-4.50, Z:-0.36 [[ 9.96087418e-01 8.83573332e-02 1.68425041e-03 8.02088441e+01] [-8.83572110e-02 9.96088842e-01 -1.46959632e-04 -4.49776871e+00] [-1.69064801e-03 -2.43102905e-06 9.99998571e-01 -3.63443531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.455769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:80.24, Y:-4.50, Z:-0.37 [[ 9.96270468e-01 8.62688711e-02 1.68425761e-03 8.02368935e+01] [-8.62687461e-02 9.96271892e-01 -1.46877152e-04 -4.50188130e+00] [-1.69064944e-03 1.03057721e-06 9.99998571e-01 -3.66439797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.485769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:80.26, Y:-4.51, Z:-0.37 [[ 9.96628435e-01 8.20300290e-02 1.68426652e-03 8.02646366e+01] [-8.20298981e-02 9.96629858e-01 -1.46774900e-04 -4.50906329e+00] [-1.69063025e-03 8.11982848e-06 9.99998571e-01 -3.67549049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.29, Y:-4.52, Z:-0.36 [[ 9.96864457e-01 7.91101612e-02 1.68427169e-03 8.02933485e+01] [-7.91100263e-02 9.96865880e-01 -1.46715554e-04 -4.51652629e+00] [-1.69059967e-03 1.30127431e-05 9.99998571e-01 -3.62074841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.32, Y:-4.52, Z:-0.36 [[ 9.96925861e-01 7.83325649e-02 1.68427504e-03 8.03228703e+01] [-7.83324289e-02 9.96927284e-01 -1.46677106e-04 -4.52118424e+00] [-1.69058933e-03 1.42928454e-05 9.99998571e-01 -3.60159755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.35, Y:-4.53, Z:-0.36 [[ 9.96957990e-01 7.79225905e-02 1.68427847e-03 8.03518929e+01] [-7.79224540e-02 9.96959412e-01 -1.46637696e-04 -4.52530921e+00] [-1.69058366e-03 1.49485108e-05 9.99998571e-01 -3.60534447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60576923100001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:80.38, Y:-4.53, Z:-0.36 [[ 9.96914302e-01 7.84795426e-02 1.68428190e-03 8.03816593e+01] [-7.84794069e-02 9.96915724e-01 -1.46598204e-04 -4.52898663e+00] [-1.69059207e-03 1.39644009e-05 9.99998571e-01 -3.60953755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.41, Y:-4.53, Z:-0.36 [[ 9.96699620e-01 8.11605282e-02 1.68428531e-03 8.04110277e+01] [-8.11603964e-02 9.96701043e-01 -1.46559025e-04 -4.53234226e+00] [-1.69062374e-03 9.37806086e-06 9.99998571e-01 -3.59804272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.44, Y:-4.53, Z:-0.36 [[ 9.96395999e-01 8.48067045e-02 1.68428881e-03 8.04405426e+01] [-8.48065780e-02 9.96397422e-01 -1.46518802e-04 -4.53337246e+00] [-1.69064681e-03 3.15197704e-06 9.99998571e-01 -3.60180793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.695769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:80.47, Y:-4.53, Z:-0.36 [[ 9.96292585e-01 8.60130726e-02 1.68429239e-03 8.04687572e+01] [-8.60129479e-02 9.96294008e-01 -1.46477675e-04 -4.53454961e+00] [-1.69064941e-03 1.06366756e-06 9.99998571e-01 -3.61230107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:80.50, Y:-4.54, Z:-0.36 [[ 9.96267428e-01 8.63039744e-02 1.68429586e-03 8.04973912e+01] [-8.63038502e-02 9.96268851e-01 -1.46437812e-04 -4.53589901e+00] [-1.69064966e-03 5.30004725e-07 9.99998571e-01 -3.61661994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.755769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:80.53, Y:-4.54, Z:-0.36 [[ 9.96477508e-01 8.38435393e-02 1.68430095e-03 8.05272211e+01] [-8.38434116e-02 9.96478931e-01 -1.46379164e-04 -4.53718442e+00] [-1.69064336e-03 4.64600659e-06 9.99998571e-01 -3.60897728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:80.56, Y:-4.54, Z:-0.36 [[ 9.96655902e-01 8.16956263e-02 1.68430437e-03 8.05552938e+01] [-8.16954956e-02 9.96657326e-01 -1.46339872e-04 -4.53960756e+00] [-1.69062961e-03 8.25041729e-06 9.99998571e-01 -3.61413729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.815769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.58, Y:-4.54, Z:-0.36 [[ 9.96938321e-01 7.81738263e-02 1.68430945e-03 8.05844677e+01] [-7.81736907e-02 9.96939744e-01 -1.46281344e-04 -4.54078228e+00] [-1.69059040e-03 1.41647916e-05 9.99998571e-01 -3.61683093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.845769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.61, Y:-4.54, Z:-0.36 [[ 9.97040653e-01 7.68576568e-02 1.68431286e-03 8.06140033e+01] [-7.68575194e-02 9.97042076e-01 -1.46242052e-04 -4.54228812e+00] [-1.69057061e-03 1.63571625e-05 9.99998571e-01 -3.61853930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.875769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.64, Y:-4.54, Z:-0.36 [[ 9.97115390e-01 7.58818963e-02 1.68431627e-03 8.06437458e+01] [-7.58817575e-02 9.97116812e-01 -1.46202722e-04 -4.54375917e+00] [-1.69055421e-03 1.79721049e-05 9.99998571e-01 -3.62541112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.67, Y:-4.55, Z:-0.36 [[ 9.97227341e-01 7.43961940e-02 1.68431967e-03 8.06734185e+01] [-7.43960533e-02 9.97228763e-01 -1.46163577e-04 -4.54529766e+00] [-1.69052604e-03 2.04515796e-05 9.99998571e-01 -3.63290456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:80.70, Y:-4.55, Z:-0.36 [[ 9.97281365e-01 7.36684593e-02 1.68432305e-03 8.07014820e+01] [-7.36683175e-02 9.97282787e-01 -1.46124598e-04 -4.54771459e+00] [-1.69051116e-03 2.16460927e-05 9.99998571e-01 -3.62794565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:80.73, Y:-4.55, Z:-0.36 [[ 9.97391881e-01 7.21567622e-02 1.68432707e-03 8.07311424e+01] [-7.21566184e-02 9.97393303e-01 -1.46078307e-04 -4.55039820e+00] [-1.69047708e-03 2.41619725e-05 9.99998571e-01 -3.62083669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:80.76, Y:-4.55, Z:-0.36 [[ 9.97466270e-01 7.11210415e-02 1.68433043e-03 8.07610500e+01] [-7.11208962e-02 9.97467692e-01 -1.46039575e-04 -4.55332367e+00] [-1.69045167e-03 2.58784610e-05 9.99998571e-01 -3.62469933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:80.79, Y:-4.56, Z:-0.36 [[ 9.97555560e-01 6.98574766e-02 1.68433380e-03 8.07901640e+01] [-6.98573296e-02 9.97556982e-01 -1.46000685e-04 -4.55576273e+00] [-1.69041818e-03 2.79807341e-05 9.99998571e-01 -3.63021718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.055769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:80.82, Y:-4.56, Z:-0.36 [[ 9.97631594e-01 6.87631118e-02 1.68433718e-03 8.08196616e+01] [-6.87629634e-02 9.97633015e-01 -1.45961601e-04 -4.55743411e+00] [-1.69038716e-03 2.97958890e-05 9.99998571e-01 -3.64330386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:80.85, Y:-4.56, Z:-0.36 [[ 9.97594395e-01 6.93006862e-02 1.68434061e-03 8.08486229e+01] [-6.93005386e-02 9.97595817e-01 -1.45922097e-04 -4.55970912e+00] [-1.69040365e-03 2.88453553e-05 9.99998571e-01 -3.64587086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.115769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:80.88, Y:-4.56, Z:-0.36 [[ 9.97398532e-01 7.20647788e-02 1.68434398e-03 8.08775105e+01] [-7.20646351e-02 9.97399953e-01 -1.45883122e-04 -4.56231765e+00] [-1.69047764e-03 2.41219772e-05 9.99998571e-01 -3.64004775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.145769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:80.91, Y:-4.56, Z:-0.36 [[ 9.97313724e-01 7.32290816e-02 1.68434902e-03 8.09060122e+01] [-7.32289397e-02 9.97315146e-01 -1.45824886e-04 -4.56392092e+00] [-1.69050542e-03 2.20900669e-05 9.99998571e-01 -3.63718379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.175769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:80.94, Y:-4.57, Z:-0.36 [[ 9.97243144e-01 7.41840585e-02 1.68435395e-03 8.09352747e+01] [-7.41839181e-02 9.97244566e-01 -1.45768002e-04 -4.56528156e+00] [-1.69052648e-03 2.04141654e-05 9.99998571e-01 -3.63762820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.205769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:80.96, Y:-4.57, Z:-0.36 [[ 9.97140044e-01 7.55572332e-02 1.68435721e-03 8.09647043e+01] [-7.55570949e-02 9.97141466e-01 -1.45730298e-04 -4.56641866e+00] [-1.69055340e-03 1.80483787e-05 9.99998571e-01 -3.63298681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.235769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.99, Y:-4.57, Z:-0.36 [[ 9.97150193e-01 7.54231729e-02 1.68436058e-03 8.09940419e+01] [-7.54230344e-02 9.97151616e-01 -1.45691339e-04 -4.56908333e+00] [-1.69055138e-03 1.82365609e-05 9.99998571e-01 -3.62279659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:81.02, Y:-4.57, Z:-0.36 [[ 9.97276417e-01 7.37354060e-02 1.68436409e-03 8.10221717e+01] [-7.37352652e-02 9.97277840e-01 -1.45650789e-04 -4.57246042e+00] [-1.69051860e-03 2.10570649e-05 9.99998571e-01 -3.59719590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.05, Y:-4.58, Z:-0.36 [[ 9.97388234e-01 7.22071633e-02 1.68436765e-03 8.10506932e+01] [-7.22070204e-02 9.97389656e-01 -1.45609608e-04 -4.57573181e+00] [-1.69048492e-03 2.36061406e-05 9.99998571e-01 -3.59096033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:81.08, Y:-4.58, Z:-0.36 [[ 9.97616070e-01 6.89879709e-02 1.68437268e-03 8.10802725e+01] [-6.89878234e-02 9.97617491e-01 -1.45551371e-04 -4.58256241e+00] [-1.69040094e-03 2.90031816e-05 9.99998571e-01 -3.60141188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:81.11, Y:-4.59, Z:-0.36 [[ 9.97725479e-01 6.73871768e-02 1.68437604e-03 8.11099517e+01] [-6.73870271e-02 9.97726900e-01 -1.45512432e-04 -4.58812227e+00] [-1.69035296e-03 3.16763672e-05 9.99998571e-01 -3.62221155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38576923100001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:81.14, Y:-4.59, Z:-0.36 [[ 9.97805489e-01 6.61919082e-02 1.68437942e-03 8.11399566e+01] [-6.61917569e-02 9.97806910e-01 -1.45473348e-04 -4.59430243e+00] [-1.69031458e-03 3.36620718e-05 9.99998571e-01 -3.63018554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.415769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:81.17, Y:-4.60, Z:-0.36 [[ 9.97902820e-01 6.47079965e-02 1.68437942e-03 8.11692049e+01] [-6.47078431e-02 9.97904241e-01 -1.45473348e-04 -4.60364318e+00] [-1.69026265e-03 3.61757047e-05 9.99998571e-01 -3.64506586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:81.20, Y:-4.61, Z:-0.36 [[ 9.97920147e-01 6.44402255e-02 1.68437764e-03 8.11989150e+01] [-6.44400717e-02 9.97921568e-01 -1.45493916e-04 -4.61030346e+00] [-1.69025244e-03 3.66498945e-05 9.99998571e-01 -3.61168943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.475769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.23, Y:-4.62, Z:-0.36 [[ 9.97916389e-01 6.44983915e-02 1.68437764e-03 8.12274006e+01] [-6.44982377e-02 9.97917810e-01 -1.45493916e-04 -4.62152171e+00] [-1.69025457e-03 3.65513743e-05 9.99998571e-01 -3.55391323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.26, Y:-4.63, Z:-0.36 [[ 9.97884277e-01 6.49933219e-02 1.68437932e-03 8.12574574e+01] [-6.49931689e-02 9.97885698e-01 -1.45474435e-04 -4.62753415e+00] [-1.69027290e-03 3.56935020e-05 9.99998571e-01 -3.56021587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.535769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:81.29, Y:-4.63, Z:-0.36 [[ 9.97825644e-01 6.58873740e-02 1.68437932e-03 8.12871921e+01] [-6.58872223e-02 9.97827066e-01 -1.45474435e-04 -4.63250579e+00] [-1.69030421e-03 3.41790474e-05 9.99998571e-01 -3.58420675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.565769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:81.32, Y:-4.64, Z:-0.36 [[ 9.97637637e-01 6.86753861e-02 1.68437932e-03 8.13173763e+01] [-6.86752384e-02 9.97639058e-01 -1.45474435e-04 -4.63934355e+00] [-1.69039311e-03 2.94556204e-05 9.99998571e-01 -3.63243338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.595769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.35, Y:-4.64, Z:-0.36 [[ 9.97495451e-01 7.07105905e-02 1.68437759e-03 8.13469845e+01] [-7.07104456e-02 9.97496873e-01 -1.45494530e-04 -4.64388973e+00] [-1.69044938e-03 2.60270421e-05 9.99998571e-01 -3.64130628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.625769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.38, Y:-4.65, Z:-0.36 [[ 9.97198218e-01 7.47855432e-02 1.68437928e-03 8.13774201e+01] [-7.47854042e-02 9.97199640e-01 -1.45474917e-04 -4.64760933e+00] [-1.69054183e-03 1.91003426e-05 9.99998571e-01 -3.62511669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:81.41, Y:-4.65, Z:-0.36 [[ 9.97034366e-01 7.69391710e-02 1.68437928e-03 8.14075683e+01] [-7.69390351e-02 9.97035789e-01 -1.45474917e-04 -4.64995494e+00] [-1.69057914e-03 1.54489750e-05 9.99998571e-01 -3.63234858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:81.44, Y:-4.65, Z:-0.36 [[ 9.97034366e-01 7.69391710e-02 1.68437928e-03 8.14384531e+01] [-7.69390351e-02 9.97035789e-01 -1.45474917e-04 -4.65262237e+00] [-1.69057914e-03 1.54489750e-05 9.99998571e-01 -3.63287268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:81.47, Y:-4.65, Z:-0.36 [[ 9.96871588e-01 7.90202483e-02 1.68437928e-03 8.14674515e+01] [-7.90201152e-02 9.96873011e-01 -1.45474917e-04 -4.65447349e+00] [-1.69060771e-03 1.19199666e-05 9.99998571e-01 -3.64740775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:81.50, Y:-4.66, Z:-0.37 [[ 9.96586895e-01 8.25331722e-02 1.68438099e-03 8.14979508e+01] [-8.25330443e-02 9.96588318e-01 -1.45455128e-04 -4.65620935e+00] [-1.69063929e-03 5.94158336e-06 9.99998571e-01 -3.65756776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.775769231 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:81.53, Y:-4.66, Z:-0.37 [[ 9.96469628e-01 8.39371382e-02 1.68438099e-03 8.15282179e+01] [-8.39370122e-02 9.96471052e-01 -1.45455128e-04 -4.65842720e+00] [-1.69064598e-03 3.55970945e-06 9.99998571e-01 -3.65655657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:81.56, Y:-4.66, Z:-0.37 [[ 9.96338911e-01 8.54747748e-02 1.68438099e-03 8.15592023e+01] [-8.54746511e-02 9.96340335e-01 -1.45455128e-04 -4.65844116e+00] [-1.69064946e-03 9.50726312e-07 9.99998571e-01 -3.66858406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.835769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.59, Y:-4.66, Z:-0.37 [[ 9.96251485e-01 8.64878096e-02 1.68438099e-03 8.15902493e+01] [-8.64876873e-02 9.96252909e-01 -1.45455128e-04 -4.65902431e+00] [-1.69064956e-03 -7.68329208e-07 9.99998571e-01 -3.67358392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:81.62, Y:-4.66, Z:-0.37 [[ 9.96181051e-01 8.72953353e-02 1.68438099e-03 8.16204965e+01] [-8.72952141e-02 9.96182475e-01 -1.45455128e-04 -4.65976019e+00] [-1.69064838e-03 -2.13875694e-06 9.99998571e-01 -3.67185314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.895769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:81.65, Y:-4.66, Z:-0.37 [[ 9.96175805e-01 8.73551872e-02 1.68438099e-03 8.16506083e+01] [-8.73550661e-02 9.96177229e-01 -1.45455128e-04 -4.65961885e+00] [-1.69064825e-03 -2.24033372e-06 9.99998571e-01 -3.65317729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.925769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:81.68, Y:-4.66, Z:-0.36 [[ 9.96266298e-01 8.63170059e-02 1.68437927e-03 8.16801372e+01] [-8.63168833e-02 9.96267722e-01 -1.45475026e-04 -4.66084795e+00] [-1.69064967e-03 -4.58503701e-07 9.99998571e-01 -3.64899887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.955769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:81.71, Y:-4.66, Z:-0.37 [[ 9.96496939e-01 8.36122792e-02 1.68438257e-03 8.17096628e+01] [-8.36121528e-02 9.96498363e-01 -1.45436798e-04 -4.66203151e+00] [-1.69064478e-03 4.09247134e-06 9.99998571e-01 -3.65065152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.985769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:81.74, Y:-4.66, Z:-0.36 [[ 9.96681180e-01 8.13866638e-02 1.68438074e-03 8.17401036e+01] [-8.13865342e-02 9.96682603e-01 -1.45458017e-04 -4.66493649e+00] [-1.69063132e-03 7.88935679e-06 9.99998571e-01 -3.64715786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01576923100001 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:81.77, Y:-4.67, Z:-0.36 [[ 9.96910077e-01 7.85331906e-02 1.68438074e-03 8.17694319e+01] [-7.85330569e-02 9.96911499e-01 -1.45458017e-04 -4.66867375e+00] [-1.69060181e-03 1.27289939e-05 9.99998571e-01 -3.64918645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:81.80, Y:-4.68, Z:-0.36 [[ 9.97441964e-01 7.14611202e-02 1.68438243e-03 8.18005617e+01] [-7.14609765e-02 9.97443386e-01 -1.45438404e-04 -4.67572305e+00] [-1.69046931e-03 2.46987533e-05 9.99998571e-01 -3.64050043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:81.83, Y:-4.68, Z:-0.36 [[ 9.97706700e-01 6.76646373e-02 1.68437905e-03 8.18309876e+01] [-6.76644881e-02 9.97708122e-01 -1.45477618e-04 -4.68112092e+00] [-1.69036235e-03 3.11713485e-05 9.99998571e-01 -3.64185375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.86, Y:-4.69, Z:-0.36 [[ 9.98139067e-01 6.09554443e-02 1.68437736e-03 8.18613736e+01] [-6.09552855e-02 9.98140487e-01 -1.45497166e-04 -4.69171761e+00] [-1.69011408e-03 4.25547028e-05 9.99998571e-01 -3.64243858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:81.89, Y:-4.70, Z:-0.37 [[ 9.98273819e-01 5.87072887e-02 1.68437403e-03 8.18922698e+01] [-5.87071267e-02 9.98275239e-01 -1.45535731e-04 -4.69933853e+00] [-1.69001289e-03 4.63997511e-05 9.99998571e-01 -3.65082821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:81.92, Y:-4.71, Z:-0.37 [[ 9.98348791e-01 5.74182376e-02 1.68437058e-03 8.19233099e+01] [-5.74180736e-02 9.98350211e-01 -1.45575584e-04 -4.70714521e+00] [-1.68995042e-03 4.86218942e-05 9.99998571e-01 -3.66528361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.195769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:81.95, Y:-4.72, Z:-0.37 [[ 9.98384489e-01 5.67941438e-02 1.68434824e-03 8.19547492e+01] [-5.67939785e-02 9.98385909e-01 -1.45833659e-04 -4.72029902e+00] [-1.68991204e-03 4.99372254e-05 9.99998571e-01 -3.67469834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:81.99, Y:-4.73, Z:-0.37 [[ 9.98385680e-01 5.67732143e-02 1.68432265e-03 8.19874368e+01] [-5.67730485e-02 9.98387099e-01 -1.46128571e-04 -4.72849379e+00] [-1.68990219e-03 5.02685413e-05 9.99998571e-01 -3.65980766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.255769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.02, Y:-4.74, Z:-0.36 [[ 9.98384505e-01 5.67938689e-02 1.68429494e-03 8.20184704e+01] [-5.67937026e-02 9.98385924e-01 -1.46447264e-04 -4.74121769e+00] [-1.68989367e-03 5.05533330e-05 9.99998571e-01 -3.64868589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.285769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.05, Y:-4.75, Z:-0.36 [[ 9.98384229e-01 5.67987274e-02 1.68426909e-03 8.20494890e+01] [-5.67985606e-02 9.98385648e-01 -1.46743973e-04 -4.74854336e+00] [-1.68988496e-03 5.08428080e-05 9.99998571e-01 -3.64566072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.315769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:82.08, Y:-4.76, Z:-0.36 [[ 9.98417059e-01 5.62186689e-02 1.68424364e-03 8.20818440e+01] [-5.62185008e-02 9.98418479e-01 -1.47035447e-04 -4.75838932e+00] [-1.68984611e-03 5.21170456e-05 9.99998571e-01 -3.63641180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.345769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:82.11, Y:-4.76, Z:-0.36 [[ 9.98428076e-01 5.60226858e-02 1.68421627e-03 8.21144498e+01] [-5.60225169e-02 9.98429495e-01 -1.47348343e-04 -4.76497571e+00] [-1.68982605e-03 5.27626882e-05 9.99998571e-01 -3.63524990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.375769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.15, Y:-4.77, Z:-0.36 [[ 9.98439112e-01 5.58256558e-02 1.68418884e-03 8.21469492e+01] [-5.58254860e-02 9.98440531e-01 -1.47661234e-04 -4.77157881e+00] [-1.68980568e-03 5.34100914e-05 9.99998571e-01 -3.63715095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.18, Y:-4.78, Z:-0.36 [[ 9.98368975e-01 5.70662178e-02 1.68416138e-03 8.21778502e+01] [-5.70660493e-02 9.98370394e-01 -1.47973691e-04 -4.78060138e+00] [-1.68986116e-03 5.16239057e-05 9.99998571e-01 -3.64081208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.21, Y:-4.78, Z:-0.36 [[ 9.98278031e-01 5.86356323e-02 1.68414431e-03 8.22104700e+01] [-5.86354657e-02 9.98279450e-01 -1.48167791e-04 -4.78491768e+00] [-1.68993456e-03 4.91620649e-05 9.99998571e-01 -3.63586434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.24, Y:-4.79, Z:-0.36 [[ 9.97885415e-01 6.49758621e-02 1.68413234e-03 8.22421939e+01] [-6.49757043e-02 9.97886835e-01 -1.48303663e-04 -4.79024907e+00] [-1.69020965e-03 3.85623768e-05 9.99998571e-01 -3.62091741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49576923100001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.27, Y:-4.79, Z:-0.36 [[ 9.97629978e-01 6.87865546e-02 1.68410669e-03 8.22749074e+01] [-6.87864018e-02 9.97631399e-01 -1.48594344e-04 -4.79457381e+00] [-1.69033901e-03 3.23985326e-05 9.99998571e-01 -3.61363563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.31, Y:-4.80, Z:-0.36 [[ 9.97380145e-01 7.23188115e-02 1.68407823e-03 8.23071822e+01] [-7.23186632e-02 9.97381566e-01 -1.48916194e-04 -4.79820164e+00] [-1.69043803e-03 2.67357689e-05 9.99998571e-01 -3.61736525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.555769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.34, Y:-4.80, Z:-0.36 [[ 9.96979008e-01 7.76532146e-02 1.68405151e-03 8.23396391e+01] [-7.76530733e-02 9.96980430e-01 -1.49217831e-04 -4.79994476e+00] [-1.69055364e-03 1.79952703e-05 9.99998571e-01 -3.63215809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:82.37, Y:-4.80, Z:-0.36 [[ 9.96798896e-01 7.99319979e-02 1.68402615e-03 8.23723815e+01] [-7.99318594e-02 9.96800319e-01 -1.49503477e-04 -4.80275899e+00] [-1.69058791e-03 1.44175592e-05 9.99998571e-01 -3.64241637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.615769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.40, Y:-4.81, Z:-0.37 [[ 9.96641736e-01 8.18682690e-02 1.68399805e-03 8.24044554e+01] [-8.18681327e-02 9.96643159e-01 -1.49819364e-04 -4.80603921e+00] [-1.69061058e-03 1.14504553e-05 9.99998571e-01 -3.65360419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.645769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.44, Y:-4.81, Z:-0.37 [[ 9.96424908e-01 8.44663692e-02 1.68397189e-03 8.24375868e+01] [-8.44662361e-02 9.96426331e-01 -1.50112737e-04 -4.80870663e+00] [-1.69063341e-03 7.33730207e-06 9.99998571e-01 -3.66545011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.675769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.47, Y:-4.81, Z:-0.37 [[ 9.96382821e-01 8.49613905e-02 1.68394228e-03 8.24693208e+01] [-8.49612576e-02 9.96384244e-01 -1.50444184e-04 -4.81060538e+00] [-1.69063551e-03 6.83014669e-06 9.99998571e-01 -3.68133108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.705769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.50, Y:-4.81, Z:-0.37 [[ 9.96360708e-01 8.52203230e-02 1.68391467e-03 8.25022952e+01] [-8.52201899e-02 9.96362131e-01 -1.50752599e-04 -4.81388870e+00] [-1.69063600e-03 6.70043788e-06 9.99998571e-01 -3.69091437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.53, Y:-4.82, Z:-0.37 [[ 9.96344438e-01 8.54103396e-02 1.68388619e-03 8.25345477e+01] [-8.54102063e-02 9.96345861e-01 -1.51070067e-04 -4.81813148e+00] [-1.69063598e-03 6.69675365e-06 9.99998571e-01 -3.68073902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:82.57, Y:-4.82, Z:-0.37 [[ 9.96355358e-01 8.52828518e-02 1.68385850e-03 8.25667984e+01] [-8.52827178e-02 9.96356781e-01 -1.51378032e-04 -4.82223202e+00] [-1.69063379e-03 7.22228419e-06 9.99998571e-01 -3.67533461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.60, Y:-4.83, Z:-0.37 [[ 9.96405018e-01 8.47006736e-02 1.68383094e-03 8.25983064e+01] [-8.47005382e-02 9.96406441e-01 -1.51684048e-04 -4.82637582e+00] [-1.69062773e-03 8.51735986e-06 9.99998571e-01 -3.65687778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.63, Y:-4.83, Z:-0.36 [[ 9.96467930e-01 8.39573098e-02 1.68380425e-03 8.26312226e+01] [-8.39571729e-02 9.96469352e-01 -1.51979707e-04 -4.83183098e+00] [-1.69061914e-03 1.00754591e-05 9.99998571e-01 -3.63032979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.66, Y:-4.84, Z:-0.36 [[ 9.96434040e-01 8.43585703e-02 1.68377516e-03 8.26643145e+01] [-8.43584334e-02 9.96435463e-01 -1.52301367e-04 -4.83609336e+00] [-1.69062120e-03 9.71763216e-06 9.99998571e-01 -3.61818229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.70, Y:-4.84, Z:-0.36 [[ 9.96335510e-01 8.55144222e-02 1.68374593e-03 8.26972561e+01] [-8.55142864e-02 9.96336933e-01 -1.52623796e-04 -4.83922256e+00] [-1.69062979e-03 8.08017608e-06 9.99998571e-01 -3.60507997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.915769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:82.73, Y:-4.84, Z:-0.36 [[ 9.96218594e-01 8.68658591e-02 1.68371636e-03 8.27294717e+01] [-8.68657247e-02 9.96220017e-01 -1.52949250e-04 -4.84129809e+00] [-1.69063801e-03 6.11364464e-06 9.99998571e-01 -3.60267116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:-4.84, Z:-0.36 [[ 9.96084515e-01 8.83900680e-02 1.68368877e-03 8.27617612e+01] [-8.83899352e-02 9.96085938e-01 -1.53252384e-04 -4.84254307e+00] [-1.69064470e-03 3.83118549e-06 9.99998571e-01 -3.61803906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.975769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.79, Y:-4.85, Z:-0.36 [[ 9.96097717e-01 8.82411677e-02 1.68366133e-03 8.27947059e+01] [-8.82410342e-02 9.96099140e-01 -1.53553306e-04 -4.84523512e+00] [-1.69064332e-03 4.38608112e-06 9.99998571e-01 -3.62713125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.005769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.83, Y:-4.85, Z:-0.36 [[ 9.96178637e-01 8.73229002e-02 1.68363255e-03 8.28277010e+01] [-8.73227649e-02 9.96180060e-01 -1.53868227e-04 -4.84812091e+00] [-1.69063739e-03 6.26079145e-06 9.99998571e-01 -3.62775686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.035769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:82.86, Y:-4.85, Z:-0.36 [[ 9.96309729e-01 8.58142717e-02 1.68360317e-03 8.28596504e+01] [-8.58141337e-02 9.96311152e-01 -1.54189054e-04 -4.85070980e+00] [-1.69062423e-03 9.14310785e-06 9.99998571e-01 -3.64143408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.065769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.89, Y:-4.85, Z:-0.36 [[ 9.96526990e-01 8.32533721e-02 1.68357564e-03 8.28918121e+01] [-8.32532299e-02 9.96528412e-01 -1.54489012e-04 -4.85423936e+00] [-1.69059269e-03 1.37893604e-05 9.99998571e-01 -3.64678842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.095769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.92, Y:-4.86, Z:-0.36 [[ 9.96571709e-01 8.27163527e-02 1.68354836e-03 8.29248818e+01] [-8.27162092e-02 9.96573131e-01 -1.54785687e-04 -4.85759010e+00] [-1.69058237e-03 1.49982982e-05 9.99998571e-01 -3.64742405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.125769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:82.96, Y:-4.86, Z:-0.36 [[ 9.96513514e-01 8.34145182e-02 1.68351886e-03 8.29568550e+01] [-8.34143752e-02 9.96514936e-01 -1.55105969e-04 -4.86075448e+00] [-1.69058977e-03 1.41355210e-05 9.99998571e-01 -3.64857796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.99, Y:-4.86, Z:-0.36 [[ 9.96304078e-01 8.58798530e-02 1.68349117e-03 8.29899844e+01] [-8.58797130e-02 9.96305501e-01 -1.55405864e-04 -4.86229137e+00] [-1.69061775e-03 1.02537579e-05 9.99998571e-01 -3.64769276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:83.02, Y:-4.86, Z:-0.37 [[ 9.96119561e-01 8.79942404e-02 1.68346229e-03 8.30221352e+01] [-8.79941029e-02 9.96120983e-01 -1.55718141e-04 -4.86438656e+00] [-1.69063441e-03 6.97913215e-06 9.99998571e-01 -3.65335346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.06, Y:-4.86, Z:-0.37 [[ 9.95791333e-01 9.16339865e-02 1.68344425e-03 8.30551461e+01] [-9.16338539e-02 9.95792756e-01 -1.55912846e-04 -4.86454478e+00] [-1.69064851e-03 9.96175513e-07 9.99998571e-01 -3.65747757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.09, Y:-4.87, Z:-0.37 [[ 9.95687124e-01 9.27594597e-02 1.68341528e-03 8.30868844e+01] [-9.27593281e-02 9.95688547e-01 -1.56225039e-04 -4.86536832e+00] [-1.69064867e-03 -6.01210392e-07 9.99998571e-01 -3.65306002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.275769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:83.12, Y:-4.87, Z:-0.36 [[ 9.95626552e-01 9.34073625e-02 1.68338824e-03 8.31199085e+01] [-9.34072314e-02 9.95627975e-01 -1.56515853e-04 -4.86639031e+00] [-1.69064816e-03 -1.40929655e-06 9.99998571e-01 -3.64258524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.15, Y:-4.87, Z:-0.36 [[ 9.95634288e-01 9.33248671e-02 1.68335955e-03 8.31527258e+01] [-9.33247353e-02 9.95635711e-01 -1.56823845e-04 -4.86684102e+00] [-1.69064845e-03 -9.59887246e-07 9.99998571e-01 -3.63708215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.335769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.18, Y:-4.87, Z:-0.36 [[ 9.95684065e-01 9.27922861e-02 1.68333026e-03 8.31845764e+01] [-9.27921531e-02 9.95685488e-01 -1.57137639e-04 -4.86835947e+00] [-1.69064867e-03 2.59604474e-07 9.99998571e-01 -3.64854789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:83.22, Y:-4.87, Z:-0.36 [[ 9.95731168e-01 9.22854698e-02 1.68331198e-03 8.32166314e+01] [-9.22853357e-02 9.95732591e-01 -1.57333193e-04 -4.86626767e+00] [-1.69064817e-03 1.31655281e-06 9.99998571e-01 -3.64583233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.395769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.25, Y:-4.87, Z:-0.36 [[ 9.95680438e-01 9.28312036e-02 1.68328682e-03 8.32484448e+01] [-9.28310698e-02 9.95681861e-01 -1.57601898e-04 -4.86680794e+00] [-1.69064853e-03 6.59810095e-07 9.99998571e-01 -3.61629506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.425769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.28, Y:-4.86, Z:-0.36 [[ 9.95569109e-01 9.40176347e-02 1.68326080e-03 8.32807485e+01] [-9.40175021e-02 9.95570532e-01 -1.57879381e-04 -4.86440829e+00] [-1.69064829e-03 -1.07614113e-06 9.99998571e-01 -3.56378136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:-4.86, Z:-0.36 [[ 9.95517137e-01 9.45663639e-02 1.68323378e-03 8.33118862e+01] [-9.45662316e-02 9.95518560e-01 -1.58166859e-04 -4.86462777e+00] [-1.69064774e-03 -1.71925694e-06 9.99998571e-01 -3.57051093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.34, Y:-4.86, Z:-0.36 [[ 9.95516346e-01 9.45746865e-02 1.68320869e-03 8.33433195e+01] [-9.45745538e-02 9.95517769e-01 -1.58433438e-04 -4.86361019e+00] [-1.69064795e-03 -1.46563328e-06 9.99998571e-01 -3.64522094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.38, Y:-4.87, Z:-0.37 [[ 9.95565317e-01 9.40577819e-02 1.68319419e-03 8.33750852e+01] [-9.40576482e-02 9.95566740e-01 -1.58587289e-04 -4.86542689e+00] [-1.69064853e-03 -4.33282897e-07 9.99998571e-01 -3.67148203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.41, Y:-4.87, Z:-0.37 [[ 9.95617313e-01 9.35057946e-02 1.68316810e-03 8.34061590e+01] [-9.35056596e-02 9.95618735e-01 -1.58863762e-04 -4.86681120e+00] [-1.69064838e-03 7.81767958e-07 9.99998571e-01 -3.68627713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.44, Y:-4.86, Z:-0.37 [[ 9.95666706e-01 9.29783731e-02 1.68315348e-03 8.34381630e+01] [-9.29782371e-02 9.95668129e-01 -1.59018539e-04 -4.86495037e+00] [-1.69064756e-03 1.83282217e-06 9.99998571e-01 -3.67268065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.47, Y:-4.87, Z:-0.37 [[ 9.95664490e-01 9.30021023e-02 1.68314967e-03 8.34698515e+01] [-9.30019663e-02 9.95665912e-01 -1.59058800e-04 -4.86799045e+00] [-1.69064756e-03 1.83296944e-06 9.99998571e-01 -3.67321887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.50, Y:-4.87, Z:-0.36 [[ 9.95649756e-01 9.31597029e-02 1.68314588e-03 8.35001416e+01] [-9.31595671e-02 9.95651179e-01 -1.59098913e-04 -4.86840852e+00] [-1.69064779e-03 1.60565241e-06 9.99998571e-01 -3.64738755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.53, Y:-4.87, Z:-0.36 [[ 9.95665364e-01 9.29927386e-02 1.68314400e-03 8.35307501e+01] [-9.29926025e-02 9.95666787e-01 -1.59118864e-04 -4.86748609e+00] [-1.69064747e-03 1.90920169e-06 9.99998571e-01 -3.61202469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.56, Y:-4.87, Z:-0.36 [[ 9.95695868e-01 9.26655619e-02 1.68314216e-03 8.35612377e+01] [-9.26654253e-02 9.95697290e-01 -1.59138271e-04 -4.86930609e+00] [-1.69064673e-03 2.48423456e-06 9.99998571e-01 -3.61717964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:83.59, Y:-4.87, Z:-0.36 [[ 9.95771191e-01 9.18526083e-02 1.68314216e-03 8.35918511e+01] [-9.18524705e-02 9.95772614e-01 -1.59138271e-04 -4.87155308e+00] [-1.69064413e-03 3.86454000e-06 9.99998571e-01 -3.63185108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.755769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.62, Y:-4.88, Z:-0.37 [[ 9.95962122e-01 8.97586729e-02 1.68314031e-03 8.36231887e+01] [-8.97585321e-02 9.95963544e-01 -1.59157827e-04 -4.87520834e+00] [-1.69063218e-03 7.43896348e-06 9.99998571e-01 -3.65986442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.785769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.65, Y:-4.88, Z:-0.37 [[ 9.96034989e-01 8.89464295e-02 1.68313660e-03 8.36539264e+01] [-8.89462874e-02 9.96036411e-01 -1.59197085e-04 -4.87930548e+00] [-1.69062535e-03 8.85711550e-06 9.99998571e-01 -3.65611467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.68, Y:-4.89, Z:-0.36 [[ 9.96086179e-01 8.83713269e-02 1.68313290e-03 8.36842304e+01] [-8.83711840e-02 9.96087601e-01 -1.59236191e-04 -4.88507023e+00] [-1.69061972e-03 9.87252162e-06 9.99998571e-01 -3.63752746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.72, Y:-4.89, Z:-0.36 [[ 9.96084835e-01 8.83864682e-02 1.68310891e-03 8.37155026e+01] [-8.83863249e-02 9.96086257e-01 -1.59489359e-04 -4.88933923e+00] [-1.69061835e-03 1.01011211e-05 9.99998571e-01 -3.63476617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:-4.89, Z:-0.36 [[ 9.96063093e-01 8.86311617e-02 1.68310525e-03 8.37465320e+01] [-8.86310187e-02 9.96064515e-01 -1.59527939e-04 -4.89488768e+00] [-1.69062056e-03 9.72455973e-06 9.99998571e-01 -3.63643926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:-4.90, Z:-0.36 [[ 9.96056183e-01 8.87087849e-02 1.68308151e-03 8.37776241e+01] [-8.87086416e-02 9.96057604e-01 -1.59778009e-04 -4.89919751e+00] [-1.69061985e-03 9.84399897e-06 9.99998571e-01 -3.64252930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.81, Y:-4.90, Z:-0.37 [[ 9.96042238e-01 8.88652190e-02 1.68307787e-03 8.38085731e+01] [-8.88650758e-02 9.96043660e-01 -1.59816320e-04 -4.90399301e+00] [-1.69062116e-03 9.61696253e-06 9.99998571e-01 -3.65423709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.84, Y:-4.91, Z:-0.37 [[ 9.96094443e-01 8.82781232e-02 1.68305429e-03 8.38391789e+01] [-8.82779788e-02 9.96095865e-01 -1.60064336e-04 -4.91238963e+00] [-1.69061360e-03 1.08625650e-05 9.99998571e-01 -3.67534135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.87, Y:-4.92, Z:-0.37 [[ 9.96170274e-01 8.74182605e-02 1.68303082e-03 8.38708301e+01] [-8.74181144e-02 9.96171696e-01 -1.60310707e-04 -4.91882281e+00] [-1.69060175e-03 1.25693805e-05 9.99998571e-01 -3.68175930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:-4.93, Z:-0.37 [[ 9.96375647e-01 8.50454978e-02 1.68300575e-03 8.39020879e+01] [-8.50453479e-02 9.96377069e-01 -1.60573417e-04 -4.92817117e+00] [-1.69056439e-03 1.68596325e-05 9.99998571e-01 -3.67187462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:-4.93, Z:-0.37 [[ 9.96446650e-01 8.42095087e-02 1.68297922e-03 8.39333264e+01] [-8.42093571e-02 9.96448071e-01 -1.60851062e-04 -4.93413873e+00] [-1.69054659e-03 1.85569036e-05 9.99998571e-01 -3.66393185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:-4.94, Z:-0.36 [[ 9.96477626e-01 8.38421687e-02 1.68296034e-03 8.39655377e+01] [-8.38420163e-02 9.96479047e-01 -1.61048326e-04 -4.94058724e+00] [-1.69053736e-03 1.93782646e-05 9.99998571e-01 -3.64559005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:-4.95, Z:-0.36 [[ 9.96476861e-01 8.38512558e-02 1.68293110e-03 8.39982101e+01] [-8.38511029e-02 9.96478282e-01 -1.61353309e-04 -4.95038296e+00] [-1.69053397e-03 1.96692094e-05 9.99998571e-01 -3.62791792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.03, Y:-4.96, Z:-0.36 [[ 9.96403073e-01 8.47235790e-02 1.68290093e-03 8.40296361e+01] [-8.47234267e-02 9.96404494e-01 -1.61667428e-04 -4.95643150e+00] [-1.69054709e-03 1.85047889e-05 9.99998571e-01 -3.62133926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:-4.96, Z:-0.36 [[ 9.96017894e-01 8.91376574e-02 1.68287280e-03 8.40620622e+01] [-8.91375110e-02 9.96019316e-01 -1.61959695e-04 -4.96446266e+00] [-1.69061052e-03 1.13076621e-05 9.99998571e-01 -3.62226618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:-4.97, Z:-0.36 [[ 9.95785943e-01 9.16925546e-02 1.68284231e-03 8.40933842e+01] [-9.16924113e-02 9.95787365e-01 -1.62275828e-04 -4.96981320e+00] [-1.69063260e-03 7.28811866e-06 9.99998571e-01 -3.63403793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-4.98, Z:-0.36 [[ 9.95556138e-01 9.41548969e-02 1.68281371e-03 8.41258703e+01] [-9.41547566e-02 9.95557560e-01 -1.62571889e-04 -4.97587161e+00] [-1.69064485e-03 3.40452622e-06 9.99998571e-01 -3.64807610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:-4.98, Z:-0.37 [[ 9.95285118e-01 9.69778390e-02 1.68278311e-03 8.41581185e+01] [-9.69777022e-02 9.95286541e-01 -1.62888062e-04 -4.98483605e+00] [-1.69064791e-03 -1.07237469e-06 9.99998571e-01 -3.65893793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.19, Y:-4.99, Z:-0.37 [[ 9.95223032e-01 9.76129319e-02 1.68275229e-03 8.41895368e+01] [-9.76127954e-02 9.95224455e-01 -1.63205836e-04 -4.99021561e+00] [-1.69064723e-03 -1.83194776e-06 9.99998571e-01 -3.65786347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.22, Y:-4.99, Z:-0.37 [[ 9.95156549e-01 9.82884101e-02 1.68272354e-03 8.42209529e+01] [-9.82882742e-02 9.95157972e-01 -1.63501742e-04 -4.99468313e+00] [-1.69064607e-03 -2.68216319e-06 9.99998571e-01 -3.65900071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:-5.00, Z:-0.37 [[ 9.94815128e-01 1.01685937e-01 1.68269599e-03 8.42537887e+01] [-1.01685806e-01 9.94816551e-01 -1.63784717e-04 -4.99926929e+00] [-1.69062843e-03 -8.17078356e-06 9.99998571e-01 -3.66795224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:-5.00, Z:-0.37 [[ 9.94579342e-01 1.03966829e-01 1.68266500e-03 8.42864629e+01] [-1.03966700e-01 9.94580765e-01 -1.64102527e-04 -5.00240881e+00] [-1.69060746e-03 -1.17281438e-05 9.99998571e-01 -3.67514047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.32, Y:-5.00, Z:-0.37 [[ 9.94093183e-01 1.08516874e-01 1.68263361e-03 8.43190431e+01] [-1.08516751e-01 9.94094607e-01 -1.64423754e-04 -5.00286141e+00] [-1.69053975e-03 -1.91413994e-05 9.99998571e-01 -3.67621763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:-5.00, Z:-0.37 [[ 9.93847557e-01 1.10743863e-01 1.68260430e-03 8.43518853e+01] [-1.10743743e-01 9.93848981e-01 -1.64723124e-04 -5.00441387e+00] [-1.69049664e-03 -2.26282241e-05 9.99998571e-01 -3.66802828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.475769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.38, Y:-5.00, Z:-0.37 [[ 9.93444657e-01 1.14301715e-01 1.68257283e-03 8.43843114e+01] [-1.14301600e-01 9.93446082e-01 -1.65043969e-04 -5.00488598e+00] [-1.69041019e-03 -2.83587162e-05 9.99998571e-01 -3.65702434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.42, Y:-5.01, Z:-0.36 [[ 9.93359764e-01 1.15037160e-01 1.68254336e-03 8.44170112e+01] [-1.15037045e-01 9.93361189e-01 -1.65343872e-04 -5.00668825e+00] [-1.69039396e-03 -2.93088652e-05 9.99998571e-01 -3.64348335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.535769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:84.45, Y:-5.01, Z:-0.36 [[ 9.93360710e-01 1.15028992e-01 1.68251211e-03 8.44487918e+01] [-1.15028876e-01 9.93362134e-01 -1.65661186e-04 -5.00833533e+00] [-1.69039966e-03 -2.89761639e-05 9.99998571e-01 -3.63656968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:-5.01, Z:-0.36 [[ 9.93636968e-01 1.12617694e-01 1.68248288e-03 8.44818035e+01] [-1.12617574e-01 9.93638392e-01 -1.65957580e-04 -5.00870072e+00] [-1.69046934e-03 -2.45755535e-05 9.99998571e-01 -3.63481670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:-5.01, Z:-0.36 [[ 9.93769955e-01 1.11438077e-01 1.68245194e-03 8.45137998e+01] [-1.11437955e-01 9.93771379e-01 -1.66270654e-04 -5.01079375e+00] [-1.69050147e-03 -2.22542236e-05 9.99998571e-01 -3.64125851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:-5.01, Z:-0.37 [[ 9.94002448e-01 1.09344879e-01 1.68242298e-03 8.45463912e+01] [-1.09344753e-01 9.94003872e-01 -1.66563192e-04 -5.01242984e+00] [-1.69054778e-03 -1.83999049e-05 9.99998571e-01 -3.66215553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:-5.02, Z:-0.37 [[ 9.94055121e-01 1.08864992e-01 1.68239177e-03 8.45785984e+01] [-1.08864866e-01 9.94056544e-01 -1.66877829e-04 -5.01533598e+00] [-1.69055970e-03 -1.72675938e-05 9.99998571e-01 -3.67766327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:-5.02, Z:-0.37 [[ 9.94137808e-01 1.08107296e-01 1.68236252e-03 8.46118237e+01] [-1.08107168e-01 9.94139232e-01 -1.67172182e-04 -5.01842894e+00] [-1.69057511e-03 -1.56832611e-05 9.99998571e-01 -3.68160675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:-5.02, Z:-0.37 [[ 9.94408159e-01 1.05591589e-01 1.68233147e-03 8.46432447e+01] [-1.05591456e-01 9.94409582e-01 -1.67484022e-04 -5.02232295e+00] [-1.69061144e-03 -1.10923519e-05 9.99998571e-01 -3.68677047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:-5.03, Z:-0.37 [[ 9.94579499e-01 1.03965330e-01 1.68230251e-03 8.46757287e+01] [-1.03965195e-01 9.94580922e-01 -1.67774393e-04 -5.02706902e+00] [-1.69062871e-03 -8.03593761e-06 9.99998571e-01 -3.68058990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:-5.03, Z:-0.37 [[ 9.94998372e-01 9.98769749e-02 1.68227140e-03 8.47068497e+01] [-9.98768335e-02 9.94999794e-01 -1.68085823e-04 -5.03387849e+00] [-1.69064760e-03 -7.74820444e-07 9.99998571e-01 -3.68090505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:-5.04, Z:-0.37 [[ 9.95171952e-01 9.81323400e-02 1.68224226e-03 8.47395018e+01] [-9.81321956e-02 9.95173374e-01 -1.68376950e-04 -5.03918669e+00] [-1.69064593e-03 2.48189184e-06 9.99998571e-01 -3.68958916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:-5.04, Z:-0.37 [[ 9.95327296e-01 9.65440044e-02 1.68221214e-03 8.47718827e+01] [-9.65438572e-02 9.95328717e-01 -1.68677336e-04 -5.04406575e+00] [-1.69063884e-03 5.48190859e-06 9.99998571e-01 -3.70334984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.80, Y:-5.05, Z:-0.37 [[ 9.95523126e-01 9.45033161e-02 1.68218102e-03 8.48032808e+01] [-9.45031655e-02 9.95524547e-01 -1.68987107e-04 -5.05051796e+00] [-1.69062234e-03 9.25914145e-06 9.99998571e-01 -3.71381488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:-5.06, Z:-0.37 [[ 9.95508623e-01 9.46559664e-02 1.68215184e-03 8.48361237e+01] [-9.46558155e-02 9.95510044e-01 -1.69277030e-04 -5.05552992e+00] [-1.69062214e-03 9.29128881e-06 9.99998571e-01 -3.70967850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:-5.06, Z:-0.37 [[ 9.95421086e-01 9.55721326e-02 1.68212120e-03 8.48683697e+01] [-9.55719825e-02 9.95422507e-01 -1.69581029e-04 -5.06136544e+00] [-1.69062852e-03 8.04087470e-06 9.99998571e-01 -3.68873838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:-5.07, Z:-0.37 [[ 9.95370597e-01 9.60965436e-02 1.68208938e-03 8.49004600e+01] [-9.60963937e-02 9.95372018e-01 -1.69895994e-04 -5.06586757e+00] [-1.69063112e-03 7.46675317e-06 9.99998571e-01 -3.69236510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:-5.07, Z:-0.37 [[ 9.95319932e-01 9.66198946e-02 1.68206957e-03 8.49331687e+01] [-9.66197451e-02 9.95321353e-01 -1.70091925e-04 -5.07070297e+00] [-1.69063403e-03 6.77474999e-06 9.99998571e-01 -3.69542476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:-5.08, Z:-0.37 [[ 9.95285992e-01 9.69688817e-02 1.68203700e-03 8.49652204e+01] [-9.69687322e-02 9.95287414e-01 -1.70413385e-04 -5.07572136e+00] [-1.69063505e-03 6.50505941e-06 9.99998571e-01 -3.70264872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:-5.08, Z:-0.37 [[ 9.95122232e-01 9.86352609e-02 1.68201672e-03 8.49979270e+01] [-9.86351134e-02 9.95123653e-01 -1.70613404e-04 -5.08336199e+00] [-1.69064312e-03 3.87528193e-06 9.99998571e-01 -3.69472655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:-5.09, Z:-0.37 [[ 9.95024338e-01 9.96179586e-02 1.68198558e-03 8.50311117e+01] [-9.96178120e-02 9.95025760e-01 -1.70919758e-04 -5.08749403e+00] [-1.69064566e-03 2.51359502e-06 9.99998571e-01 -3.68702500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:-5.09, Z:-0.37 [[ 9.94687009e-01 1.02931652e-01 1.68195454e-03 8.50641793e+01] [-1.02931510e-01 9.94688431e-01 -1.71224731e-04 -5.09155906e+00] [-1.69064516e-03 -2.81110496e-06 9.99998571e-01 -3.67965967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:-5.10, Z:-0.37 [[ 9.94406692e-01 1.05605411e-01 1.68192260e-03 8.50973442e+01] [-1.05605272e-01 9.94408114e-01 -1.71537831e-04 -5.09584815e+00] [-1.69063281e-03 -7.04152729e-06 9.99998571e-01 -3.67272886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:-5.10, Z:-0.37 [[ 9.94068603e-01 1.08741825e-01 1.68189038e-03 8.51292403e+01] [-1.08741690e-01 9.94070025e-01 -1.71853167e-04 -5.10012161e+00] [-1.69060444e-03 -1.20577652e-05 9.99998571e-01 -3.65407577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.195769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.16, Y:-5.10, Z:-0.36 [[ 9.93437822e-01 1.14361119e-01 1.68186041e-03 8.51619594e+01] [-1.14360992e-01 9.93439245e-01 -1.72146035e-04 -5.10345462e+00] [-1.69051295e-03 -2.13228415e-05 9.99998571e-01 -3.61163900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:-5.11, Z:-0.36 [[ 9.93175819e-01 1.16614599e-01 1.68182759e-03 8.51948643e+01] [-1.16614474e-01 9.93177242e-01 -1.72466049e-04 -5.10615696e+00] [-1.69046495e-03 -2.48363306e-05 9.99998571e-01 -3.61767509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.23, Y:-5.11, Z:-0.37 [[ 9.92798480e-01 1.19784597e-01 1.68179486e-03 8.52267562e+01] [-1.19784476e-01 9.92799904e-01 -1.72784662e-04 -5.10778017e+00] [-1.69038271e-03 -2.99125661e-05 9.99998571e-01 -3.66646580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.285769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.26, Y:-5.11, Z:-0.37 [[ 9.92631478e-01 1.21160721e-01 1.68177449e-03 8.52596989e+01] [-1.21160601e-01 9.92632902e-01 -1.72982673e-04 -5.11126133e+00] [-1.69034340e-03 -3.20567622e-05 9.99998571e-01 -3.68523124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.315769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.29, Y:-5.11, Z:-0.37 [[ 9.92459430e-01 1.22562031e-01 1.68174188e-03 8.52912404e+01] [-1.22561913e-01 9.92460854e-01 -1.73299167e-04 -5.11490771e+00] [-1.69030288e-03 -3.41251089e-05 9.99998571e-01 -3.68787909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.32, Y:-5.12, Z:-0.37 [[ 9.92125319e-01 1.25237867e-01 1.68171143e-03 8.53245794e+01] [-1.25237753e-01 9.92126743e-01 -1.73594102e-04 -5.11724831e+00] [-1.69021144e-03 -3.83866571e-05 9.99998571e-01 -3.67728448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.36, Y:-5.12, Z:-0.37 [[ 9.91977187e-01 1.26405824e-01 1.68167911e-03 8.53563422e+01] [-1.26405711e-01 9.91978612e-01 -1.73906703e-04 -5.11892895e+00] [-1.69017252e-03 -4.00623611e-05 9.99998571e-01 -3.68366154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:-5.12, Z:-0.37 [[ 9.91768727e-01 1.28031104e-01 1.68164898e-03 8.53898324e+01] [-1.28030992e-01 9.91770152e-01 -1.74197516e-04 -5.11990255e+00] [-1.69011197e-03 -4.25395386e-05 9.99998571e-01 -3.70108090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.42, Y:-5.12, Z:-0.37 [[ 9.91698224e-01 1.28576066e-01 1.68161681e-03 8.54228848e+01] [-1.28575954e-01 9.91699649e-01 -1.74507528e-04 -5.12271803e+00] [-1.69009629e-03 -4.31566810e-05 9.99998571e-01 -3.70557316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.46, Y:-5.13, Z:-0.37 [[ 9.91645581e-01 1.28981445e-01 1.68158446e-03 8.54557586e+01] [-1.28981334e-01 9.91647006e-01 -1.74818730e-04 -5.12579780e+00] [-1.69008656e-03 -4.35347859e-05 9.99998571e-01 -3.69563788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.49, Y:-5.13, Z:-0.37 [[ 9.91621481e-01 1.29166598e-01 1.68155162e-03 8.54890580e+01] [-1.29166487e-01 9.91622906e-01 -1.75134002e-04 -5.12945111e+00] [-1.69008657e-03 -4.35334762e-05 9.99998571e-01 -3.69620455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.52, Y:-5.13, Z:-0.37 [[ 9.91554018e-01 1.29683468e-01 1.68151886e-03 8.55212697e+01] [-1.29683357e-01 9.91555443e-01 -1.75447967e-04 -5.13072634e+00] [-1.69007188e-03 -4.40988738e-05 9.99998571e-01 -3.66764793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.55, Y:-5.13, Z:-0.37 [[ 9.91458346e-01 1.30412889e-01 1.68148826e-03 8.55539294e+01] [-1.30412779e-01 9.91459770e-01 -1.75740816e-04 -5.13322441e+00] [-1.69004683e-03 -4.50478570e-05 9.99998571e-01 -3.67189323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:85.59, Y:-5.14, Z:-0.37 [[ 9.91308203e-01 1.31549301e-01 1.68145551e-03 8.55858794e+01] [-1.31549192e-01 9.91309628e-01 -1.76053602e-04 -5.13579768e+00] [-1.69000276e-03 -4.66707330e-05 9.99998571e-01 -3.68200266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.615769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:85.62, Y:-5.14, Z:-0.37 [[ 9.90933326e-01 1.34344019e-01 1.68142500e-03 8.56185641e+01] [-1.34343913e-01 9.90934752e-01 -1.76344466e-04 -5.13624109e+00] [-1.68987329e-03 -5.11436054e-05 9.99998571e-01 -3.71257780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.645769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:85.65, Y:-5.14, Z:-0.37 [[ 9.90753307e-01 1.35665243e-01 1.68139663e-03 8.56494151e+01] [-1.35665138e-01 9.90754732e-01 -1.76614555e-04 -5.13664116e+00] [-1.68981212e-03 -5.31254517e-05 9.99998571e-01 -3.72045000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.675769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.68, Y:-5.13, Z:-0.37 [[ 9.90449194e-01 1.37867930e-01 1.68137042e-03 8.56824158e+01] [-1.37867829e-01 9.90450620e-01 -1.76863718e-04 -5.13352250e+00] [-1.68969821e-03 -5.66323623e-05 9.99998571e-01 -3.71365528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.705769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:85.71, Y:-5.13, Z:-0.37 [[ 9.90328029e-01 1.38735607e-01 1.68134169e-03 8.57132010e+01] [-1.38735506e-01 9.90329454e-01 -1.77136388e-04 -5.13456084e+00] [-1.68965733e-03 -5.78386611e-05 9.99998571e-01 -3.70709363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.74, Y:-5.14, Z:-0.37 [[ 9.90323064e-01 1.38771039e-01 1.68131511e-03 8.57448405e+01] [-1.38770937e-01 9.90324490e-01 -1.77388395e-04 -5.13536180e+00] [-1.68966390e-03 -5.76458544e-05 9.99998571e-01 -3.69818913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:85.78, Y:-5.13, Z:-0.37 [[ 9.90571383e-01 1.36987258e-01 1.68131101e-03 8.57759236e+01] [-1.36987154e-01 9.90572808e-01 -1.77427219e-04 -5.13291745e+00] [-1.68976624e-03 -5.45636848e-05 9.99998571e-01 -3.69186331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.81, Y:-5.13, Z:-0.37 [[ 9.90879005e-01 1.34744096e-01 1.68130897e-03 8.58077046e+01] [-1.34743988e-01 9.90880430e-01 -1.77446520e-04 -5.13378415e+00] [-1.68988603e-03 -5.07182456e-05 9.99998571e-01 -3.69394885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.84, Y:-5.14, Z:-0.37 [[ 9.91226281e-01 1.32165170e-01 1.68130492e-03 8.58381491e+01] [-1.32165059e-01 9.91227706e-01 -1.77484870e-04 -5.13541344e+00] [-1.69001334e-03 -4.62820963e-05 9.99998571e-01 -3.69016179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.87, Y:-5.14, Z:-0.37 [[ 9.91943168e-01 1.26672512e-01 1.68130492e-03 8.58686073e+01] [-1.26672393e-01 9.91944592e-01 -1.77484870e-04 -5.13647100e+00] [-1.69024378e-03 -3.69200139e-05 9.99998571e-01 -3.68062626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.90, Y:-5.14, Z:-0.37 [[ 9.92248959e-01 1.24254482e-01 1.68130289e-03 8.58985865e+01] [-1.24254360e-01 9.92250383e-01 -1.77504109e-04 -5.13849481e+00] [-1.69032912e-03 -3.27809461e-05 9.99998571e-01 -3.68525196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:-5.14, Z:-0.37 [[ 9.92563189e-01 1.21718891e-01 1.68130289e-03 8.59291326e+01] [-1.21718765e-01 9.92564613e-01 -1.77504109e-04 -5.14056795e+00] [-1.69040736e-03 -2.84620663e-05 9.99998571e-01 -3.69441217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.96, Y:-5.14, Z:-0.37 [[ 9.93027478e-01 1.17871122e-01 1.68130289e-03 8.59594178e+01] [-1.17870991e-01 9.93028901e-01 -1.77504109e-04 -5.14176879e+00] [-1.69050497e-03 -2.19103793e-05 9.99998571e-01 -3.69577349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.975769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.99, Y:-5.14, Z:-0.37 [[ 9.93082074e-01 1.17410252e-01 1.68130091e-03 8.59894476e+01] [-1.17410119e-01 9.93083497e-01 -1.77522900e-04 -5.14354408e+00] [-1.69051519e-03 -2.11069303e-05 9.99998571e-01 -3.68800163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:-5.14, Z:-0.37 [[ 9.92938941e-01 1.18614640e-01 1.68130091e-03 8.60197688e+01] [-1.18614510e-01 9.92940364e-01 -1.77522900e-04 -5.14357100e+00] [-1.69048835e-03 -2.31572824e-05 9.99998571e-01 -3.68734889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.035769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.05, Y:-5.15, Z:-0.37 [[ 9.92832548e-01 1.19501907e-01 1.68130091e-03 8.60513017e+01] [-1.19501778e-01 9.92833971e-01 -1.77522900e-04 -5.14579125e+00] [-1.69046698e-03 -2.46679339e-05 9.99998571e-01 -3.70543065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.08, Y:-5.15, Z:-0.37 [[ 9.92747931e-01 1.20202827e-01 1.68129663e-03 8.60820350e+01] [-1.20202699e-01 9.92749354e-01 -1.77563415e-04 -5.14777702e+00] [-1.69044977e-03 -2.58206793e-05 9.99998571e-01 -3.72810440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.095769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:86.11, Y:-5.15, Z:-0.37 [[ 9.92774218e-01 1.19985523e-01 1.68129450e-03 8.61114671e+01] [-1.19985395e-01 9.92775641e-01 -1.77583552e-04 -5.14921293e+00] [-1.69045568e-03 -2.54304126e-05 9.99998571e-01 -3.74840656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.125769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:86.14, Y:-5.15, Z:-0.37 [[ 9.92914166e-01 1.18821849e-01 1.68129261e-03 8.61420382e+01] [-1.18821719e-01 9.92915589e-01 -1.77601442e-04 -5.15226983e+00] [-1.69048458e-03 -2.34310907e-05 9.99998571e-01 -3.74687551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.17, Y:-5.16, Z:-0.38 [[ 9.93354331e-01 1.15084083e-01 1.68129261e-03 8.61723808e+01] [-1.15083947e-01 9.93355754e-01 -1.77601442e-04 -5.15653160e+00] [-1.69056079e-03 -1.70686281e-05 9.99998571e-01 -3.76545735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.20, Y:-5.16, Z:-0.38 [[ 9.93552837e-01 1.13357546e-01 1.68129056e-03 8.62038881e+01] [-1.13357408e-01 9.93554259e-01 -1.77620878e-04 -5.16118563e+00] [-1.69058806e-03 -1.41110122e-05 9.99998571e-01 -3.75940091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:86.23, Y:-5.17, Z:-0.37 [[ 9.93696404e-01 1.12092058e-01 1.68128643e-03 8.62340878e+01] [-1.12091918e-01 9.93697827e-01 -1.77660000e-04 -5.16546362e+00] [-1.69060494e-03 -1.19185169e-05 9.99998571e-01 -3.74863236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.26, Y:-5.17, Z:-0.37 [[ 9.93772315e-01 1.11417052e-01 1.68128437e-03 8.62647106e+01] [-1.11416911e-01 9.93773737e-01 -1.77679472e-04 -5.16936009e+00] [-1.69061277e-03 -1.07505708e-05 9.99998571e-01 -3.73524075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.275769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.29, Y:-5.17, Z:-0.37 [[ 9.93554004e-01 1.13347317e-01 1.68128019e-03 8.62942332e+01] [-1.13347178e-01 9.93555427e-01 -1.77719015e-04 -5.17417959e+00] [-1.69058903e-03 -1.39949263e-05 9.99998571e-01 -3.72682348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.33, Y:-5.18, Z:-0.37 [[ 9.93260333e-01 1.15892554e-01 1.68127810e-03 8.63252924e+01] [-1.15892419e-01 9.93261756e-01 -1.77738759e-04 -5.17812265e+00] [-1.69054784e-03 -1.83065274e-05 9.99998571e-01 -3.72308150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.335769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.35, Y:-5.18, Z:-0.37 [[ 9.92565885e-01 1.21696908e-01 1.68127391e-03 8.63546288e+01] [-1.21696781e-01 9.92567308e-01 -1.77778431e-04 -5.17998332e+00] [-1.69041260e-03 -2.81488168e-05 9.99998571e-01 -3.71034653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.38, Y:-5.18, Z:-0.37 [[ 9.92247648e-01 1.24264956e-01 1.68127599e-03 8.63840513e+01] [-1.24264833e-01 9.92249071e-01 -1.77758725e-04 -5.18109445e+00] [-1.69033372e-03 -3.25428039e-05 9.99998571e-01 -3.70752450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.395769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.41, Y:-5.18, Z:-0.37 [[ 9.91800648e-01 1.27783602e-01 1.68128007e-03 8.64144075e+01] [-1.27783484e-01 9.91802072e-01 -1.77720156e-04 -5.18053982e+00] [-1.69020677e-03 -3.85768580e-05 9.99998571e-01 -3.73271827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:-5.18, Z:-0.37 [[ 9.91649494e-01 1.28951361e-01 1.68128007e-03 8.64436484e+01] [-1.28951245e-01 9.91650919e-01 -1.77720156e-04 -5.18176850e+00] [-1.69016018e-03 -4.05670551e-05 9.99998571e-01 -3.74480263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:-5.18, Z:-0.38 [[ 9.91561976e-01 1.29622612e-01 1.68128208e-03 8.64733074e+01] [-1.29622497e-01 9.91563400e-01 -1.77701077e-04 -5.18233802e+00] [-1.69013186e-03 -4.17303505e-05 9.99998571e-01 -3.75201887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:-5.18, Z:-0.37 [[ 9.91476663e-01 1.30273559e-01 1.68128610e-03 8.65029218e+01] [-1.30273445e-01 9.91478088e-01 -1.77663074e-04 -5.18246825e+00] [-1.69010313e-03 -4.28781393e-05 9.99998571e-01 -3.74180207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:-5.18, Z:-0.37 [[ 9.91326025e-01 1.31414938e-01 1.68129010e-03 8.65325462e+01] [-1.31414825e-01 9.91327450e-01 -1.77625200e-04 -5.17833807e+00] [-1.69005163e-03 -4.48619609e-05 9.99998571e-01 -3.70478428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:-5.18, Z:-0.37 [[ 9.91241899e-01 1.32047984e-01 1.68129808e-03 8.65610215e+01] [-1.32047873e-01 9.91243324e-01 -1.77549605e-04 -5.17727395e+00] [-1.69002057e-03 -4.60172280e-05 9.99998571e-01 -3.68602396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:-5.17, Z:-0.37 [[ 9.91049973e-01 1.33480803e-01 1.68130875e-03 8.65909348e+01] [-1.33480694e-01 9.91051398e-01 -1.77448487e-04 -5.17161572e+00] [-1.68994936e-03 -4.85619406e-05 9.99998571e-01 -3.71307999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:-5.17, Z:-0.37 [[ 9.91013540e-01 1.33751024e-01 1.68131695e-03 8.66194881e+01] [-1.33750916e-01 9.91014965e-01 -1.77370845e-04 -5.16933903e+00] [-1.68993379e-03 -4.91007726e-05 9.99998571e-01 -3.73242498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:-5.17, Z:-0.37 [[ 9.91033304e-01 1.33604503e-01 1.68132712e-03 8.66489302e+01] [-1.33604395e-01 9.91034729e-01 -1.77274381e-04 -5.16683544e+00] [-1.68993822e-03 -4.89478758e-05 9.99998571e-01 -3.74123433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.68, Y:-5.16, Z:-0.37 [[ 9.91241680e-01 1.32049629e-01 1.68133524e-03 8.66779011e+01] [-1.32049518e-01 9.91243105e-01 -1.77197281e-04 -5.15762683e+00] [-1.69001080e-03 -4.63741772e-05 9.99998571e-01 -3.74734374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.695769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.71, Y:-5.15, Z:-0.37 [[ 9.91470281e-01 1.30322123e-01 1.68134612e-03 8.67068911e+01] [-1.30322010e-01 9.91471705e-01 -1.77094047e-04 -5.15477184e+00] [-1.69008637e-03 -4.35329204e-05 9.99998571e-01 -3.74807187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:86.74, Y:-5.15, Z:-0.38 [[ 9.91811438e-01 1.27699824e-01 1.68135435e-03 8.67357501e+01] [-1.27699708e-01 9.91812862e-01 -1.77015873e-04 -5.15216235e+00] [-1.69019376e-03 -3.91420916e-05 9.99998571e-01 -3.75164965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.755769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.76, Y:-5.14, Z:-0.38 [[ 9.92698204e-01 1.20612806e-01 1.68136257e-03 8.67643770e+01] [-1.20612679e-01 9.92699627e-01 -1.76937702e-04 -5.14494547e+00] [-1.69042895e-03 -2.71479055e-05 9.99998571e-01 -3.75233557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.785769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.79, Y:-5.14, Z:-0.37 [[ 9.93257974e-01 1.15912767e-01 1.68137076e-03 8.67938660e+01] [-1.15912633e-01 9.93259397e-01 -1.76859872e-04 -5.14324643e+00] [-1.69053762e-03 -1.92246339e-05 9.99998571e-01 -3.73932330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.82, Y:-5.14, Z:-0.37 [[ 9.94297352e-01 1.06629961e-01 1.68137866e-03 8.68230482e+01] [-1.06629815e-01 9.94298774e-01 -1.76784744e-04 -5.13768227e+00] [-1.69064329e-03 -3.50849134e-06 9.99998571e-01 -3.70382076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.85, Y:-5.14, Z:-0.37 [[ 9.94733296e-01 1.02483377e-01 1.68138668e-03 8.68518555e+01] [-1.02483224e-01 9.94734717e-01 -1.76708419e-04 -5.13714679e+00] [-1.69064338e-03 3.46381976e-06 9.99998571e-01 -3.68834895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:-5.14, Z:-0.37 [[ 9.95116859e-01 9.86894652e-02 1.68139491e-03 8.68807919e+01] [-9.86893076e-02 9.95118279e-01 -1.76630060e-04 -5.13716382e+00] [-1.69061834e-03 9.83185080e-06 9.99998571e-01 -3.68646697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:-5.14, Z:-0.37 [[ 9.95738735e-01 9.22038248e-02 1.68140319e-03 8.69100715e+01] [-9.22036581e-02 9.95740154e-01 -1.76551258e-04 -5.13597573e+00] [-1.69051937e-03 2.07674018e-05 9.99998571e-01 -3.73705572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:-5.14, Z:-0.38 [[ 9.96013002e-01 8.91923361e-02 1.68141151e-03 8.69382590e+01] [-8.91921652e-02 9.96014421e-01 -1.76471904e-04 -5.13834076e+00] [-1.69045006e-03 2.57995775e-05 9.99998571e-01 -3.77319029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.97, Y:-5.14, Z:-0.38 [[ 9.96276968e-01 8.61938261e-02 1.68142182e-03 8.69673931e+01] [-8.61936511e-02 9.96278386e-01 -1.76373653e-04 -5.14124196e+00] [-1.69036654e-03 3.07891227e-05 9.99998571e-01 -3.78582555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.00, Y:-5.14, Z:-0.38 [[ 9.96671913e-01 8.15001213e-02 1.68142998e-03 8.69955768e+01] [-8.14999398e-02 9.96673331e-01 -1.76295825e-04 -5.14415222e+00] [-1.69020455e-03 3.86726554e-05 9.99998571e-01 -3.75264769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:-5.15, Z:-0.37 [[ 9.96782904e-01 8.01312372e-02 1.68144027e-03 8.70244894e+01] [-8.01310539e-02 9.96784321e-01 -1.76197607e-04 -5.14730104e+00] [-1.69015223e-03 4.08951810e-05 9.99998571e-01 -3.73036065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.055769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:87.05, Y:-5.15, Z:-0.37 [[ 9.96908796e-01 7.85495108e-02 1.68144844e-03 8.70519107e+01] [-7.85493254e-02 9.96910213e-01 -1.76119587e-04 -5.15246661e+00] [-1.69008723e-03 4.34985247e-05 9.99998571e-01 -3.69353262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.08, Y:-5.16, Z:-0.38 [[ 9.97011831e-01 7.72306990e-02 1.68145916e-03 8.70804755e+01] [-7.72305119e-02 9.97013248e-01 -1.76017208e-04 -5.15625268e+00] [-1.69003099e-03 4.56312871e-05 9.99998571e-01 -3.76565366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.115769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.11, Y:-5.16, Z:-0.38 [[ 9.97135660e-01 7.56151279e-02 1.68146724e-03 8.71086278e+01] [-7.56149387e-02 9.97137077e-01 -1.75940009e-04 -5.16057910e+00] [-1.68995705e-03 4.82920147e-05 9.99998571e-01 -3.77662040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.145769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.14, Y:-5.17, Z:-0.38 [[ 9.97453854e-01 7.12950356e-02 1.68147555e-03 8.71381396e+01] [-7.12948404e-02 9.97455270e-01 -1.75860580e-04 -5.16693850e+00] [-1.68973463e-03 5.55322829e-05 9.99998571e-01 -3.77737618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.17, Y:-5.17, Z:-0.38 [[ 9.97639905e-01 6.86424937e-02 1.68147967e-03 8.71659234e+01] [-6.86422947e-02 9.97641321e-01 -1.75821190e-04 -5.17227225e+00] [-1.68958240e-03 5.99856122e-05 9.99998571e-01 -3.78259127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.205769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.18, Z:-0.38 [[ 9.97819487e-01 6.59806280e-02 1.68148581e-03 8.71954463e+01] [-6.59804254e-02 9.97820902e-01 -1.75762452e-04 -5.17843879e+00] [-1.68941860e-03 6.44340507e-05 9.99998571e-01 -3.78435141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-5.19, Z:-0.38 [[ 9.98104951e-01 6.15116196e-02 1.68148982e-03 8.72232711e+01] [-6.15114107e-02 9.98106365e-01 -1.75724034e-04 -5.18719987e+00] [-1.68911476e-03 7.19602174e-05 9.99998571e-01 -3.77645917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-5.19, Z:-0.38 [[ 9.98181084e-01 6.02635493e-02 1.68149581e-03 8.72516676e+01] [-6.02633387e-02 9.98182498e-01 -1.75666654e-04 -5.19247318e+00] [-1.68902599e-03 7.40145796e-05 9.99998571e-01 -3.76776749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.28, Y:-5.20, Z:-0.38 [[ 9.98217268e-01 5.96612043e-02 1.68150161e-03 8.72801903e+01] [-5.96609930e-02 9.98218681e-01 -1.75611202e-04 -5.20061023e+00] [-1.68898349e-03 7.49780787e-05 9.99998571e-01 -3.77082896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:-5.21, Z:-0.38 [[ 9.98211847e-01 5.97518244e-02 1.68150563e-03 8.73095373e+01] [-5.97516133e-02 9.98213261e-01 -1.75572636e-04 -5.20577072e+00] [-1.68899201e-03 7.47860114e-05 9.99998571e-01 -3.78131664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.34, Y:-5.21, Z:-0.38 [[ 9.98176289e-01 6.03429298e-02 1.68150763e-03 8.73398379e+01] [-6.03427196e-02 9.98177702e-01 -1.75553482e-04 -5.21073922e+00] [-1.68903684e-03 7.37665792e-05 9.99998571e-01 -3.78370448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.37, Y:-5.22, Z:-0.38 [[ 9.98094850e-01 6.16753083e-02 1.68150763e-03 8.73698646e+01] [-6.16750999e-02 9.98096264e-01 -1.75553482e-04 -5.21538304e+00] [-1.68913380e-03 7.15118745e-05 9.99998571e-01 -3.78171657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.415769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.40, Y:-5.22, Z:-0.38 [[ 9.98094850e-01 6.16753083e-02 1.68150763e-03 8.74006968e+01] [-6.16750999e-02 9.98096264e-01 -1.75553482e-04 -5.21860200e+00] [-1.68913380e-03 7.15118745e-05 9.99998571e-01 -3.78224066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.43, Y:-5.22, Z:-0.38 [[ 9.97909258e-01 6.46087136e-02 1.68150763e-03 8.74298666e+01] [-6.46085094e-02 9.97910672e-01 -1.75553482e-04 -5.22435872e+00] [-1.68933670e-03 6.65467428e-05 9.99998571e-01 -3.77928945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.475769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:87.46, Y:-5.23, Z:-0.38 [[ 9.97824867e-01 6.58992134e-02 1.68150966e-03 8.74585405e+01] [-6.58990111e-02 9.97826282e-01 -1.75534023e-04 -5.22911718e+00] [-1.68942209e-03 6.43423894e-05 9.99998571e-01 -3.78057220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.505769231 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:87.49, Y:-5.23, Z:-0.37 [[ 9.97643340e-01 6.85925607e-02 1.68151166e-03 8.74886089e+01] [-6.85923621e-02 9.97644755e-01 -1.75514886e-04 -5.23488328e+00] [-1.68959030e-03 5.97624003e-05 9.99998571e-01 -3.72411107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.535769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.52, Y:-5.24, Z:-0.38 [[ 9.97543568e-01 7.00285880e-02 1.68151166e-03 8.75182678e+01] [-7.00283915e-02 9.97544983e-01 -1.75514886e-04 -5.23801421e+00] [-1.68967458e-03 5.73301886e-05 9.99998571e-01 -3.77784416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.565769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:87.55, Y:-5.24, Z:-0.38 [[ 9.97411621e-01 7.18834478e-02 1.68151375e-03 8.75473425e+01] [-7.18832540e-02 9.97413037e-01 -1.75494841e-04 -5.24148317e+00] [-1.68977891e-03 5.41679141e-05 9.99998571e-01 -3.76402607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.595769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:87.58, Y:-5.24, Z:-0.37 [[ 9.97047954e-01 7.67629448e-02 1.68151786e-03 8.75769844e+01] [-7.67627579e-02 9.97049371e-01 -1.75455461e-04 -5.24460610e+00] [-1.69002480e-03 4.58595594e-05 9.99998571e-01 -3.74393168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.625769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:87.61, Y:-5.25, Z:-0.37 [[ 9.96840951e-01 7.94058600e-02 1.68152195e-03 8.76057329e+01] [-7.94056770e-02 9.96842369e-01 -1.75416231e-04 -5.24753162e+00] [-1.69014140e-03 4.13396933e-05 9.99998571e-01 -3.73081867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65576923100001 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:87.63, Y:-5.25, Z:-0.37 [[ 9.96487516e-01 8.37245600e-02 1.68152808e-03 8.76345363e+01] [-8.37243832e-02 9.96488935e-01 -1.75357524e-04 -5.24955735e+00] [-1.69030585e-03 3.39566822e-05 9.99998571e-01 -3.70506307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68576923100001 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:87.66, Y:-5.25, Z:-0.37 [[ 9.96334935e-01 8.55211671e-02 1.68153407e-03 8.76640216e+01] [-8.55209930e-02 9.96336353e-01 -1.75300008e-04 -5.25269090e+00] [-1.69036539e-03 3.08510587e-05 9.99998571e-01 -3.71570378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71576923100001 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:87.69, Y:-5.26, Z:-0.37 [[ 9.96219758e-01 8.68525560e-02 1.68153817e-03 8.76921835e+01] [-8.68523839e-02 9.96221177e-01 -1.75260708e-04 -5.25597721e+00] [-1.69040577e-03 2.85525818e-05 9.99998571e-01 -3.73195519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:87.72, Y:-5.26, Z:-0.38 [[ 9.96206611e-01 8.70032201e-02 1.68154428e-03 8.77211516e+01] [-8.70030483e-02 9.96208030e-01 -1.75202053e-04 -5.26203081e+00] [-1.69041106e-03 2.82379650e-05 9.99998571e-01 -3.75596909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77576923100001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:87.75, Y:-5.27, Z:-0.37 [[ 9.96323787e-01 8.56509431e-02 1.68154634e-03 8.77494337e+01] [-8.56507694e-02 9.96325205e-01 -1.75182318e-04 -5.26753797e+00] [-1.69037153e-03 3.05125729e-05 9.99998571e-01 -3.74717166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805769231 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:87.78, Y:-5.27, Z:-0.37 [[ 9.96509424e-01 8.34634019e-02 1.68155251e-03 8.77786261e+01] [-8.34632252e-02 9.96510843e-01 -1.75123083e-04 -5.27324980e+00] [-1.69030167e-03 3.41640074e-05 9.99998571e-01 -3.72850029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.835769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:87.81, Y:-5.28, Z:-0.37 [[ 9.96709964e-01 8.10334515e-02 1.68155654e-03 8.78072928e+01] [-8.10332714e-02 9.96711382e-01 -1.75084381e-04 -5.28316630e+00] [-1.69021423e-03 3.82463197e-05 9.99998571e-01 -3.71854232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865769231 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:87.84, Y:-5.29, Z:-0.37 [[ 9.96710334e-01 8.10289049e-02 1.68155853e-03 8.78370255e+01] [-8.10287248e-02 9.96711751e-01 -1.75065176e-04 -5.29000701e+00] [-1.69021449e-03 3.82347267e-05 9.99998571e-01 -3.74021276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.895769231 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:87.87, Y:-5.30, Z:-0.38 [[ 9.96538839e-01 8.31114567e-02 1.68155853e-03 8.78657648e+01] [-8.31112795e-02 9.96540257e-01 -1.75065176e-04 -5.29931000e+00] [-1.69029070e-03 3.47027663e-05 9.99998571e-01 -3.78930552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.925769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:87.90, Y:-5.31, Z:-0.38 [[ 9.96364809e-01 8.51724118e-02 1.68155610e-03 8.78959804e+01] [-8.51722376e-02 9.96366227e-01 -1.75088528e-04 -5.30513540e+00] [-1.69035842e-03 3.12301514e-05 9.99998571e-01 -3.80573151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.955769231 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:87.93, Y:-5.31, Z:-0.38 [[ 9.96149875e-01 8.76504413e-02 1.68155610e-03 8.79262271e+01] [-8.76502706e-02 9.96151293e-01 -1.75088528e-04 -5.31067379e+00] [-1.69043087e-03 2.70255673e-05 9.99998571e-01 -3.79884181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.985769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:87.96, Y:-5.32, Z:-0.38 [[ 9.95647953e-01 9.31790050e-02 1.68155610e-03 8.79554226e+01] [-9.31788422e-02 9.95649372e-01 -1.75088528e-04 -5.31879161e+00] [-1.69055485e-03 1.76410833e-05 9.99998571e-01 -3.78521091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01576923100001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:87.99, Y:-5.32, Z:-0.38 [[ 9.95380885e-01 9.59899239e-02 1.68155827e-03 8.79858025e+01] [-9.59897652e-02 9.95382306e-01 -1.75067685e-04 -5.32337408e+00] [-1.69059808e-03 1.28466438e-05 9.99998571e-01 -3.76599816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04576923100001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:88.01, Y:-5.33, Z:-0.38 [[ 9.95093042e-01 9.89293180e-02 1.68155827e-03 8.80146740e+01] [-9.89291634e-02 9.95094463e-01 -1.75067685e-04 -5.32662989e+00] [-1.69062865e-03 7.85348221e-06 9.99998571e-01 -3.76590382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:88.04, Y:-5.33, Z:-0.38 [[ 9.94504593e-01 1.04679445e-01 1.68156035e-03 8.80439481e+01] [-1.04679299e-01 9.94506015e-01 -1.75047731e-04 -5.32871164e+00] [-1.69064578e-03 -1.93878593e-06 9.99998571e-01 -3.76760297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10576923100001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:88.07, Y:-5.33, Z:-0.38 [[ 9.94288613e-01 1.06711416e-01 1.68156446e-03 8.80726898e+01] [-1.06711273e-01 9.94290035e-01 -1.75008197e-04 -5.33135363e+00] [-1.69063816e-03 -5.43322688e-06 9.99998571e-01 -3.78676545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:88.10, Y:-5.33, Z:-0.38 [[ 9.94012686e-01 1.09251784e-01 1.68157063e-03 8.81018995e+01] [-1.09251644e-01 9.94014108e-01 -1.74948978e-04 -5.33315516e+00] [-1.69061841e-03 -9.81285291e-06 9.99998571e-01 -3.78283287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165769231 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:88.13, Y:-5.33, Z:-0.38 [[ 9.93949814e-01 1.09822310e-01 1.68157457e-03 8.81309875e+01] [-1.09822171e-01 9.93951236e-01 -1.74911044e-04 -5.33461796e+00] [-1.69061226e-03 -1.08213707e-05 9.99998571e-01 -3.76864788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.195769231 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:88.16, Y:-5.34, Z:-0.38 [[ 9.93863115e-01 1.10604167e-01 1.68158046e-03 8.81608363e+01] [-1.10604029e-01 9.93864537e-01 -1.74854415e-04 -5.33643364e+00] [-1.69060281e-03 -1.22082210e-05 9.99998571e-01 -3.76025851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225769231 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:88.19, Y:-5.34, Z:-0.38 [[ 9.93868535e-01 1.10555446e-01 1.68158434e-03 8.81901268e+01] [-1.10555308e-01 9.93869958e-01 -1.74817124e-04 -5.33776383e+00] [-1.69060314e-03 -1.21628355e-05 9.99998571e-01 -3.77516329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.255769231 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:88.22, Y:-5.34, Z:-0.38 [[ 9.93944484e-01 1.09870537e-01 1.68158827e-03 8.82193179e+01] [-1.09870399e-01 9.93945906e-01 -1.74779244e-04 -5.33939935e+00] [-1.69061087e-03 -1.10359092e-05 9.99998571e-01 -3.78647792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.285769231 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:88.25, Y:-5.34, Z:-0.38 [[ 9.94025359e-01 1.09136422e-01 1.68159243e-03 8.82495769e+01] [-1.09136283e-01 9.94026781e-01 -1.74739278e-04 -5.33998522e+00] [-1.69061833e-03 -9.82747301e-06 9.99998571e-01 -3.80146627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.315769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:88.28, Y:-5.34, Z:-0.38 [[ 9.94226101e-01 1.07292275e-01 1.68159450e-03 8.82785973e+01] [-1.07292133e-01 9.94227523e-01 -1.74719340e-04 -5.33780976e+00] [-1.69063357e-03 -6.71133242e-06 9.99998571e-01 -3.79771921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.345769231 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:88.31, Y:-5.34, Z:-0.38 [[ 9.94405085e-01 1.05620543e-01 1.68160069e-03 8.83077056e+01] [-1.05620399e-01 9.94406507e-01 -1.74659696e-04 -5.33892106e+00] [-1.69064232e-03 -3.92884564e-06 9.99998571e-01 -3.78775438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.375769231 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:88.34, Y:-5.34, Z:-0.38 [[ 9.94862828e-01 1.01218207e-01 1.68160683e-03 8.83379602e+01] [-1.01218057e-01 9.94864249e-01 -1.74600566e-04 -5.33924849e+00] [-1.69064328e-03 3.49463682e-06 9.99998571e-01 -3.78771727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40576923100001 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:88.37, Y:-5.34, Z:-0.38 [[ 9.95108344e-01 9.87752837e-02 1.68161093e-03 8.83664283e+01] [-9.87751297e-02 9.95109764e-01 -1.74561088e-04 -5.33971651e+00] [-1.69062978e-03 7.60585719e-06 9.99998571e-01 -3.79929128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43576923100001 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:88.40, Y:-5.34, Z:-0.38 [[ 9.95315353e-01 9.66670595e-02 1.68161702e-03 8.83960197e+01] [-9.66669026e-02 9.95316773e-01 -1.74502398e-04 -5.33991864e+00] [-1.69061026e-03 1.11282066e-05 9.99998571e-01 -3.79561050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46576923100001 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:88.42, Y:-5.34, Z:-0.38 [[ 9.95626268e-01 9.34104208e-02 1.68162104e-03 8.84248929e+01] [-9.34102593e-02 9.95627688e-01 -1.74463625e-04 -5.33843664e+00] [-1.69056519e-03 1.66199106e-05 9.99998571e-01 -3.75741013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49576923100001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:88.45, Y:-5.34, Z:-0.38 [[ 9.95739437e-01 9.21962325e-02 1.68162542e-03 8.84542816e+01] [-9.21960694e-02 9.95740857e-01 -1.74421413e-04 -5.34016414e+00] [-1.69054414e-03 1.86390254e-05 9.99998571e-01 -3.76012901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52576923100001 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:88.48, Y:-5.34, Z:-0.38 [[ 9.95848127e-01 9.10147225e-02 1.68162937e-03 8.84835220e+01] [-9.10145577e-02 9.95849547e-01 -1.74383357e-04 -5.34197562e+00] [-1.69052130e-03 2.06065865e-05 9.99998571e-01 -3.76640300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.555769231 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:88.51, Y:-5.34, Z:-0.38 [[ 9.96039258e-01 8.88986389e-02 1.68163330e-03 8.85127432e+01] [-8.88984712e-02 9.96040678e-01 -1.74345465e-04 -5.34118308e+00] [-1.69047424e-03 2.41602988e-05 9.99998571e-01 -3.77960929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585769231 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:88.54, Y:-5.34, Z:-0.38 [[ 9.96160339e-01 8.75314250e-02 1.68163917e-03 8.85419504e+01] [-8.75312554e-02 9.96161758e-01 -1.74288786e-04 -5.34239441e+00] [-1.69044038e-03 2.64235880e-05 9.99998571e-01 -3.78681295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.615769231 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:88.57, Y:-5.34, Z:-0.38 [[ 9.96315212e-01 8.57506302e-02 1.68164306e-03 8.85704932e+01] [-8.57504582e-02 9.96316631e-01 -1.74251269e-04 -5.34443294e+00] [-1.69039110e-03 2.94075268e-05 9.99998571e-01 -3.78781008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.645769231 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:88.60, Y:-5.35, Z:-0.38 [[ 9.96661658e-01 8.16254393e-02 1.68164720e-03 8.85990727e+01] [-8.16252615e-02 9.96663076e-01 -1.74211251e-04 -5.34661813e+00] [-1.69025574e-03 3.63647811e-05 9.99998571e-01 -3.76001464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.675769231 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:88.63, Y:-5.35, Z:-0.38 [[ 9.96791333e-01 8.00263165e-02 1.68165297e-03 8.86282007e+01] [-8.00261366e-02 9.96792750e-01 -1.74155624e-04 -5.34901658e+00] [-1.69019652e-03 3.90206272e-05 9.99998571e-01 -3.75596915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.705769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:88.66, Y:-5.35, Z:-0.38 [[ 9.96969395e-01 7.77765926e-02 1.68165678e-03 8.86566488e+01] [-7.77764095e-02 9.96970812e-01 -1.74118798e-04 -5.35219833e+00] [-1.69010509e-03 4.27978862e-05 9.99998571e-01 -3.78914700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.735769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:88.69, Y:-5.36, Z:-0.38 [[ 9.96985719e-01 7.75670602e-02 1.68166250e-03 8.86851426e+01] [-7.75668769e-02 9.96987136e-01 -1.74063544e-04 -5.35567397e+00] [-1.69009747e-03 4.30975591e-05 9.99998571e-01 -3.80280984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76576923100001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:88.71, Y:-5.36, Z:-0.38 [[ 9.96933836e-01 7.82310544e-02 1.68166816e-03 8.87142119e+01] [-7.82308721e-02 9.96935254e-01 -1.74008866e-04 -5.35856262e+00] [-1.69012717e-03 4.19169604e-05 9.99998571e-01 -3.81120970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79576923100001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:88.74, Y:-5.36, Z:-0.38 [[ 9.96645063e-01 8.18278114e-02 1.68167193e-03 8.87427265e+01] [-8.18276343e-02 9.96646481e-01 -1.73972377e-04 -5.35953736e+00] [-1.69026819e-03 3.57814752e-05 9.99998571e-01 -3.81780914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82576923100001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:88.77, Y:-5.36, Z:-0.38 [[ 9.96460045e-01 8.40508783e-02 1.68167757e-03 8.87722883e+01] [-8.40507045e-02 9.96461464e-01 -1.73917808e-04 -5.36131875e+00] [-1.69034484e-03 3.19559616e-05 9.99998571e-01 -3.80894275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.80, Y:-5.36, Z:-0.38 [[ 9.96301608e-01 8.59085419e-02 1.68168161e-03 8.88004551e+01] [-8.59083708e-02 9.96303027e-01 -1.73878796e-04 -5.36304115e+00] [-1.69040215e-03 2.87651971e-05 9.99998571e-01 -3.81777069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:88.83, Y:-5.36, Z:-0.38 [[ 9.96103295e-01 8.81782123e-02 1.68168763e-03 8.88286003e+01] [-8.81780444e-02 9.96104715e-01 -1.73820565e-04 -5.36345559e+00] [-1.69046416e-03 2.48553117e-05 9.99998571e-01 -3.81486997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.915769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:88.86, Y:-5.37, Z:-0.38 [[ 9.96056572e-01 8.87044331e-02 1.68169730e-03 8.88573278e+01] [-8.87042662e-02 9.96057992e-01 -1.73726904e-04 -5.36548438e+00] [-1.69047838e-03 2.38680992e-05 9.99998571e-01 -3.80466622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:88.89, Y:-5.37, Z:-0.38 [[ 9.96030114e-01 8.90010296e-02 1.68170466e-03 8.88856637e+01] [-8.90008632e-02 9.96031534e-01 -1.73655671e-04 -5.36658178e+00] [-1.69048640e-03 2.32931116e-05 9.99998571e-01 -3.79139371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.975769231 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:88.91, Y:-5.37, Z:-0.38 [[ 9.96030438e-01 8.89974114e-02 1.68171381e-03 8.89140951e+01] [-8.89972452e-02 9.96031857e-01 -1.73566962e-04 -5.36846664e+00] [-1.69048754e-03 2.32100807e-05 9.99998571e-01 -3.77448407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.005769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:88.94, Y:-5.37, Z:-0.38 [[ 9.96005645e-01 8.92744434e-02 1.68172204e-03 8.89424338e+01] [-8.92742777e-02 9.96007065e-01 -1.73487240e-04 -5.36911150e+00] [-1.69049501e-03 2.26597500e-05 9.99998571e-01 -3.77128897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.035769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.97, Y:-5.37, Z:-0.38 [[ 9.96035228e-01 8.89437823e-02 1.68173267e-03 8.89713773e+01] [-8.89436163e-02 9.96036647e-01 -1.73384105e-04 -5.37077441e+00] [-1.69048881e-03 2.31172914e-05 9.99998571e-01 -3.77414240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.065769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.00, Y:-5.37, Z:-0.38 [[ 9.96079937e-01 8.84416810e-02 1.68174051e-03 8.90005238e+01] [-8.84415144e-02 9.96081356e-01 -1.73308007e-04 -5.37314647e+00] [-1.69047802e-03 2.38929510e-05 9.99998571e-01 -3.77259285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.095769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.03, Y:-5.38, Z:-0.38 [[ 9.96242050e-01 8.65964788e-02 1.68174852e-03 8.90276581e+01] [-8.65963098e-02 9.96243469e-01 -1.73230249e-04 -5.37690835e+00] [-1.69043211e-03 2.69460429e-05 9.99998571e-01 -3.76132201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.125769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:89.06, Y:-5.38, Z:-0.38 [[ 9.96347632e-01 8.53731066e-02 1.68175847e-03 8.90565988e+01] [-8.53729359e-02 9.96349051e-01 -1.73133650e-04 -5.38056014e+00] [-1.69039941e-03 2.89246450e-05 9.99998571e-01 -3.77368612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.08, Y:-5.38, Z:-0.38 [[ 9.96401166e-01 8.47460220e-02 1.68176659e-03 8.90849720e+01] [-8.47458506e-02 9.96402585e-01 -1.73054707e-04 -5.38482988e+00] [-1.69038227e-03 2.99091715e-05 9.99998571e-01 -3.80454835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.11, Y:-5.39, Z:-0.38 [[ 9.96351195e-01 8.53315146e-02 1.68177470e-03 8.91136269e+01] [-8.53313442e-02 9.96352614e-01 -1.72975839e-04 -5.38831943e+00] [-1.69040091e-03 2.88365877e-05 9.99998571e-01 -3.81142416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21576923100001 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:89.14, Y:-5.39, Z:-0.38 [[ 9.96233406e-01 8.66958640e-02 1.68178076e-03 8.91419161e+01] [-8.66956956e-02 9.96234825e-01 -1.72916897e-04 -5.39196822e+00] [-1.69043974e-03 2.64624362e-05 9.99998571e-01 -3.82030224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24576923100001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:89.17, Y:-5.40, Z:-0.38 [[ 9.96095261e-01 8.82689252e-02 1.68178678e-03 8.91707738e+01] [-8.82687591e-02 9.96096680e-01 -1.72858389e-04 -5.39536453e+00] [-1.69048025e-03 2.37341901e-05 9.99998571e-01 -3.80147294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:89.20, Y:-5.40, Z:-0.38 [[ 9.95840829e-01 9.10945428e-02 1.68179483e-03 8.91985609e+01] [-9.10943809e-02 9.95842249e-01 -1.72780006e-04 -5.39855444e+00] [-1.69054166e-03 1.88593256e-05 9.99998571e-01 -3.79577444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:89.23, Y:-5.40, Z:-0.38 [[ 9.95845019e-01 9.10487166e-02 1.68180484e-03 8.92277455e+01] [-9.10485548e-02 9.95846439e-01 -1.72682522e-04 -5.40145912e+00] [-1.69054188e-03 1.88391299e-05 9.99998571e-01 -3.79627029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.335769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.26, Y:-5.40, Z:-0.38 [[ 9.95757732e-01 9.19984257e-02 1.68181278e-03 8.92568308e+01] [-9.19982654e-02 9.95759152e-01 -1.72605130e-04 -5.40471664e+00] [-1.69055987e-03 1.71490339e-05 9.99998571e-01 -3.79704157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:89.29, Y:-5.41, Z:-0.38 [[ 9.95685424e-01 9.27777347e-02 1.68182075e-03 8.92854432e+01] [-9.27775756e-02 9.95686844e-01 -1.72527421e-04 -5.40841459e+00] [-1.69057350e-03 1.57477864e-05 9.99998571e-01 -3.79732951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.395769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:89.31, Y:-5.41, Z:-0.38 [[ 9.95572507e-01 9.39816743e-02 1.68182891e-03 8.93130639e+01] [-9.39815170e-02 9.95573927e-01 -1.72447887e-04 -5.41252850e+00] [-1.69059195e-03 1.36235433e-05 9.99998571e-01 -3.81429766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.425769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:89.34, Y:-5.42, Z:-0.38 [[ 9.95466529e-01 9.50976359e-02 1.68183926e-03 8.93411624e+01] [-9.50974805e-02 9.95467950e-01 -1.72346891e-04 -5.41501693e+00] [-1.69060686e-03 1.16268859e-05 9.99998571e-01 -3.81428126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.455769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.37, Y:-5.41, Z:-0.38 [[ 9.95098989e-01 9.88694783e-02 1.68184707e-03 8.93700051e+01] [-9.88693284e-02 9.95100410e-01 -1.72270636e-04 -5.41460902e+00] [-1.69063901e-03 5.14324613e-06 9.99998571e-01 -3.77993747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.485769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.40, Y:-5.42, Z:-0.38 [[ 9.94823194e-01 1.01607012e-01 1.68185522e-03 8.93974166e+01] [-1.01606866e-01 9.94824615e-01 -1.72191052e-04 -5.41577251e+00] [-1.69064679e-03 4.11614178e-07 9.99998571e-01 -3.76774016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.43, Y:-5.42, Z:-0.38 [[ 9.94588227e-01 1.03881806e-01 1.68186531e-03 8.94266342e+01] [-1.03881663e-01 9.94589649e-01 -1.72092422e-04 -5.41733821e+00] [-1.69064310e-03 -3.55386774e-06 9.99998571e-01 -3.76232063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.45, Y:-5.42, Z:-0.38 [[ 9.94383207e-01 1.05826317e-01 1.68187355e-03 8.94548842e+01] [-1.05826178e-01 9.94384629e-01 -1.72011862e-04 -5.41854870e+00] [-1.69063258e-03 -6.94054121e-06 9.99998571e-01 -3.75757109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57576923100001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:89.48, Y:-5.42, Z:-0.38 [[ 9.93955980e-01 1.09766486e-01 1.68188379e-03 8.94834439e+01] [-1.09766352e-01 9.93957403e-01 -1.71911650e-04 -5.41667434e+00] [-1.69059098e-03 -1.37416361e-05 9.99998571e-01 -3.76497834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:89.51, Y:-5.42, Z:-0.38 [[ 9.93882887e-01 1.10426348e-01 1.68189378e-03 8.95126635e+01] [-1.10426215e-01 9.93884310e-01 -1.71813815e-04 -5.41682514e+00] [-1.69058061e-03 -1.49623544e-05 9.99998571e-01 -3.78368841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63576923100001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:89.54, Y:-5.42, Z:-0.38 [[ 9.93901988e-01 1.10254294e-01 1.68190725e-03 8.95402928e+01] [-1.10254162e-01 9.93903411e-01 -1.71681879e-04 -5.41587378e+00] [-1.69058202e-03 -1.48023133e-05 9.99998571e-01 -3.81513376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.57, Y:-5.42, Z:-0.38 [[ 9.94028048e-01 1.09111918e-01 1.68191857e-03 8.95696122e+01] [-1.09111783e-01 9.94029471e-01 -1.71570916e-04 -5.41676857e+00] [-1.69059706e-03 -1.29708322e-05 9.99998571e-01 -3.81753023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.60, Y:-5.41, Z:-0.38 [[ 9.94297275e-01 1.06630668e-01 1.68192657e-03 8.95973601e+01] [-1.06630530e-01 9.94298698e-01 -1.71492505e-04 -5.41495069e+00] [-1.69062375e-03 -8.83019068e-06 9.99998571e-01 -3.81425577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.63, Y:-5.42, Z:-0.38 [[ 9.94458737e-01 1.05114182e-01 1.68193744e-03 8.96258183e+01] [-1.05114042e-01 9.94460159e-01 -1.71385752e-04 -5.41534501e+00] [-1.69063485e-03 -6.35918541e-06 9.99998571e-01 -3.82234157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.755769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:89.66, Y:-5.42, Z:-0.38 [[ 9.94618724e-01 1.03589404e-01 1.68194530e-03 8.96550127e+01] [-1.03589262e-01 9.94620146e-01 -1.71308603e-04 -5.41623412e+00] [-1.69064244e-03 -3.84472833e-06 9.99998571e-01 -3.83034911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.785769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.68, Y:-5.42, Z:-0.38 [[ 9.94780250e-01 1.02026593e-01 1.68195316e-03 8.96830471e+01] [-1.02026450e-01 9.94781672e-01 -1.71231428e-04 -5.41727116e+00] [-1.69064633e-03 -1.26606627e-06 9.99998571e-01 -3.84024444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.815769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.71, Y:-5.42, Z:-0.38 [[ 9.95115997e-01 9.86981479e-02 1.68196293e-03 8.97120253e+01] [-9.86979996e-02 9.95117418e-01 -1.71135350e-04 -5.41733778e+00] [-1.69064135e-03 4.29314700e-06 9.99998571e-01 -3.83363477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.845769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:89.74, Y:-5.42, Z:-0.38 [[ 9.95258904e-01 9.72465208e-02 1.68197065e-03 8.97397063e+01] [-9.72463706e-02 9.95260325e-01 -1.71059463e-04 -5.41912500e+00] [-1.69063359e-03 6.68291242e-06 9.99998571e-01 -3.83772101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.875769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.77, Y:-5.42, Z:-0.38 [[ 9.95440089e-01 9.53740022e-02 1.68198024e-03 8.97683945e+01] [-9.53738495e-02 9.95441510e-01 -1.70965088e-04 -5.41977185e+00] [-1.69061858e-03 9.76857156e-06 9.99998571e-01 -3.84505393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:89.80, Y:-5.42, Z:-0.38 [[ 9.95465920e-01 9.51040165e-02 1.68198786e-03 8.97962831e+01] [-9.51038635e-02 9.95467340e-01 -1.70890081e-04 -5.42112693e+00] [-1.69061632e-03 1.01517070e-05 9.99998571e-01 -3.84740526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.83, Y:-5.42, Z:-0.39 [[ 9.95501725e-01 9.47284849e-02 1.68199755e-03 8.98254596e+01] [-9.47283316e-02 9.95503146e-01 -1.70794697e-04 -5.42237501e+00] [-1.69061298e-03 1.06935943e-05 9.99998571e-01 -3.85524448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.42, Z:-0.39 [[ 9.95587017e-01 9.38278392e-02 1.68200511e-03 8.98531738e+01] [-9.38276846e-02 9.95588437e-01 -1.70720260e-04 -5.42127612e+00] [-1.69060315e-03 1.21482298e-05 9.99998571e-01 -3.85139429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.88, Y:-5.42, Z:-0.38 [[ 9.95586631e-01 9.38319325e-02 1.68201451e-03 8.98818504e+01] [-9.38317781e-02 9.95588052e-01 -1.70627552e-04 -5.42277040e+00] [-1.69060386e-03 1.20480974e-05 9.99998571e-01 -3.84668289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.91, Y:-5.42, Z:-0.38 [[ 9.95516397e-01 9.45741754e-02 1.68202199e-03 8.99094967e+01] [-9.45740223e-02 9.95517818e-01 -1.70553743e-04 -5.42417438e+00] [-1.69061284e-03 1.07134617e-05 9.99998571e-01 -3.82525582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.055769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.94, Y:-5.43, Z:-0.38 [[ 9.95513677e-01 9.46028021e-02 1.68203133e-03 8.99384116e+01] [-9.46026492e-02 9.95515098e-01 -1.70461625e-04 -5.42659536e+00] [-1.69061373e-03 1.05722588e-05 9.99998571e-01 -3.80584967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:89.97, Y:-5.43, Z:-0.38 [[ 9.95491503e-01 9.48358465e-02 1.68203871e-03 8.99664933e+01] [-9.48356939e-02 9.95492924e-01 -1.70388731e-04 -5.42807498e+00] [-1.69061660e-03 1.01032250e-05 9.99998571e-01 -3.78189587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.115769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.99, Y:-5.43, Z:-0.38 [[ 9.95315070e-01 9.66699646e-02 1.68204788e-03 8.99941428e+01] [-9.66698148e-02 9.95316491e-01 -1.70298157e-04 -5.42693875e+00] [-1.69063271e-03 6.89706419e-06 9.99998571e-01 -3.77215512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.145769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.02, Y:-5.43, Z:-0.38 [[ 9.95222434e-01 9.76190405e-02 1.68205698e-03 9.00224841e+01] [-9.76188923e-02 9.95223856e-01 -1.70208248e-04 -5.42832056e+00] [-1.69063880e-03 5.19452739e-06 9.99998571e-01 -3.78980413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.175769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.05, Y:-5.43, Z:-0.38 [[ 9.95193745e-01 9.79110855e-02 1.68206425e-03 9.00499213e+01] [-9.79109378e-02 9.95195166e-01 -1.70136342e-04 -5.42914892e+00] [-1.69064045e-03 4.62613468e-06 9.99998571e-01 -3.82025979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.205769231 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:90.08, Y:-5.43, Z:-0.38 [[ 9.95213919e-01 9.77058158e-02 1.68207422e-03 9.00774536e+01] [-9.77056680e-02 9.95215340e-01 -1.70037780e-04 -5.43077561e+00] [-1.69063975e-03 4.87577983e-06 9.99998571e-01 -3.81076814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.235769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.11, Y:-5.43, Z:-0.38 [[ 9.95203387e-01 9.78130281e-02 1.68208671e-03 9.01050629e+01] [-9.78128806e-02 9.95204809e-01 -1.69914092e-04 -5.43255312e+00] [-1.69064060e-03 4.56933290e-06 9.99998571e-01 -3.82778346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26576923100001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.13, Y:-5.44, Z:-0.38 [[ 9.95181047e-01 9.80400651e-02 1.68209708e-03 9.01340413e+01] [-9.80399181e-02 9.95182469e-01 -1.69811400e-04 -5.43530519e+00] [-1.69064184e-03 4.08042702e-06 9.99998571e-01 -3.84153866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.16, Y:-5.44, Z:-0.38 [[ 9.95203592e-01 9.78109430e-02 1.68210421e-03 9.01621177e+01] [-9.78107958e-02 9.95205014e-01 -1.69740779e-04 -5.43796227e+00] [-1.69064105e-03 4.39868196e-06 9.99998571e-01 -3.83618198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.19, Y:-5.44, Z:-0.38 [[ 9.95344110e-01 9.63705002e-02 1.68211606e-03 9.01896956e+01] [-9.63703511e-02 9.95345531e-01 -1.69623251e-04 -5.44057081e+00] [-1.69063338e-03 6.72738908e-06 9.99998571e-01 -3.83935908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.22, Y:-5.44, Z:-0.38 [[ 9.95412168e-01 9.56649735e-02 1.68212587e-03 9.02180121e+01] [-9.56648236e-02 9.95413589e-01 -1.69525915e-04 -5.44396356e+00] [-1.69062864e-03 7.82788431e-06 9.99998571e-01 -3.82623113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-5.45, Z:-0.38 [[ 9.95469358e-01 9.50680186e-02 1.68213368e-03 9.02466560e+01] [-9.50678680e-02 9.95470779e-01 -1.69448345e-04 -5.44757616e+00] [-1.69062404e-03 8.76377258e-06 9.99998571e-01 -3.81003650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.415769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.27, Y:-5.45, Z:-0.38 [[ 9.95498530e-01 9.47620563e-02 1.68214174e-03 9.02746220e+01] [-9.47619054e-02 9.95499951e-01 -1.69368285e-04 -5.45083014e+00] [-1.69062171e-03 9.20292218e-06 9.99998571e-01 -3.80927808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.30, Y:-5.45, Z:-0.39 [[ 9.95454030e-01 9.52283811e-02 1.68215175e-03 9.03021208e+01] [-9.52282310e-02 9.95455451e-01 -1.69268809e-04 -5.45422287e+00] [-1.69062633e-03 8.31098278e-06 9.99998571e-01 -3.85131893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.475769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.33, Y:-5.46, Z:-0.39 [[ 9.95383709e-01 9.59606264e-02 1.68216171e-03 9.03312198e+01] [-9.59604775e-02 9.95385131e-01 -1.69169808e-04 -5.45774916e+00] [-1.69063239e-03 6.96783005e-06 9.99998571e-01 -3.87624480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.36, Y:-5.46, Z:-0.39 [[ 9.95230403e-01 9.75377640e-02 1.68217372e-03 9.03591849e+01] [-9.75376176e-02 9.95231825e-01 -1.69050312e-04 -5.46174685e+00] [-1.69064161e-03 4.16879395e-06 9.99998571e-01 -3.88759255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.535769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.39, Y:-5.46, Z:-0.39 [[ 9.95149157e-01 9.83632336e-02 1.68218316e-03 9.03872625e+01] [-9.83630885e-02 9.95150579e-01 -1.68956273e-04 -5.46422623e+00] [-1.69064463e-03 2.67196152e-06 9.99998571e-01 -3.87955693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.565769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.42, Y:-5.47, Z:-0.39 [[ 9.95031319e-01 9.95482012e-02 1.68219445e-03 9.04163468e+01] [-9.95480580e-02 9.95032741e-01 -1.68843841e-04 -5.46683336e+00] [-1.69064665e-03 5.45719889e-07 9.99998571e-01 -3.86818954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.595769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.45, Y:-5.47, Z:-0.38 [[ 9.94771027e-01 1.02116471e-01 1.68220195e-03 9.04453392e+01] [-1.02116332e-01 9.94772450e-01 -1.68769021e-04 -5.47117883e+00] [-1.69064225e-03 -3.89376044e-06 9.99998571e-01 -3.83567705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.625769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.47, Y:-5.47, Z:-0.38 [[ 9.94659923e-01 1.03193058e-01 1.68220993e-03 9.04744046e+01] [-1.03192920e-01 9.94661346e-01 -1.68689513e-04 -5.47457426e+00] [-1.69063678e-03 -5.80345687e-06 9.99998571e-01 -3.81755953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.50, Y:-5.48, Z:-0.38 [[ 9.94526426e-01 1.04471805e-01 1.68221808e-03 9.05030069e+01] [-1.04471670e-01 9.94527849e-01 -1.68608146e-04 -5.47672773e+00] [-1.69062753e-03 -8.05887446e-06 9.99998571e-01 -3.80584901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.53, Y:-5.48, Z:-0.38 [[ 9.94207961e-01 1.07460225e-01 1.68222624e-03 9.05313529e+01] [-1.07460093e-01 9.94209384e-01 -1.68526704e-04 -5.47708695e+00] [-1.69059503e-03 -1.32215981e-05 9.99998571e-01 -3.81159961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.56, Y:-5.48, Z:-0.38 [[ 9.94017329e-01 1.09209526e-01 1.68223640e-03 9.05595127e+01] [-1.09209397e-01 9.94018752e-01 -1.68425234e-04 -5.47927782e+00] [-1.69056817e-03 -1.62984223e-05 9.99998571e-01 -3.82153287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.59, Y:-5.48, Z:-0.38 [[ 9.93613387e-01 1.12825562e-01 1.68224833e-03 9.05869434e+01] [-1.12825438e-01 9.93614811e-01 -1.68305967e-04 -5.48005393e+00] [-1.69049607e-03 -2.25693438e-05 9.99998571e-01 -3.83496194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.62, Y:-5.48, Z:-0.38 [[ 9.93421262e-01 1.14504872e-01 1.68226583e-03 9.06152388e+01] [-1.14504751e-01 9.93422686e-01 -1.68130937e-04 -5.48056390e+00] [-1.69045285e-03 -2.56025813e-05 9.99998571e-01 -3.82200385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.64, Y:-5.48, Z:-0.38 [[ 9.93240445e-01 1.16062862e-01 1.68227773e-03 9.06418547e+01] [-1.16062744e-01 9.93241869e-01 -1.68011734e-04 -5.48091249e+00] [-1.69040860e-03 -2.83737193e-05 9.99998571e-01 -3.82601711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.835769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.67, Y:-5.48, Z:-0.38 [[ 9.93041243e-01 1.17755081e-01 1.68229155e-03 9.06709337e+01] [-1.17754965e-01 9.93042668e-01 -1.67873290e-04 -5.48009489e+00] [-1.69035522e-03 -3.13930814e-05 9.99998571e-01 -3.81856326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.70, Y:-5.48, Z:-0.38 [[ 9.93039520e-01 1.17769611e-01 1.68229945e-03 9.06979741e+01] [-1.17769496e-01 9.93040945e-01 -1.67793993e-04 -5.48069912e+00] [-1.69035327e-03 -3.14974916e-05 9.99998571e-01 -3.80071509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.73, Y:-5.48, Z:-0.38 [[ 9.93031902e-01 1.17833831e-01 1.68231804e-03 9.07262810e+01] [-1.17833716e-01 9.93033326e-01 -1.67607428e-04 -5.48121591e+00] [-1.69034771e-03 -3.17942636e-05 9.99998571e-01 -3.77921347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:-5.48, Z:-0.38 [[ 9.93009557e-01 1.18021987e-01 1.68232995e-03 9.07549469e+01] [-1.18021872e-01 9.93010982e-01 -1.67487790e-04 -5.47995849e+00] [-1.69033936e-03 -3.22347551e-05 9.99998571e-01 -3.78313253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-5.48, Z:-0.38 [[ 9.93002630e-01 1.18080251e-01 1.68234183e-03 9.07827102e+01] [-1.18080137e-01 9.93004055e-01 -1.67368408e-04 -5.48108851e+00] [-1.69033516e-03 -3.24538847e-05 9.99998571e-01 -3.80177436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:-5.48, Z:-0.38 [[ 9.93174075e-01 1.16629438e-01 1.68235364e-03 9.08104406e+01] [-1.16629322e-01 9.93175500e-01 -1.67249596e-04 -5.48111524e+00] [-1.69037864e-03 -3.01038025e-05 9.99998571e-01 -3.84000984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.84, Y:-5.48, Z:-0.39 [[ 9.93358678e-01 1.15046545e-01 1.68236345e-03 9.08382240e+01] [-1.15046427e-01 9.93360102e-01 -1.67150855e-04 -5.48275325e+00] [-1.69042286e-03 -2.75091508e-05 9.99998571e-01 -3.86153317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:90.87, Y:-5.48, Z:-0.39 [[ 9.93632397e-01 1.12658023e-01 1.68237318e-03 9.08662734e+01] [-1.12657902e-01 9.93633821e-01 -1.67052905e-04 -5.48487369e+00] [-1.69048274e-03 -2.35434536e-05 9.99998571e-01 -3.87796593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.89, Y:-5.49, Z:-0.39 [[ 9.93939679e-01 1.09913984e-01 1.68238284e-03 9.08943563e+01] [-1.09913859e-01 9.93941103e-01 -1.66955554e-04 -5.48770680e+00] [-1.69054020e-03 -1.89734408e-05 9.99998571e-01 -3.88077357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.92, Y:-5.49, Z:-0.39 [[ 9.94447295e-01 1.05222369e-01 1.68239439e-03 9.09230974e+01] [-1.05222238e-01 9.94448718e-01 -1.66839114e-04 -5.49298706e+00] [-1.69061015e-03 -1.11125960e-05 9.99998571e-01 -3.85199742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-5.50, Z:-0.38 [[ 9.94668245e-01 1.03112810e-01 1.68240213e-03 9.09513593e+01] [-1.03112675e-01 9.94669668e-01 -1.66760981e-04 -5.49632494e+00] [-1.69062956e-03 -7.60513173e-06 9.99998571e-01 -3.83289056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.98, Y:-5.50, Z:-0.38 [[ 9.94968127e-01 1.00177818e-01 1.68240986e-03 9.09803769e+01] [-1.00177680e-01 9.94969550e-01 -1.66682965e-04 -5.50035926e+00] [-1.69064452e-03 -2.69567817e-06 9.99998571e-01 -3.82052464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.01, Y:-5.50, Z:-0.38 [[ 9.94975251e-01 1.00107041e-01 1.68241774e-03 9.10087396e+01] [-1.00106903e-01 9.94976673e-01 -1.66603332e-04 -5.50303274e+00] [-1.69064458e-03 -2.65543787e-06 9.99998571e-01 -3.82100634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.04, Y:-5.51, Z:-0.38 [[ 9.95053762e-01 9.93236180e-02 1.68242959e-03 9.10367238e+01] [-9.93234784e-02 9.95055184e-01 -1.66483653e-04 -5.50669311e+00] [-1.69064604e-03 -1.44457416e-06 9.99998571e-01 -3.82967887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.255769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.06, Y:-5.51, Z:-0.38 [[ 9.95098425e-01 9.88751473e-02 1.68244144e-03 9.10645458e+01] [-9.88750074e-02 9.95099847e-01 -1.66363756e-04 -5.51111765e+00] [-1.69064646e-03 -8.03099048e-07 9.99998571e-01 -3.84991799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.285769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.09, Y:-5.51, Z:-0.39 [[ 9.95130397e-01 9.85528444e-02 1.68245125e-03 9.10920273e+01] [-9.85527041e-02 9.95131819e-01 -1.66264559e-04 -5.51407747e+00] [-1.69064661e-03 -3.55203677e-07 9.99998571e-01 -3.85481355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.315769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.12, Y:-5.52, Z:-0.39 [[ 9.95178771e-01 9.80631620e-02 1.68246252e-03 9.11194001e+01] [-9.80630212e-02 9.95180193e-01 -1.66150397e-04 -5.51663523e+00] [-1.69064661e-03 3.61990369e-07 9.99998571e-01 -3.86360370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.345769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.15, Y:-5.52, Z:-0.39 [[ 9.95230735e-01 9.75343714e-02 1.68247342e-03 9.11468894e+01] [-9.75342301e-02 9.95232157e-01 -1.66039945e-04 -5.51931858e+00] [-1.69064625e-03 1.14930659e-06 9.99998571e-01 -3.85511220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.375769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.17, Y:-5.52, Z:-0.39 [[ 9.95372436e-01 9.60774799e-02 1.68248503e-03 9.11741511e+01] [-9.60773367e-02 9.95373858e-01 -1.65922182e-04 -5.52209255e+00] [-1.69064301e-03 3.50568538e-06 9.99998571e-01 -3.85066553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.20, Y:-5.52, Z:-0.38 [[ 9.95465048e-01 9.51131319e-02 1.68249467e-03 9.12027982e+01] [-9.51129875e-02 9.95466470e-01 -1.65824398e-04 -5.52484754e+00] [-1.69063911e-03 5.04529807e-06 9.99998571e-01 -3.82932137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.23, Y:-5.53, Z:-0.38 [[ 9.95739696e-01 9.21934267e-02 1.68250244e-03 9.12304624e+01] [-9.21932783e-02 9.95741117e-01 -1.65745567e-04 -5.52909476e+00] [-1.69061751e-03 9.92402482e-06 9.99998571e-01 -3.80953956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-5.53, Z:-0.38 [[ 9.95943020e-01 8.99703854e-02 1.68251209e-03 9.12583099e+01] [-8.99702340e-02 9.95944441e-01 -1.65647521e-04 -5.53332444e+00] [-1.69059193e-03 1.35994861e-05 9.99998571e-01 -3.80719614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:-5.54, Z:-0.38 [[ 9.96142404e-01 8.77352865e-02 1.68252362e-03 9.12863657e+01] [-8.77351320e-02 9.96143825e-01 -1.65530350e-04 -5.53749090e+00] [-1.69055836e-03 1.72753689e-05 9.99998571e-01 -3.80259319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:91.31, Y:-5.54, Z:-0.38 [[ 9.96413527e-01 8.46005493e-02 1.68253511e-03 9.13137506e+01] [-8.46003906e-02 9.96414947e-01 -1.65413457e-04 -5.54334778e+00] [-1.69049720e-03 2.24770783e-05 9.99998571e-01 -3.78898859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.555769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.34, Y:-5.55, Z:-0.38 [[ 9.96492398e-01 8.36664212e-02 1.68254461e-03 9.13426608e+01] [-8.36662613e-02 9.96493818e-01 -1.65316728e-04 -5.54863924e+00] [-1.69047677e-03 2.39646451e-05 9.99998571e-01 -3.75420595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.37, Y:-5.56, Z:-0.38 [[ 9.96585559e-01 8.25493370e-02 1.68255246e-03 9.13700588e+01] [-8.25491757e-02 9.96586979e-01 -1.65236816e-04 -5.55825598e+00] [-1.69045006e-03 2.57793056e-05 9.99998571e-01 -3.84558499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.615769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.40, Y:-5.56, Z:-0.38 [[ 9.96600433e-01 8.23695708e-02 1.68256224e-03 9.13984909e+01] [-8.23694093e-02 9.96601853e-01 -1.65137163e-04 -5.56439481e+00] [-1.69044693e-03 2.59841105e-05 9.99998571e-01 -3.83379924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.645769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.43, Y:-5.57, Z:-0.38 [[ 9.96578433e-01 8.26353152e-02 1.68256997e-03 9.14257810e+01] [-8.26351543e-02 9.96579853e-01 -1.65058394e-04 -5.57015364e+00] [-1.69045499e-03 2.54542066e-05 9.99998571e-01 -3.81661826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.45, Y:-5.58, Z:-0.38 [[ 9.96424938e-01 8.44660439e-02 1.68258040e-03 9.14531420e+01] [-8.44658858e-02 9.96426358e-01 -1.64951977e-04 -5.58017869e+00] [-1.69050030e-03 2.22416197e-05 9.99998571e-01 -3.78855303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.48, Y:-5.59, Z:-0.38 [[ 9.96313827e-01 8.57667033e-02 1.68258985e-03 9.14812086e+01] [-8.57665472e-02 9.96315247e-01 -1.64855584e-04 -5.58737378e+00] [-1.69052904e-03 1.99379766e-05 9.99998571e-01 -3.79942800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.59, Z:-0.38 [[ 9.96212788e-01 8.69324406e-02 1.68259724e-03 9.15088516e+01] [-8.69322863e-02 9.96214209e-01 -1.64780100e-04 -5.59422574e+00] [-1.69055201e-03 1.78840180e-05 9.99998571e-01 -3.82345206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.54, Y:-5.60, Z:-0.38 [[ 9.95968685e-01 8.96858248e-02 1.68260666e-03 9.15372063e+01] [-8.96856746e-02 9.95970106e-01 -1.64683857e-04 -5.60354624e+00] [-1.69059574e-03 1.31142516e-05 9.99998571e-01 -3.83580014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-5.61, Z:-0.38 [[ 9.95730562e-01 9.22920150e-02 1.68261422e-03 9.15644911e+01] [-9.22918686e-02 9.95731984e-01 -1.64606538e-04 -5.61195872e+00] [-1.69062467e-03 8.61214944e-06 9.99998571e-01 -3.81435047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:-5.62, Z:-0.38 [[ 9.95631789e-01 9.33515347e-02 1.68262365e-03 9.15929026e+01] [-9.33513900e-02 9.95633211e-01 -1.64510084e-04 -5.61734583e+00] [-1.69063326e-03 6.71621272e-06 9.99998571e-01 -3.81032468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.62, Y:-5.62, Z:-0.38 [[ 9.95521396e-01 9.45215285e-02 1.68263130e-03 9.16206968e+01] [-9.45213856e-02 9.95522818e-01 -1.64431876e-04 -5.62270257e+00] [-1.69064020e-03 4.65080967e-06 9.99998571e-01 -3.81152453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:-5.63, Z:-0.38 [[ 9.95433780e-01 9.54398136e-02 1.68264080e-03 9.16492324e+01] [-9.54396722e-02 9.95435202e-01 -1.64334596e-04 -5.62739162e+00] [-1.69064394e-03 2.99352261e-06 9.99998571e-01 -3.81726579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-5.63, Z:-0.38 [[ 9.95212778e-01 9.77174241e-02 1.68264827e-03 9.16774632e+01] [-9.77172861e-02 9.95214201e-01 -1.64257999e-04 -5.63275385e+00] [-1.69064632e-03 -9.52163242e-07 9.99998571e-01 -3.80297560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.71, Y:-5.64, Z:-0.38 [[ 9.95197737e-01 9.78704944e-02 1.68265404e-03 9.17055250e+01] [-9.78703566e-02 9.95199159e-01 -1.64198924e-04 -5.63632729e+00] [-1.69064611e-03 -1.27155335e-06 9.99998571e-01 -3.79743913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:-5.64, Z:-0.38 [[ 9.95219109e-01 9.76529251e-02 1.68266364e-03 9.17325695e+01] [-9.76527872e-02 9.95220531e-01 -1.64100424e-04 -5.64106673e+00] [-1.69064629e-03 -1.00091665e-06 9.99998571e-01 -3.78246652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:-5.64, Z:-0.38 [[ 9.95256789e-01 9.72681528e-02 1.68267279e-03 9.17609143e+01] [-9.72680146e-02 9.95258211e-01 -1.64006573e-04 -5.64481269e+00] [-1.69064653e-03 -4.41585976e-07 9.99998571e-01 -3.78255493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.035769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.79, Y:-5.65, Z:-0.38 [[ 9.95283063e-01 9.69989344e-02 1.68268007e-03 9.17896724e+01] [-9.69987959e-02 9.95284485e-01 -1.63931854e-04 -5.64878259e+00] [-1.69064658e-03 -5.93432983e-08 9.99998571e-01 -3.78495334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:-5.65, Z:-0.38 [[ 9.95375651e-01 9.60441663e-02 1.68268737e-03 9.18178451e+01] [-9.60440265e-02 9.95377073e-01 -1.63856899e-04 -5.65449571e+00] [-1.69064593e-03 1.48709706e-06 9.99998571e-01 -3.79855547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-5.66, Z:-0.38 [[ 9.95458449e-01 9.51821684e-02 1.68269535e-03 9.18449049e+01] [-9.51820275e-02 9.95459871e-01 -1.63774874e-04 -5.65934737e+00] [-1.69064415e-03 2.86872637e-06 9.99998571e-01 -3.81092028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:-5.67, Z:-0.38 [[ 9.95527983e-01 9.44521243e-02 1.68270527e-03 9.18742171e+01] [-9.44519826e-02 9.95529405e-01 -1.63672877e-04 -5.66701563e+00] [-1.69064183e-03 4.00607973e-06 9.99998571e-01 -3.82064259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:-5.67, Z:-0.38 [[ 9.95459850e-01 9.51675081e-02 1.68270911e-03 9.19025859e+01] [-9.51673675e-02 9.95461273e-01 -1.63633419e-04 -5.67182120e+00] [-1.69064434e-03 2.75150286e-06 9.99998571e-01 -3.82465816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:-5.68, Z:-0.38 [[ 9.95352646e-01 9.62822910e-02 1.68271332e-03 9.19316900e+01] [-9.62821520e-02 9.95354068e-01 -1.63590087e-04 -5.67660813e+00] [-1.69064638e-03 8.14565612e-07 9.99998571e-01 -3.81368663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:-5.68, Z:-0.38 [[ 9.95013036e-01 9.97307673e-02 1.68271729e-03 9.19597894e+01] [-9.97306333e-02 9.95014459e-01 -1.63549329e-04 -5.68292241e+00] [-1.69063893e-03 -5.08474642e-06 9.99998571e-01 -3.79728976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.99, Y:-5.69, Z:-0.38 [[ 9.94867015e-01 1.01177027e-01 1.68272321e-03 9.19883702e+01] [-1.01176895e-01 9.94868438e-01 -1.63488322e-04 -5.68673232e+00] [-1.69062948e-03 -7.60356997e-06 9.99998571e-01 -3.79735793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.02, Y:-5.69, Z:-0.38 [[ 9.94695674e-01 1.02847867e-01 1.68273097e-03 9.20167615e+01] [-1.02847738e-01 9.94697098e-01 -1.63408457e-04 -5.69026906e+00] [-1.69061382e-03 -1.05233877e-05 9.99998571e-01 -3.80785777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:-5.69, Z:-0.38 [[ 9.94271178e-01 1.06873728e-01 1.68273511e-03 9.20449761e+01] [-1.06873605e-01 9.94272601e-01 -1.63365793e-04 -5.69364873e+00] [-1.69055693e-03 -1.74100682e-05 9.99998571e-01 -3.84267062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.07, Y:-5.70, Z:-0.39 [[ 9.94037073e-01 1.09029654e-01 1.68274082e-03 9.20728981e+01] [-1.09029534e-01 9.94038497e-01 -1.63306955e-04 -5.69544183e+00] [-1.69051446e-03 -2.11352804e-05 9.99998571e-01 -3.86074357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-5.70, Z:-0.39 [[ 9.93538469e-01 1.13483388e-01 1.68275114e-03 9.21020837e+01] [-1.13483275e-01 9.93539893e-01 -1.63200510e-04 -5.69550118e+00] [-1.69040094e-03 -2.88181256e-05 9.99998571e-01 -3.87364094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.13, Y:-5.70, Z:-0.39 [[ 9.93289205e-01 1.15644820e-01 1.68275879e-03 9.21302007e+01] [-1.15644710e-01 9.93290629e-01 -1.63121666e-04 -5.69724129e+00] [-1.69033271e-03 -3.25751615e-05 9.99998571e-01 -3.88200746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-5.70, Z:-0.39 [[ 9.93065579e-01 1.17549665e-01 1.68276915e-03 9.21591954e+01] [-1.17549558e-01 9.93067004e-01 -1.63014729e-04 -5.69899357e+00] [-1.69026484e-03 -3.59244527e-05 9.99998571e-01 -3.87241795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.19, Y:-5.70, Z:-0.39 [[ 9.92798449e-01 1.19784840e-01 1.68277686e-03 9.21872613e+01] [-1.19784736e-01 9.92799874e-01 -1.62935029e-04 -5.69820496e+00] [-1.69017780e-03 -3.98093388e-05 9.99998571e-01 -3.87250185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.70, Z:-0.39 [[ 9.92768483e-01 1.20032943e-01 1.68278645e-03 9.22164613e+01] [-1.20032840e-01 9.92769908e-01 -1.62835997e-04 -5.69896937e+00] [-1.69016543e-03 -4.03311897e-05 9.99998571e-01 -3.86116227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:-5.70, Z:-0.38 [[ 9.92835447e-01 1.19477793e-01 1.68279391e-03 9.22442229e+01] [-1.19477688e-01 9.92836873e-01 -1.62758851e-04 -5.69988673e+00] [-1.69018591e-03 -3.94635688e-05 9.99998571e-01 -3.84865826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:-5.70, Z:-0.38 [[ 9.93030035e-01 1.17849553e-01 1.68280322e-03 9.22728129e+01] [-1.17849447e-01 9.93031460e-01 -1.62662530e-04 -5.70082979e+00] [-1.69024624e-03 -3.67886495e-05 9.99998571e-01 -3.81103443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:-5.70, Z:-0.38 [[ 9.93111433e-01 1.17161639e-01 1.68281065e-03 9.23010005e+01] [-1.17161531e-01 9.93112858e-01 -1.62585612e-04 -5.70283215e+00] [-1.69026969e-03 -3.56950425e-05 9.99998571e-01 -3.80909413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.33, Y:-5.70, Z:-0.38 [[ 9.93202209e-01 1.16389603e-01 1.68281989e-03 9.23296087e+01] [-1.16389495e-01 9.93203634e-01 -1.62489959e-04 -5.70246304e+00] [-1.69029497e-03 -3.44771700e-05 9.99998571e-01 -3.82749425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.36, Y:-5.70, Z:-0.38 [[ 9.93202039e-01 1.16391058e-01 1.68282732e-03 9.23570401e+01] [-1.16390950e-01 9.93203464e-01 -1.62412879e-04 -5.70357770e+00] [-1.69029333e-03 -3.45570680e-05 9.99998571e-01 -3.83331336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.39, Y:-5.71, Z:-0.38 [[ 9.93211192e-01 1.16312927e-01 1.68283741e-03 9.23856279e+01] [-1.16312819e-01 9.93212617e-01 -1.62308342e-04 -5.70546364e+00] [-1.69029390e-03 -3.45291012e-05 9.99998571e-01 -3.82938642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-5.71, Z:-0.38 [[ 9.93313631e-01 1.15434827e-01 1.68284478e-03 9.24137035e+01] [-1.15434718e-01 9.93315056e-01 -1.62231869e-04 -5.70711384e+00] [-1.69032226e-03 -3.31115858e-05 9.99998571e-01 -3.80356326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.44, Y:-5.71, Z:-0.38 [[ 9.93413202e-01 1.14574771e-01 1.68285393e-03 9.24415105e+01] [-1.14574661e-01 9.93414627e-01 -1.62136925e-04 -5.70834734e+00] [-1.69034851e-03 -3.17434560e-05 9.99998571e-01 -3.78741006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.755769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.47, Y:-5.71, Z:-0.38 [[ 9.93650618e-01 1.12497192e-01 1.68286304e-03 9.24704045e+01] [-1.12497079e-01 9.93652042e-01 -1.62042313e-04 -5.70723458e+00] [-1.69040960e-03 -2.83037323e-05 9.99998571e-01 -3.78398863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.785769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.50, Y:-5.71, Z:-0.38 [[ 9.93732365e-01 1.11772781e-01 1.68287059e-03 9.24983099e+01] [-1.11772667e-01 9.93733790e-01 -1.61963858e-04 -5.70812417e+00] [-1.69042852e-03 -2.71502054e-05 9.99998571e-01 -3.80582218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.815769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.53, Y:-5.71, Z:-0.38 [[ 9.93817364e-01 1.11014478e-01 1.68288002e-03 9.25267841e+01] [-1.11014363e-01 9.93818789e-01 -1.61865785e-04 -5.70897682e+00] [-1.69044723e-03 -2.59588256e-05 9.99998571e-01 -3.83309365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:-5.71, Z:-0.38 [[ 9.94131685e-01 1.08163579e-01 1.68288726e-03 9.25559298e+01] [-1.08163460e-01 9.94133110e-01 -1.61790486e-04 -5.70684995e+00] [-1.69051378e-03 -2.11858613e-05 9.99998571e-01 -3.83453232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.875769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.58, Y:-5.71, Z:-0.38 [[ 9.94343074e-01 1.06202727e-01 1.68289472e-03 9.25838181e+01] [-1.06202606e-01 9.94344498e-01 -1.61712860e-04 -5.70666467e+00] [-1.69055145e-03 -1.79297425e-05 9.99998571e-01 -3.81010623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.61, Y:-5.70, Z:-0.38 [[ 9.94795499e-01 1.01877787e-01 1.68290399e-03 9.26126210e+01] [-1.01877659e-01 9.94796922e-01 -1.61616332e-04 -5.70498159e+00] [-1.69061282e-03 -1.06751197e-05 9.99998571e-01 -3.76706559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.64, Y:-5.71, Z:-0.38 [[ 9.95079040e-01 9.90700356e-02 1.68291133e-03 9.26415123e+01] [-9.90699040e-02 9.95080463e-01 -1.61539850e-04 -5.70598409e+00] [-1.69063594e-03 -5.98094475e-06 9.99998571e-01 -3.76547466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.71, Z:-0.38 [[ 9.95397874e-01 9.58135682e-02 1.68291862e-03 9.26690434e+01] [-9.58134321e-02 9.95399297e-01 -1.61463876e-04 -5.70727170e+00] [-1.69064644e-03 -5.25410139e-07 9.99998571e-01 -3.77052740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.70, Y:-5.71, Z:-0.38 [[ 9.96012205e-01 8.92012061e-02 1.68292765e-03 9.26975302e+01] [-8.92010607e-02 9.96013627e-01 -1.61369739e-04 -5.70816195e+00] [-1.69061324e-03 1.06072987e-05 9.99998571e-01 -3.81491343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.73, Y:-5.71, Z:-0.38 [[ 9.96285583e-01 8.60941659e-02 1.68293489e-03 9.27255611e+01] [-8.60940163e-02 9.96287004e-01 -1.61294175e-04 -5.71053422e+00] [-1.69057265e-03 1.58044376e-05 9.99998571e-01 -3.82305237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.055769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.75, Y:-5.71, Z:-0.38 [[ 9.96508559e-01 8.34737038e-02 1.68294493e-03 9.27547235e+01] [-8.34735506e-02 9.96509980e-01 -1.61189307e-04 -5.71363384e+00] [-1.69052649e-03 2.01451347e-05 9.99998571e-01 -3.81350193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.78, Y:-5.72, Z:-0.38 [[ 9.96512102e-01 8.34313939e-02 1.68295177e-03 9.27839269e+01] [-8.34312407e-02 9.96513523e-01 -1.61117905e-04 -5.71633386e+00] [-1.69052649e-03 2.01451886e-05 9.99998571e-01 -3.81399779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-5.72, Z:-0.38 [[ 9.96849743e-01 7.92953772e-02 1.68295861e-03 9.28113720e+01] [-7.92952183e-02 9.96851164e-01 -1.61046450e-04 -5.71915807e+00] [-1.69042948e-03 2.70885427e-05 9.99998571e-01 -3.79426240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.84, Y:-5.72, Z:-0.38 [[ 9.96976905e-01 7.76802327e-02 1.68296711e-03 9.28404658e+01] [-7.76800716e-02 9.96978325e-01 -1.60957560e-04 -5.72214540e+00] [-1.69038495e-03 2.97379641e-05 9.99998571e-01 -3.79844651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.175769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.87, Y:-5.73, Z:-0.38 [[ 9.97211726e-01 7.46052401e-02 1.68297467e-03 9.28693513e+01] [-7.46050748e-02 9.97213145e-01 -1.60878395e-04 -5.72706783e+00] [-1.69028684e-03 3.48713708e-05 9.99998571e-01 -3.82459641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.205769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:92.90, Y:-5.73, Z:-0.38 [[ 9.97310794e-01 7.32690043e-02 1.68298226e-03 9.28976836e+01] [-7.32688373e-02 9.97312214e-01 -1.60799022e-04 -5.73182163e+00] [-1.69024035e-03 3.70564472e-05 9.99998571e-01 -3.82881235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.235769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:92.93, Y:-5.74, Z:-0.38 [[ 9.97390910e-01 7.21702182e-02 1.68298791e-03 9.29265871e+01] [-7.21700496e-02 9.97392329e-01 -1.60739896e-04 -5.73620804e+00] [-1.69019986e-03 3.88591903e-05 9.99998571e-01 -3.82751513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:92.96, Y:-5.74, Z:-0.38 [[ 9.97452557e-01 7.13131420e-02 1.68299482e-03 9.29554049e+01] [-7.13129724e-02 9.97453976e-01 -1.60667514e-04 -5.74048480e+00] [-1.69016758e-03 4.02388598e-05 9.99998571e-01 -3.82376144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.98, Y:-5.75, Z:-0.38 [[ 9.97570229e-01 6.96477302e-02 1.68299875e-03 9.29840272e+01] [-6.96475583e-02 9.97571647e-01 -1.60626291e-04 -5.74802576e+00] [-1.69009909e-03 4.30192521e-05 9.99998571e-01 -3.83277075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32576923100001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:93.01, Y:-5.75, Z:-0.38 [[ 9.97671809e-01 6.81771892e-02 1.68300218e-03 9.30118110e+01] [-6.81770153e-02 9.97673227e-01 -1.60590348e-04 -5.75384027e+00] [-1.69003481e-03 4.54743977e-05 9.99998571e-01 -3.84693365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35576923100001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:93.04, Y:-5.76, Z:-0.38 [[ 9.97855888e-01 6.54277838e-02 1.68300730e-03 9.30404288e+01] [-6.54276060e-02 9.97857306e-01 -1.60536637e-04 -5.76370824e+00] [-1.68990469e-03 5.00772893e-05 9.99998571e-01 -3.83028983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.07, Y:-5.77, Z:-0.38 [[ 9.97925453e-01 6.43580444e-02 1.68301069e-03 9.30698745e+01] [-6.43578651e-02 9.97926871e-01 -1.60501119e-04 -5.77051783e+00] [-1.68985113e-03 5.18531772e-05 9.99998571e-01 -3.81242505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.415769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.10, Y:-5.78, Z:-0.38 [[ 9.97995903e-01 6.32561920e-02 1.68301442e-03 9.30995264e+01] [-6.32560113e-02 9.97997320e-01 -1.60462040e-04 -5.77719157e+00] [-1.68979409e-03 5.36796793e-05 9.99998571e-01 -3.80152239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.13, Y:-5.79, Z:-0.38 [[ 9.98038168e-01 6.25858034e-02 1.68301442e-03 9.31283530e+01] [-6.25856217e-02 9.98039585e-01 -1.60462040e-04 -5.78817079e+00] [-1.68975766e-03 5.48147367e-05 9.99998571e-01 -3.81170925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.475769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.16, Y:-5.80, Z:-0.38 [[ 9.98021311e-01 6.28540316e-02 1.68301628e-03 9.31584571e+01] [-6.28538503e-02 9.98022729e-01 -1.60442477e-04 -5.79500343e+00] [-1.68977296e-03 5.43409583e-05 9.99998571e-01 -3.82626388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.505769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.19, Y:-5.80, Z:-0.38 [[ 9.97986867e-01 6.33985820e-02 1.68301628e-03 9.31870873e+01] [-6.33984015e-02 9.97988285e-01 -1.60442477e-04 -5.80203173e+00] [-1.68980236e-03 5.34189435e-05 9.99998571e-01 -3.84000221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.535769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.82, Z:-0.38 [[ 9.97924330e-01 6.43754498e-02 1.68301812e-03 9.32169163e+01] [-6.43752707e-02 9.97925748e-01 -1.60423189e-04 -5.81505395e+00] [-1.68985443e-03 5.17454565e-05 9.99998571e-01 -3.83108354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.565769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.25, Y:-5.82, Z:-0.38 [[ 9.97884278e-01 6.49933470e-02 1.68301812e-03 9.32464271e+01] [-6.49931688e-02 9.97885696e-01 -1.60423189e-04 -5.82203540e+00] [-1.68988615e-03 5.06990975e-05 9.99998571e-01 -3.81088867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.595769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.83, Z:-0.38 [[ 9.97675939e-01 6.81167309e-02 1.68301627e-03 9.32765722e+01] [-6.81165571e-02 9.97677357e-01 -1.60442543e-04 -5.83078721e+00] [-1.69003605e-03 4.54283905e-05 9.99998571e-01 -3.79916309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.625769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.31, Y:-5.84, Z:-0.38 [[ 9.97496416e-01 7.06970063e-02 1.68301627e-03 9.33064618e+01] [-7.06968362e-02 9.97497835e-01 -1.60442543e-04 -5.83592538e+00] [-1.69014790e-03 4.10569357e-05 9.99998571e-01 -3.81411706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.84, Z:-0.38 [[ 9.97299355e-01 7.34245459e-02 1.68301440e-03 9.33365999e+01] [-7.34243796e-02 9.97300774e-01 -1.60462243e-04 -5.84143717e+00] [-1.69025343e-03 3.64546035e-05 9.99998571e-01 -3.83366976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.37, Y:-5.85, Z:-0.39 [[ 9.97002411e-01 7.73521784e-02 1.68301440e-03 9.33667385e+01] [-7.73520177e-02 9.97003831e-01 -1.60462243e-04 -5.84973328e+00] [-1.69038390e-03 2.97966838e-05 9.99998571e-01 -3.85123118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.40, Y:-5.85, Z:-0.39 [[ 9.96911449e-01 7.85157925e-02 1.68301249e-03 9.33978955e+01] [-7.85156334e-02 9.96912870e-01 -1.60482267e-04 -5.85444605e+00] [-1.69041720e-03 2.78438184e-05 9.99998571e-01 -3.85038222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.43, Y:-5.86, Z:-0.39 [[ 9.96752567e-01 8.05076835e-02 1.68300864e-03 9.34273949e+01] [-8.05075272e-02 9.96753988e-01 -1.60522624e-04 -5.86066324e+00] [-1.69046888e-03 2.45064735e-05 9.99998571e-01 -3.85816146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.46, Y:-5.87, Z:-0.39 [[ 9.96673836e-01 8.14765760e-02 1.68300673e-03 9.34581264e+01] [-8.14764210e-02 9.96675257e-01 -1.60542658e-04 -5.86635282e+00] [-1.69049163e-03 2.28833025e-05 9.99998571e-01 -3.85961601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.49, Y:-5.87, Z:-0.39 [[ 9.96597987e-01 8.23991455e-02 1.68300282e-03 9.34889894e+01] [-8.23989918e-02 9.96599408e-01 -1.60583617e-04 -5.87250476e+00] [-1.69051157e-03 2.13595744e-05 9.99998571e-01 -3.86988216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.835769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.52, Y:-5.88, Z:-0.39 [[ 9.96484755e-01 8.37573903e-02 1.68297742e-03 9.35189456e+01] [-8.37572381e-02 9.96486176e-01 -1.60849341e-04 -5.87902484e+00] [-1.69053606e-03 1.93223756e-05 9.99998571e-01 -3.87535902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:93.55, Y:-5.88, Z:-0.39 [[ 9.96385325e-01 8.49320360e-02 1.68297557e-03 9.35497300e+01] [-8.49318855e-02 9.96386747e-01 -1.60868689e-04 -5.88345626e+00] [-1.69055746e-03 1.73489127e-05 9.99998571e-01 -3.87424822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.895769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:93.58, Y:-5.89, Z:-0.39 [[ 9.96054370e-01 8.87291314e-02 1.68297174e-03 9.35802505e+01] [-8.87289862e-02 9.96055792e-01 -1.60908824e-04 -5.89031231e+00] [-1.69061105e-03 1.09455614e-05 9.99998571e-01 -3.87421821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.925769231 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:93.61, Y:-5.90, Z:-0.39 [[ 9.95852349e-01 9.09684881e-02 1.68296791e-03 9.36113311e+01] [-9.09683460e-02 9.95853771e-01 -1.60948788e-04 -5.89505831e+00] [-1.69063121e-03 7.18442080e-06 9.99998571e-01 -3.87937483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.955769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.64, Y:-5.90, Z:-0.39 [[ 9.95676067e-01 9.28780793e-02 1.68294317e-03 9.36424803e+01] [-9.28779394e-02 9.95677489e-01 -1.61207112e-04 -5.89855202e+00] [-1.69064124e-03 4.20176993e-06 9.99998571e-01 -3.89168906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.985769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.67, Y:-5.90, Z:-0.39 [[ 9.95456162e-01 9.52060737e-02 1.68293935e-03 9.36742095e+01] [-9.52059371e-02 9.95457585e-01 -1.61247017e-04 -5.90153535e+00] [-1.69064643e-03 2.88519200e-07 9.99998571e-01 -3.91755057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01576923100001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.70, Y:-5.91, Z:-0.39 [[ 9.95399934e-01 9.57921695e-02 1.68291250e-03 9.37046460e+01] [-9.57920333e-02 9.95401356e-01 -1.61526749e-04 -5.90565442e+00] [-1.69064638e-03 -4.25894777e-07 9.99998571e-01 -3.92336917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.74, Y:-5.91, Z:-0.39 [[ 9.95437055e-01 9.54056418e-02 1.68289753e-03 9.37360679e+01] [-9.54055048e-02 9.95438478e-01 -1.61682516e-04 -5.91089334e+00] [-1.69064638e-03 3.87079276e-07 9.99998571e-01 -3.90179377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.77, Y:-5.91, Z:-0.39 [[ 9.95499207e-01 9.47549315e-02 1.68287107e-03 9.37679507e+01] [-9.47547931e-02 9.95500629e-01 -1.61957461e-04 -5.91372212e+00] [-1.69064548e-03 1.76842424e-06 9.99998571e-01 -3.87994318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.80, Y:-5.92, Z:-0.39 [[ 9.95556705e-01 9.41489041e-02 1.68284445e-03 9.37989266e+01] [-9.41487644e-02 9.95558127e-01 -1.62233592e-04 -5.91529014e+00] [-1.69064358e-03 3.07501491e-06 9.99998571e-01 -3.86783391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.92, Z:-0.39 [[ 9.95564015e-01 9.40715647e-02 1.68281982e-03 9.38313122e+01] [-9.40714245e-02 9.95565438e-01 -1.62488642e-04 -5.91633224e+00] [-1.69064282e-03 3.46258650e-06 9.99998571e-01 -3.88217564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.86, Y:-5.92, Z:-0.39 [[ 9.95563063e-01 9.40816454e-02 1.68279295e-03 9.38625264e+01] [-9.40815047e-02 9.95564485e-01 -1.62766506e-04 -5.91887791e+00] [-1.69064224e-03 3.72462844e-06 9.99998571e-01 -3.89845832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.195769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:93.89, Y:-5.92, Z:-0.39 [[ 9.95613672e-01 9.35445597e-02 1.68276802e-03 9.38949506e+01] [-9.35444177e-02 9.95615094e-01 -1.63023839e-04 -5.92120750e+00] [-1.69063923e-03 4.89520870e-06 9.99998571e-01 -3.89219136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.93, Y:-5.92, Z:-0.39 [[ 9.95681367e-01 9.28212500e-02 1.68274046e-03 9.39259431e+01] [-9.28211065e-02 9.95682789e-01 -1.63307750e-04 -5.92395204e+00] [-1.69063415e-03 6.40865147e-06 9.99998571e-01 -3.88154742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.255769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:93.96, Y:-5.93, Z:-0.39 [[ 9.95756017e-01 9.20169733e-02 1.68272515e-03 9.39564965e+01] [-9.20168285e-02 9.95757439e-01 -1.63465366e-04 -5.92751526e+00] [-1.69062768e-03 7.93259034e-06 9.99998571e-01 -3.88511517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.285769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.99, Y:-5.93, Z:-0.39 [[ 9.95912558e-01 9.03069544e-02 1.68270119e-03 9.39880529e+01] [-9.03068067e-02 9.95913979e-01 -1.63711689e-04 -5.93319244e+00] [-1.69060994e-03 1.10831564e-05 9.99998571e-01 -3.89573073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.315769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.02, Y:-5.94, Z:-0.39 [[ 9.95992413e-01 8.94219337e-02 1.68267526e-03 9.40200801e+01] [-8.94217842e-02 9.95993834e-01 -1.63977709e-04 -5.93695540e+00] [-1.69059739e-03 1.28527297e-05 9.99998571e-01 -3.89406153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.345769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:94.05, Y:-5.94, Z:-0.39 [[ 9.96131332e-01 8.78608997e-02 1.68264870e-03 9.40522207e+01] [-8.78607476e-02 9.96132753e-01 -1.64249828e-04 -5.94161081e+00] [-1.69057262e-03 1.57756275e-05 9.99998571e-01 -3.88437412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.375769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.08, Y:-5.95, Z:-0.39 [[ 9.96118315e-01 8.80083589e-02 1.68262153e-03 9.40841082e+01] [-8.80082065e-02 9.96119736e-01 -1.64527706e-04 -5.94699175e+00] [-1.69057233e-03 1.58045580e-05 9.99998571e-01 -3.87949587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:94.12, Y:-5.95, Z:-0.39 [[ 9.96054017e-01 8.87331109e-02 1.68259329e-03 9.41170745e+01] [-8.87329591e-02 9.96055438e-01 -1.64816015e-04 -5.95334364e+00] [-1.69058083e-03 1.48641721e-05 9.99998571e-01 -3.87455847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:94.15, Y:-5.96, Z:-0.39 [[ 9.95975000e-01 8.96156703e-02 1.68256079e-03 9.41483185e+01] [-8.96155192e-02 9.95976421e-01 -1.65147108e-04 -5.95893015e+00] [-1.69059064e-03 1.36988317e-05 9.99998571e-01 -3.87374148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46576923100001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:94.18, Y:-5.97, Z:-0.39 [[ 9.95802781e-01 9.15095134e-02 1.68254052e-03 9.41812670e+01] [-9.15093647e-02 9.95804202e-01 -1.65353373e-04 -5.96582874e+00] [-1.69061233e-03 1.06911345e-05 9.99998571e-01 -3.88582321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49576923100001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:94.21, Y:-5.97, Z:-0.39 [[ 9.95724867e-01 9.23534390e-02 1.68250835e-03 9.42141401e+01] [-9.23532909e-02 9.95726289e-01 -1.65680101e-04 -5.97133960e+00] [-1.69061892e-03 9.58661397e-06 9.99998571e-01 -3.90058889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.25, Y:-5.98, Z:-0.39 [[ 9.95612534e-01 9.35566797e-02 1.68247614e-03 9.42453402e+01] [-9.35565327e-02 9.95613955e-01 -1.66006576e-04 -5.98098642e+00] [-1.69062774e-03 7.87159404e-06 9.99998571e-01 -3.92784581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.555769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.28, Y:-5.99, Z:-0.39 [[ 9.95532649e-01 9.44029360e-02 1.68244603e-03 9.42771867e+01] [-9.44027898e-02 9.95534071e-01 -1.66311163e-04 -5.98791381e+00] [-1.69063260e-03 6.74059363e-06 9.99998571e-01 -3.93544866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:94.31, Y:-5.99, Z:-0.39 [[ 9.95480831e-01 9.49477961e-02 1.68241607e-03 9.43094004e+01] [-9.49476501e-02 9.95482253e-01 -1.66613659e-04 -5.99430397e+00] [-1.69063494e-03 6.11925130e-06 9.99998571e-01 -3.91472801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.34, Y:-6.00, Z:-0.39 [[ 9.95336837e-01 9.64455855e-02 1.68238402e-03 9.43409083e+01] [-9.64454411e-02 9.95338259e-01 -1.66936605e-04 -6.00255646e+00] [-1.69064148e-03 3.89988274e-06 9.99998571e-01 -3.90499572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.645769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.01, Z:-0.39 [[ 9.95194924e-01 9.78990967e-02 1.68235413e-03 9.43729847e+01] [-9.78989539e-02 9.95196346e-01 -1.67237341e-04 -6.00823437e+00] [-1.69064507e-03 1.73304347e-06 9.99998571e-01 -3.91461242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.675769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.41, Y:-6.02, Z:-0.39 [[ 9.94917789e-01 1.00676525e-01 1.68232434e-03 9.44055774e+01] [-1.00676385e-01 9.94919211e-01 -1.67536438e-04 -6.01590210e+00] [-1.69064380e-03 -2.68535105e-06 9.99998571e-01 -3.90667358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.44, Y:-6.02, Z:-0.39 [[ 9.94801399e-01 1.01820167e-01 1.68229297e-03 9.44383078e+01] [-1.01820029e-01 9.94802821e-01 -1.67850930e-04 -6.02090842e+00] [-1.69064040e-03 -4.31277876e-06 9.99998571e-01 -3.88725246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.735769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.47, Y:-6.03, Z:-0.39 [[ 9.94771160e-01 1.02115180e-01 1.68226160e-03 9.44710742e+01] [-1.02115042e-01 9.94772582e-01 -1.68164702e-04 -6.02613111e+00] [-1.69063988e-03 -4.49881837e-06 9.99998571e-01 -3.89110696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.50, Y:-6.03, Z:-0.39 [[ 9.94985160e-01 1.00008509e-01 1.68223020e-03 9.45023652e+01] [-1.00008367e-01 9.94986582e-01 -1.68478240e-04 -6.03411068e+00] [-1.69064573e-03 -6.03746957e-07 9.99998571e-01 -3.92414979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.53, Y:-6.04, Z:-0.39 [[ 9.95094053e-01 9.89191345e-02 1.68219908e-03 9.45336500e+01] [-9.89189905e-02 9.95095475e-01 -1.68788409e-04 -6.04032826e+00] [-1.69064509e-03 1.55890775e-06 9.99998571e-01 -3.94355544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.57, Y:-6.05, Z:-0.40 [[ 9.95184985e-01 9.80000781e-02 1.68216999e-03 9.45651321e+01] [-9.79999323e-02 9.95186407e-01 -1.69077828e-04 -6.04789110e+00] [-1.69064235e-03 3.41117084e-06 9.99998571e-01 -3.96270164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.60, Y:-6.05, Z:-0.40 [[ 9.95083752e-01 9.90227084e-02 1.68214297e-03 9.45975856e+01] [-9.90225636e-02 9.95085174e-01 -1.69346155e-04 -6.05275844e+00] [-1.69064465e-03 1.94349772e-06 9.99998571e-01 -3.96995600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.63, Y:-6.06, Z:-0.40 [[ 9.94955308e-01 1.00305058e-01 1.68211201e-03 9.46301861e+01] [-1.00304914e-01 9.94956730e-01 -1.69653164e-04 -6.05720548e+00] [-1.69064574e-03 7.32149313e-08 9.99998571e-01 -3.96579487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.66, Y:-6.06, Z:-0.39 [[ 9.94612887e-01 1.03645431e-01 1.68208117e-03 9.46615549e+01] [-1.03645292e-01 9.94614309e-01 -1.69958354e-04 -6.06218335e+00] [-1.69063741e-03 -5.29702489e-06 9.99998571e-01 -3.90648294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:94.69, Y:-6.07, Z:-0.39 [[ 9.94363365e-01 1.06012589e-01 1.68205619e-03 9.46945731e+01] [-1.06012453e-01 9.94364788e-01 -1.70205252e-04 -6.06545077e+00] [-1.69062134e-03 -9.07303459e-06 9.99998571e-01 -3.88615360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.975769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.07, Z:-0.39 [[ 9.93765010e-01 1.11482172e-01 1.68202556e-03 9.47267760e+01] [-1.11482043e-01 9.93766434e-01 -1.70507361e-04 -6.06803826e+00] [-1.69054908e-03 -1.80713972e-05 9.99998571e-01 -3.88099679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.005769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.76, Y:-6.07, Z:-0.39 [[ 9.93745169e-01 1.11658898e-01 1.68200653e-03 9.47600805e+01] [-1.11658769e-01 9.93746593e-01 -1.70694939e-04 -6.07162592e+00] [-1.69054786e-03 -1.81835071e-05 9.99998571e-01 -3.88156332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.035769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.07, Z:-0.39 [[ 9.93407831e-01 1.14621343e-01 1.68197612e-03 9.47924789e+01] [-1.14621218e-01 9.93409255e-01 -1.70994054e-04 -6.07473960e+00] [-1.69049021e-03 -2.29233191e-05 9.99998571e-01 -3.88637622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.065769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.83, Y:-6.08, Z:-0.39 [[ 9.92781820e-01 1.19922596e-01 1.68194570e-03 9.48251338e+01] [-1.19922477e-01 9.92783244e-01 -1.71292750e-04 -6.07546593e+00] [-1.69034938e-03 -3.16467667e-05 9.99998571e-01 -3.86338634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.095769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.86, Y:-6.08, Z:-0.39 [[ 9.92468811e-01 1.22486040e-01 1.68191433e-03 9.48584320e+01] [-1.22485925e-01 9.92470236e-01 -1.71600259e-04 -6.07601399e+00] [-1.69026854e-03 -3.57029273e-05 9.99998571e-01 -3.85354703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.125769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.89, Y:-6.08, Z:-0.39 [[ 9.92113828e-01 1.25328862e-01 1.68188244e-03 9.48904684e+01] [-1.25328751e-01 9.92115253e-01 -1.71912242e-04 -6.07665358e+00] [-1.69016678e-03 -4.02317122e-05 9.99998571e-01 -3.85039689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.92, Y:-6.07, Z:-0.39 [[ 9.91521218e-01 1.29934002e-01 1.68185259e-03 9.49241937e+01] [-1.29933897e-01 9.91522644e-01 -1.72203694e-04 -6.07332753e+00] [-1.68997005e-03 -4.77860455e-05 9.99998571e-01 -3.85835990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.96, Y:-6.07, Z:-0.39 [[ 9.91270217e-01 1.31835233e-01 1.68182030e-03 9.49562456e+01] [-1.31835130e-01 9.91271642e-01 -1.72518505e-04 -6.07235990e+00] [-1.68988479e-03 -5.07105424e-05 9.99998571e-01 -3.88146608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.99, Y:-6.07, Z:-0.39 [[ 9.90986967e-01 1.33947762e-01 1.68179008e-03 9.49891026e+01] [-1.33947661e-01 9.90988393e-01 -1.72812666e-04 -6.06740630e+00] [-1.68978231e-03 -5.40167474e-05 9.99998571e-01 -3.91146699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.02, Y:-6.07, Z:-0.39 [[ 9.90964826e-01 1.34111469e-01 1.68176187e-03 9.50202527e+01] [-1.34111368e-01 9.90966251e-01 -1.73086697e-04 -6.06763100e+00] [-1.68978217e-03 -5.40205576e-05 9.99998571e-01 -3.93208397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.05, Y:-6.07, Z:-0.39 [[ 9.91050162e-01 1.33479394e-01 1.68173581e-03 9.50529035e+01] [-1.33479292e-01 9.91051587e-01 -1.73339589e-04 -6.06807750e+00] [-1.68982420e-03 -5.26886774e-05 9.99998571e-01 -3.91378319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:95.08, Y:-6.07, Z:-0.39 [[ 9.91162285e-01 1.32644251e-01 1.68170698e-03 9.50845591e+01] [-1.32644147e-01 9.91163710e-01 -1.73618825e-04 -6.06853254e+00] [-1.68987647e-03 -5.09841561e-05 9.99998571e-01 -3.92191552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.335769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:95.12, Y:-6.06, Z:-0.39 [[ 9.91636601e-01 1.29050470e-01 1.68168023e-03 9.51176632e+01] [-1.29050360e-01 9.91638026e-01 -1.73877495e-04 -6.06446917e+00] [-1.69005704e-03 -4.45981515e-05 9.99998571e-01 -3.88123004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-6.06, Z:-0.39 [[ 9.92195731e-01 1.24678802e-01 1.68165082e-03 9.51491862e+01] [-1.24678686e-01 9.92197155e-01 -1.74161484e-04 -6.06149123e+00] [-1.69024341e-03 -3.68637346e-05 9.99998571e-01 -3.88838784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:-6.06, Z:-0.39 [[ 9.92520897e-01 1.22063265e-01 1.68162353e-03 9.51810131e+01] [-1.22063144e-01 9.92522321e-01 -1.74424627e-04 -6.06226300e+00] [-1.69033973e-03 -3.21441678e-05 9.99998571e-01 -3.89749098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.425769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.21, Y:-6.06, Z:-0.39 [[ 9.92838245e-01 1.19454558e-01 1.68161947e-03 9.52120321e+01] [-1.19454433e-01 9.92839669e-01 -1.74463767e-04 -6.06356810e+00] [-1.69041901e-03 -2.76626002e-05 9.99998571e-01 -3.90069351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.455769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.24, Y:-6.07, Z:-0.39 [[ 9.93149571e-01 1.16837933e-01 1.68161540e-03 9.52434513e+01] [-1.16837805e-01 9.93150994e-01 -1.74502966e-04 -6.06523958e+00] [-1.69048657e-03 -2.31687059e-05 9.99998571e-01 -3.88829489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.485769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.07, Z:-0.39 [[ 9.93782610e-01 1.11325185e-01 1.68161130e-03 9.52742556e+01] [-1.11325049e-01 9.93784032e-01 -1.74542410e-04 -6.06609094e+00] [-1.69058943e-03 -1.37482498e-05 9.99998571e-01 -3.88595240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.31, Y:-6.07, Z:-0.39 [[ 9.94116161e-01 1.08306194e-01 1.68158471e-03 9.53056616e+01] [-1.08306053e-01 9.94117583e-01 -1.74798290e-04 -6.06858461e+00] [-1.69062466e-03 -8.35599784e-06 9.99998571e-01 -3.89739255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:95.34, Y:-6.07, Z:-0.39 [[ 9.94700560e-01 1.02800621e-01 1.68158057e-03 9.53370072e+01] [-1.02800473e-01 9.94701982e-01 -1.74838112e-04 -6.07098228e+00] [-1.69064499e-03 1.04429108e-06 9.99998571e-01 -3.92796431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.37, Y:-6.07, Z:-0.39 [[ 9.94914476e-01 1.00709274e-01 1.68155368e-03 9.53680895e+01] [-1.00709122e-01 9.94915897e-01 -1.75096296e-04 -6.07387207e+00] [-1.69063831e-03 4.85804481e-06 9.99998571e-01 -3.91435731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.08, Z:-0.39 [[ 9.95040562e-01 9.94557767e-02 1.68154946e-03 9.53998295e+01] [-9.94556228e-02 9.95041983e-01 -1.75136791e-04 -6.07719602e+00] [-1.69063068e-03 7.02866156e-06 9.99998571e-01 -3.88920527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:-6.08, Z:-0.39 [[ 9.95133799e-01 9.85184970e-02 1.68151933e-03 9.54307896e+01] [-9.85183412e-02 9.95135220e-01 -1.75425592e-04 -6.08063203e+00] [-1.69062178e-03 8.91143989e-06 9.99998571e-01 -3.86204198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.08, Z:-0.39 [[ 9.95125610e-01 9.86011835e-02 1.68149136e-03 9.54618954e+01] [-9.86010274e-02 9.95127030e-01 -1.75693316e-04 -6.08387442e+00] [-1.69062107e-03 9.04014288e-06 9.99998571e-01 -3.86509581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.49, Y:-6.09, Z:-0.39 [[ 9.94970513e-01 1.00154131e-01 1.68148722e-03 9.54930229e+01] [-1.00153978e-01 9.94971934e-01 -1.75732913e-04 -6.08784756e+00] [-1.69063297e-03 6.44143347e-06 9.99998571e-01 -3.92548804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:95.52, Y:-6.09, Z:-0.40 [[ 9.94828449e-01 1.01555554e-01 1.68148299e-03 9.55243222e+01] [-1.01555402e-01 9.94829870e-01 -1.75773395e-04 -6.09181434e+00] [-1.69064027e-03 4.10069346e-06 9.99998571e-01 -3.97442037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.755769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:95.56, Y:-6.10, Z:-0.40 [[ 9.94732829e-01 1.02487914e-01 1.68145547e-03 9.55554057e+01] [-1.02487763e-01 9.94734250e-01 -1.76036309e-04 -6.09669451e+00] [-1.69064294e-03 2.78048649e-06 9.99998571e-01 -3.95778544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.785769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.59, Y:-6.10, Z:-0.39 [[ 9.94730838e-01 1.02507233e-01 1.68145135e-03 9.55857623e+01] [-1.02507082e-01 9.94732259e-01 -1.76075654e-04 -6.10128987e+00] [-1.69064292e-03 2.78721167e-06 9.99998571e-01 -3.93522151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.815769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:95.62, Y:-6.11, Z:-0.39 [[ 9.94775740e-01 1.02070563e-01 1.68142877e-03 9.56168103e+01] [-1.02070411e-01 9.94777161e-01 -1.76290932e-04 -6.10632281e+00] [-1.69064106e-03 3.74581655e-06 9.99998571e-01 -3.90555547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.845769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.65, Y:-6.11, Z:-0.39 [[ 9.94811773e-01 1.01718778e-01 1.68142461e-03 9.56479006e+01] [-1.01718625e-01 9.94813194e-01 -1.76330682e-04 -6.11488923e+00] [-1.69063952e-03 4.38363939e-06 9.99998571e-01 -3.92339028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.875769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.68, Y:-6.12, Z:-0.39 [[ 9.94801636e-01 1.01817870e-01 1.68139542e-03 9.56797580e+01] [-1.01817717e-01 9.94803057e-01 -1.76608524e-04 -6.12090217e+00] [-1.69063921e-03 4.49460523e-06 9.99998571e-01 -3.93166865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:95.71, Y:-6.13, Z:-0.39 [[ 9.94609342e-01 1.03679460e-01 1.68136584e-03 9.57105944e+01] [-1.03679309e-01 9.94610763e-01 -1.76889700e-04 -6.12761398e+00] [-1.69064439e-03 1.61329860e-06 9.99998571e-01 -3.92397720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:-6.13, Z:-0.39 [[ 9.94394669e-01 1.05718566e-01 1.68133845e-03 9.57419802e+01] [-1.05718417e-01 9.94396091e-01 -1.77149691e-04 -6.13226127e+00] [-1.69064439e-03 -1.59173160e-06 9.99998571e-01 -3.90566060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:-6.14, Z:-0.39 [[ 9.94076360e-01 1.08670896e-01 1.68130953e-03 9.57728723e+01] [-1.08670751e-01 9.94077782e-01 -1.77423770e-04 -6.13673661e+00] [-1.69063324e-03 -6.33639309e-06 9.99998571e-01 -3.89879804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-6.14, Z:-0.39 [[ 9.93302417e-01 1.15531303e-01 1.68128275e-03 9.58035266e+01] [-1.15531168e-01 9.93303840e-01 -1.77677112e-04 -6.14055132e+00] [-1.69055188e-03 -1.77534553e-05 9.99998571e-01 -3.89305576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:-6.14, Z:-0.39 [[ 9.92873235e-01 1.19163389e-01 1.68127872e-03 9.58350558e+01] [-1.19163259e-01 9.92874658e-01 -1.77715229e-04 -6.14348503e+00] [-1.69047619e-03 -2.38979576e-05 9.99998571e-01 -3.89284080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.87, Y:-6.15, Z:-0.39 [[ 9.92305641e-01 1.23801003e-01 1.68127458e-03 9.58651205e+01] [-1.23800879e-01 9.92307065e-01 -1.77754431e-04 -6.14623944e+00] [-1.69034682e-03 -3.17565465e-05 9.99998571e-01 -3.85957163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.90, Y:-6.15, Z:-0.39 [[ 9.92340362e-01 1.23522386e-01 1.68136323e-03 9.58963993e+01] [-1.23522263e-01 9.92341785e-01 -1.76916418e-04 -6.14959856e+00] [-1.69034013e-03 -3.21244900e-05 9.99998571e-01 -3.86586186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.115769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.93, Y:-6.15, Z:-0.39 [[ 9.92832183e-01 1.19504935e-01 1.68124794e-03 9.59271950e+01] [-1.19504805e-01 9.92833606e-01 -1.78005322e-04 -6.15410236e+00] [-1.69047197e-03 -2.41877947e-05 9.99998571e-01 -3.86388450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.96, Y:-6.16, Z:-0.39 [[ 9.93153421e-01 1.16805208e-01 1.68123234e-03 9.59593394e+01] [-1.16805074e-01 9.93154843e-01 -1.78152542e-04 -6.15875582e+00] [-1.69053319e-03 -1.94436617e-05 9.99998571e-01 -3.87317161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-6.17, Z:-0.39 [[ 9.93716117e-01 1.11917166e-01 1.68120443e-03 9.59909032e+01] [-1.11917024e-01 9.93717539e-01 -1.78415530e-04 -6.16569630e+00] [-1.69061009e-03 -1.08610090e-05 9.99998571e-01 -3.88160417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.205769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.02, Y:-6.17, Z:-0.39 [[ 9.93847843e-01 1.10741316e-01 1.68117649e-03 9.60228487e+01] [-1.10741172e-01 9.93849265e-01 -1.78678402e-04 -6.17104177e+00] [-1.69062310e-03 -8.59631042e-06 9.99998571e-01 -3.87977972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.05, Y:-6.18, Z:-0.39 [[ 9.93818461e-01 1.11004690e-01 1.68114800e-03 9.60541403e+01] [-1.11004546e-01 9.93819882e-01 -1.78946066e-04 -6.17529067e+00] [-1.69062216e-03 -8.77516704e-06 9.99998571e-01 -3.88509366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-6.18, Z:-0.39 [[ 9.93407100e-01 1.14627689e-01 1.68112773e-03 9.60857195e+01] [-1.14627550e-01 9.93408523e-01 -1.79136301e-04 -6.17722840e+00] [-1.69058060e-03 -1.47482792e-05 9.99998571e-01 -3.89069373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:-6.18, Z:-0.39 [[ 9.93112241e-01 1.17154813e-01 1.68112371e-03 9.61165612e+01] [-1.17154678e-01 9.93113664e-01 -1.79174033e-04 -6.17876063e+00] [-1.69053803e-03 -1.90115811e-05 9.99998571e-01 -3.89995772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.15, Y:-6.18, Z:-0.39 [[ 9.92638502e-01 1.21103168e-01 1.68109767e-03 9.61483440e+01] [-1.21103038e-01 9.92639926e-01 -1.79417990e-04 -6.17868976e+00] [-1.69045276e-03 -2.54888309e-05 9.99998571e-01 -3.90008175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.18, Y:-6.18, Z:-0.39 [[ 9.92502379e-01 1.22213752e-01 1.68109345e-03 9.61784079e+01] [-1.22213623e-01 9.92503803e-01 -1.79457600e-04 -6.18047592e+00] [-1.69042382e-03 -2.73404259e-05 9.99998571e-01 -3.91451897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.21, Y:-6.18, Z:-0.39 [[ 9.92458602e-01 1.22568744e-01 1.68109135e-03 9.62099621e+01] [-1.22568616e-01 9.92460026e-01 -1.79477237e-04 -6.18233469e+00] [-1.69041426e-03 -2.79253123e-05 9.99998571e-01 -3.90455732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.24, Y:-6.18, Z:-0.39 [[ 9.92558228e-01 1.21759345e-01 1.68108740e-03 9.62400171e+01] [-1.21759215e-01 9.92559651e-01 -1.79514226e-04 -6.18199330e+00] [-1.69043706e-03 -2.65095602e-05 9.99998571e-01 -3.87388861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:-6.18, Z:-0.38 [[ 9.92633052e-01 1.21147837e-01 1.68107757e-03 9.62717826e+01] [-1.21147706e-01 9.92634475e-01 -1.79606272e-04 -6.18394249e+00] [-1.69045446e-03 -2.53755691e-05 9.99998571e-01 -3.84849052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:-6.19, Z:-0.39 [[ 9.92678654e-01 1.20773607e-01 1.68107339e-03 9.63028129e+01] [-1.20773476e-01 9.92680077e-01 -1.79645329e-04 -6.18612425e+00] [-1.69046448e-03 -2.46989932e-05 9.99998571e-01 -3.85594942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.33, Y:-6.19, Z:-0.39 [[ 9.92717379e-01 1.20454890e-01 1.68104630e-03 9.63336611e+01] [-1.20454758e-01 9.92718802e-01 -1.79898531e-04 -6.18618533e+00] [-1.69047592e-03 -2.39016260e-05 9.99998571e-01 -3.89418201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.37, Y:-6.19, Z:-0.39 [[ 9.92664334e-01 1.20891250e-01 1.68104630e-03 9.63652175e+01] [-1.20891118e-01 9.92665757e-01 -1.79898531e-04 -6.18808236e+00] [-1.69046525e-03 -2.46447109e-05 9.99998571e-01 -3.89698312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-6.19, Z:-0.39 [[ 9.92629859e-01 1.21173999e-01 1.68104200e-03 9.63964737e+01] [-1.21173868e-01 9.92631282e-01 -1.79938670e-04 -6.19009786e+00] [-1.69045876e-03 -2.50858637e-05 9.99998571e-01 -3.89325372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:-6.19, Z:-0.39 [[ 9.92663040e-01 1.20901875e-01 1.68103770e-03 9.64270929e+01] [-1.20901744e-01 9.92664463e-01 -1.79978832e-04 -6.19349569e+00] [-1.69046616e-03 -2.45820549e-05 9.99998571e-01 -3.90979005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:-6.20, Z:-0.39 [[ 9.92730596e-01 1.20345913e-01 1.68102709e-03 9.64582873e+01] [-1.20345781e-01 9.92732019e-01 -1.80077876e-04 -6.19665804e+00] [-1.69048105e-03 -2.35357001e-05 9.99998571e-01 -3.89395888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-6.20, Z:-0.39 [[ 9.92696414e-01 1.20627542e-01 1.68102287e-03 9.64884178e+01] [-1.20627410e-01 9.92697837e-01 -1.80117285e-04 -6.19833666e+00] [-1.69047487e-03 -2.39756512e-05 9.99998571e-01 -3.89678587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.20, Z:-0.39 [[ 9.92648267e-01 1.21023107e-01 1.68102076e-03 9.65184279e+01] [-1.21022975e-01 9.92649690e-01 -1.80136927e-04 -6.20063966e+00] [-1.69046547e-03 -2.46295247e-05 9.99998571e-01 -3.87152564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:-6.20, Z:-0.39 [[ 9.92582870e-01 1.21558299e-01 1.68102076e-03 9.65486464e+01] [-1.21558168e-01 9.92584293e-01 -1.80136927e-04 -6.20245710e+00] [-1.69045194e-03 -2.55409765e-05 9.99998571e-01 -3.85665526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.20, Z:-0.39 [[ 9.92616607e-01 1.21282505e-01 1.68102076e-03 9.65780432e+01] [-1.21282374e-01 9.92618030e-01 -1.80136927e-04 -6.20457690e+00] [-1.69045897e-03 -2.50712833e-05 9.99998571e-01 -3.87412365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.61, Y:-6.21, Z:-0.39 [[ 9.92685112e-01 1.20720518e-01 1.68101836e-03 9.66083913e+01] [-1.20720386e-01 9.92686535e-01 -1.80159295e-04 -6.20680642e+00] [-1.69047322e-03 -2.40917364e-05 9.99998571e-01 -3.87995784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-6.21, Z:-0.39 [[ 9.92809088e-01 1.19696652e-01 1.68101836e-03 9.66377225e+01] [-1.19696519e-01 9.92810511e-01 -1.80159295e-04 -6.20936081e+00] [-1.69049717e-03 -2.23482617e-05 9.99998571e-01 -3.90203310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.67, Y:-6.21, Z:-0.39 [[ 9.92891932e-01 1.19007501e-01 1.68102044e-03 9.66672784e+01] [-1.19007367e-01 9.92893355e-01 -1.80139938e-04 -6.21260085e+00] [-1.69051203e-03 -2.11943249e-05 9.99998571e-01 -3.91656986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-6.22, Z:-0.39 [[ 9.93111582e-01 1.17160405e-01 1.68102246e-03 9.66973609e+01] [-1.17160268e-01 9.93113004e-01 -1.80121095e-04 -6.21635136e+00] [-1.69054832e-03 -1.80686960e-05 9.99998571e-01 -3.90729366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:-6.22, Z:-0.39 [[ 9.93111582e-01 1.17160405e-01 1.68102246e-03 9.67281840e+01] [-1.17160268e-01 9.93113004e-01 -1.80121095e-04 -6.21965405e+00] [-1.69054832e-03 -1.80686960e-05 9.99998571e-01 -3.90781775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.76, Y:-6.22, Z:-0.39 [[ 9.93171650e-01 1.16650112e-01 1.68102246e-03 9.67586152e+01] [-1.16649974e-01 9.93173072e-01 -1.80121095e-04 -6.22374918e+00] [-1.69055738e-03 -1.72000617e-05 9.99998571e-01 -3.92755852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:-6.23, Z:-0.40 [[ 9.93136751e-01 1.16946859e-01 1.68102034e-03 9.67884970e+01] [-1.16946722e-01 9.93138174e-01 -1.80140825e-04 -6.22831662e+00] [-1.69055238e-03 -1.76853450e-05 9.99998571e-01 -3.95206721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:-6.23, Z:-0.40 [[ 9.93023550e-01 1.17904214e-01 1.68102034e-03 9.68190401e+01] [-1.17904078e-01 9.93024973e-01 -1.80140825e-04 -6.23207902e+00] [-1.69053454e-03 -1.93150720e-05 9.99998571e-01 -3.95520649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:-6.24, Z:-0.39 [[ 9.92842738e-01 1.19417214e-01 1.68102034e-03 9.68482932e+01] [-1.19417080e-01 9.92844161e-01 -1.80140825e-04 -6.23610962e+00] [-1.69050315e-03 -2.18910318e-05 9.99998571e-01 -3.94149743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:-6.24, Z:-0.39 [[ 9.92450572e-01 1.22633746e-01 1.68102243e-03 9.68785751e+01] [-1.22633617e-01 9.92451996e-01 -1.80121313e-04 -6.24162527e+00] [-1.69042302e-03 -2.73883603e-05 9.99998571e-01 -3.90135577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.91, Y:-6.25, Z:-0.39 [[ 9.92245107e-01 1.24285245e-01 1.68102243e-03 9.69087083e+01] [-1.24285118e-01 9.92246530e-01 -1.80121313e-04 -6.24543593e+00] [-1.69037510e-03 -3.02015799e-05 9.99998571e-01 -3.90282626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:-6.25, Z:-0.39 [[ 9.91852276e-01 1.27382247e-01 1.68102029e-03 9.69376628e+01] [-1.27382124e-01 9.91853700e-01 -1.80141348e-04 -6.24807849e+00] [-1.69027300e-03 -3.54583286e-05 9.99998571e-01 -3.91271738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:-6.25, Z:-0.39 [[ 9.91717907e-01 1.28424166e-01 1.68102242e-03 9.69683512e+01] [-1.28424045e-01 9.91719331e-01 -1.80121431e-04 -6.25093482e+00] [-1.69023438e-03 -3.72540506e-05 9.99998571e-01 -3.89039042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-6.25, Z:-0.38 [[ 9.91513343e-01 1.29994094e-01 1.68102242e-03 9.69982290e+01] [-1.29993976e-01 9.91514767e-01 -1.80121431e-04 -6.25289521e+00] [-1.69017328e-03 -3.99299856e-05 9.99998571e-01 -3.83841456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:-6.25, Z:-0.38 [[ 9.91491761e-01 1.30158607e-01 1.68102078e-03 9.70291301e+01] [-1.30158488e-01 9.91493185e-01 -1.80136758e-04 -6.25497134e+00] [-1.69016700e-03 -4.01950116e-05 9.99998571e-01 -3.83955379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.06, Y:-6.26, Z:-0.39 [[ 9.91496586e-01 1.30121841e-01 1.68102078e-03 9.70597096e+01] [-1.30121723e-01 9.91498011e-01 -1.80136758e-04 -6.25710758e+00] [-1.69016848e-03 -4.01323388e-05 9.99998571e-01 -3.85708747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:-6.26, Z:-0.39 [[ 9.91535508e-01 1.29824925e-01 1.68102078e-03 9.70895331e+01] [-1.29824806e-01 9.91536932e-01 -1.80136758e-04 -6.25823476e+00] [-1.69018043e-03 -3.96262040e-05 9.99998571e-01 -3.93954118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:-6.26, Z:-0.40 [[ 9.91582089e-01 1.29468667e-01 1.68102278e-03 9.71204124e+01] [-1.29468548e-01 9.91583513e-01 -1.80118043e-04 -6.26032981e+00] [-1.69019412e-03 -3.90377530e-05 9.99998571e-01 -3.95374570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.315769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.15, Y:-6.26, Z:-0.40 [[ 9.91645918e-01 1.28978866e-01 1.68102278e-03 9.71505522e+01] [-1.28978746e-01 9.91647342e-01 -1.80118043e-04 -6.26029376e+00] [-1.69021320e-03 -3.82028882e-05 9.99998571e-01 -3.95673628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:-6.26, Z:-0.39 [[ 9.91575995e-01 1.29515329e-01 1.68102487e-03 9.71798397e+01] [-1.29515209e-01 9.91577419e-01 -1.80098561e-04 -6.26198116e+00] [-1.69019183e-03 -3.91368777e-05 9.99998571e-01 -3.89798571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-6.26, Z:-0.39 [[ 9.91310564e-01 1.31531517e-01 1.68115536e-03 9.72091425e+01] [-1.31531403e-01 9.91311988e-01 -1.78879746e-04 -6.26164435e+00] [-1.69007779e-03 -4.37993413e-05 9.99998571e-01 -3.88512781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.24, Y:-6.26, Z:-0.39 [[ 9.91124752e-01 1.32924413e-01 1.68102920e-03 9.72381250e+01] [-1.32924299e-01 9.91126177e-01 -1.80057617e-04 -6.26170923e+00] [-1.69004609e-03 -4.49900656e-05 9.99998571e-01 -3.88731245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.27, Y:-6.26, Z:-0.39 [[ 9.90931126e-01 1.34360253e-01 1.68103499e-03 9.72671126e+01] [-1.34360140e-01 9.90932551e-01 -1.80003543e-04 -6.26113850e+00] [-1.68997761e-03 -4.74929832e-05 9.99998571e-01 -3.91556745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.30, Y:-6.26, Z:-0.39 [[ 9.90670907e-01 1.36265649e-01 1.68104268e-03 9.72968246e+01] [-1.36265540e-01 9.90672332e-01 -1.79931703e-04 -6.25818492e+00] [-1.68988098e-03 -5.08150846e-05 9.99998571e-01 -3.93182609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:-6.26, Z:-0.39 [[ 9.90680683e-01 1.36194564e-01 1.68104903e-03 9.73244576e+01] [-1.36194455e-01 9.90682107e-01 -1.79872333e-04 -6.25795305e+00] [-1.68988283e-03 -5.07535107e-05 9.99998571e-01 -3.93754072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.35, Y:-6.25, Z:-0.39 [[ 9.90885350e-01 1.34697425e-01 1.68105962e-03 9.73542209e+01] [-1.34697314e-01 9.90886775e-01 -1.79773342e-04 -6.25343105e+00] [-1.68995475e-03 -4.82994444e-05 9.99998571e-01 -3.92595318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.555769231 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:97.38, Y:-6.25, Z:-0.39 [[ 9.90954275e-01 1.34189412e-01 1.68106718e-03 9.73829482e+01] [-1.34189301e-01 9.90955700e-01 -1.79702537e-04 -6.25266128e+00] [-1.68997729e-03 -4.75042325e-05 9.99998571e-01 -3.87073236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:-6.25, Z:-0.39 [[ 9.91025027e-01 1.33665891e-01 1.68107562e-03 9.74125467e+01] [-1.33665779e-01 9.91026451e-01 -1.79623555e-04 -6.25128404e+00] [-1.68999995e-03 -4.66908437e-05 9.99998571e-01 -3.94279063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.44, Y:-6.25, Z:-0.40 [[ 9.91164191e-01 1.32630013e-01 1.68108403e-03 9.74414018e+01] [-1.32629899e-01 9.91165616e-01 -1.79544811e-04 -6.24574141e+00] [-1.69004572e-03 -4.50036180e-05 9.99998571e-01 -3.99048117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:-6.24, Z:-0.40 [[ 9.91326337e-01 1.31412585e-01 1.68109447e-03 9.74708588e+01] [-1.31412470e-01 9.91327761e-01 -1.79447022e-04 -6.24397239e+00] [-1.69009722e-03 -4.30262173e-05 9.99998571e-01 -3.96725760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-6.24, Z:-0.39 [[ 9.91845243e-01 1.27436993e-01 1.68110237e-03 9.74993293e+01] [-1.27436872e-01 9.91846667e-01 -1.79372962e-04 -6.23898664e+00] [-1.69025454e-03 -3.63242092e-05 9.99998571e-01 -3.93064331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-6.24, Z:-0.39 [[ 9.92190743e-01 1.24718494e-01 1.68111223e-03 9.75287443e+01] [-1.24718369e-01 9.92192167e-01 -1.79280561e-04 -6.23965649e+00] [-1.69034599e-03 -3.17850615e-05 9.99998571e-01 -3.89858138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:-6.24, Z:-0.39 [[ 9.92904800e-01 1.18900096e-01 1.68112039e-03 9.75563273e+01] [-1.18899963e-01 9.92906222e-01 -1.79203962e-04 -6.23930463e+00] [-1.69050227e-03 -2.19526796e-05 9.99998571e-01 -3.91783541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:-6.24, Z:-0.39 [[ 9.93236835e-01 1.16093771e-01 1.68113054e-03 9.75856232e+01] [-1.16093635e-01 9.93238257e-01 -1.79108704e-04 -6.24078356e+00] [-1.69055658e-03 -1.72711922e-05 9.99998571e-01 -3.93062530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.61, Y:-6.24, Z:-0.39 [[ 9.93541784e-01 1.13454386e-01 1.68113864e-03 9.76144202e+01] [-1.13454245e-01 9.93543206e-01 -1.79032704e-04 -6.24258968e+00] [-1.69059592e-03 -1.28558425e-05 9.99998571e-01 -3.93007028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:-6.25, Z:-0.39 [[ 9.94128492e-01 1.08192953e-01 1.68114710e-03 9.76416544e+01] [-1.08192805e-01 9.94129913e-01 -1.78953203e-04 -6.24634570e+00] [-1.69064009e-03 -3.98554350e-06 9.99998571e-01 -3.89936244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:-6.25, Z:-0.39 [[ 9.94463883e-01 1.05065497e-01 1.68115759e-03 9.76700803e+01] [-1.05065345e-01 9.94465304e-01 -1.78854615e-04 -6.25091647e+00] [-1.69064434e-03 1.23305316e-06 9.99998571e-01 -3.88628949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:-6.26, Z:-0.39 [[ 9.95061885e-01 9.92422244e-02 1.68116577e-03 9.76970374e+01] [-9.92420640e-02 9.95063305e-01 -1.78777632e-04 -6.25793189e+00] [-1.69060866e-03 1.10524462e-05 9.99998571e-01 -3.91400808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-6.26, Z:-0.39 [[ 9.95266241e-01 9.71714113e-02 1.68117591e-03 9.77249964e+01] [-9.71712481e-02 9.95267661e-01 -1.78682296e-04 -6.26336148e+00] [-1.69058282e-03 1.44744958e-05 9.99998571e-01 -3.93242049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.75, Y:-6.27, Z:-0.39 [[ 9.95401143e-01 9.57796291e-02 1.68118426e-03 9.77539980e+01] [-9.57794640e-02 9.95402563e-01 -1.78603661e-04 -6.26949628e+00] [-1.69056171e-03 1.67593615e-05 9.99998571e-01 -3.94044137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:-6.28, Z:-0.39 [[ 9.95541236e-01 9.43123547e-02 1.68118847e-03 9.77829065e+01] [-9.43121876e-02 9.95542656e-01 -1.78563980e-04 -6.27910475e+00] [-1.69053563e-03 1.92112425e-05 9.99998571e-01 -3.89987692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:-6.29, Z:-0.39 [[ 9.95542612e-01 9.42978354e-02 1.68102613e-03 9.78114470e+01] [-9.42976658e-02 9.95544031e-01 -1.80092009e-04 -6.28503134e+00] [-1.69051782e-03 2.07724295e-05 9.99998571e-01 -3.88356137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:-6.29, Z:-0.39 [[ 9.95533205e-01 9.43970974e-02 1.68119701e-03 9.78400334e+01] [-9.43969306e-02 9.95534624e-01 -1.78482379e-04 -6.29332070e+00] [-1.69053806e-03 1.89852969e-05 9.99998571e-01 -3.88293257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:-6.30, Z:-0.39 [[ 9.95469476e-01 9.50667951e-02 1.68120126e-03 9.78693450e+01] [-9.50666293e-02 9.95470896e-01 -1.78442325e-04 -6.29956493e+00] [-1.69055087e-03 1.78077502e-05 9.99998571e-01 -3.89234844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.095769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.90, Y:-6.31, Z:-0.39 [[ 9.95384435e-01 9.59531142e-02 1.68120563e-03 9.78987134e+01] [-9.59529498e-02 9.95385855e-01 -1.78401158e-04 -6.30541485e+00] [-1.69056645e-03 1.62610963e-05 9.99998571e-01 -3.91381971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.125769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.93, Y:-6.31, Z:-0.39 [[ 9.95097915e-01 9.88803000e-02 1.68120781e-03 9.79281270e+01] [-9.88801397e-02 9.95099335e-01 -1.78380677e-04 -6.31240978e+00] [-1.69060710e-03 1.12681765e-05 9.99998571e-01 -3.92904139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.96, Y:-6.32, Z:-0.39 [[ 9.94952050e-01 1.00337386e-01 1.68121180e-03 9.79572790e+01] [-1.00337228e-01 9.94953471e-01 -1.78343021e-04 -6.31698544e+00] [-1.69062199e-03 8.75462237e-06 9.99998571e-01 -3.92117853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.99, Y:-6.32, Z:-0.39 [[ 9.94752647e-01 1.02295380e-01 1.68121601e-03 9.79865701e+01] [-1.02295225e-01 9.94754068e-01 -1.78303377e-04 -6.32297837e+00] [-1.69063607e-03 5.38738759e-06 9.99998571e-01 -3.91109957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-6.33, Z:-0.39 [[ 9.94736417e-01 1.02453079e-01 1.68122020e-03 9.80154081e+01] [-1.02452924e-01 9.94737838e-01 -1.78263813e-04 -6.32621028e+00] [-1.69063702e-03 5.07958040e-06 9.99998571e-01 -3.91560645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-6.33, Z:-0.39 [[ 9.94700693e-01 1.02799338e-01 1.68122646e-03 9.80452507e+01] [-1.02799184e-01 9.94702114e-01 -1.78204801e-04 -6.32990975e+00] [-1.69063885e-03 4.43173236e-06 9.99998571e-01 -3.92005747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:-6.33, Z:-0.39 [[ 9.94572685e-01 1.04030511e-01 1.68123055e-03 9.80747182e+01] [-1.04030358e-01 9.94574106e-01 -1.78166140e-04 -6.33421485e+00] [-1.69064309e-03 2.30016033e-06 9.99998571e-01 -3.92157299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-6.34, Z:-0.39 [[ 9.94469896e-01 1.05008565e-01 1.68123473e-03 9.81041180e+01] [-1.05008414e-01 9.94471317e-01 -1.78126671e-04 -6.33776967e+00] [-1.69064455e-03 5.97819267e-07 9.99998571e-01 -3.90900337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.13, Y:-6.34, Z:-0.39 [[ 9.94222146e-01 1.07328922e-01 1.68123891e-03 9.81336338e+01] [-1.07328775e-01 9.94223568e-01 -1.78087237e-04 -6.34017945e+00] [-1.69064126e-03 -3.38703720e-06 9.99998571e-01 -3.89013625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:-6.34, Z:-0.39 [[ 9.94165952e-01 1.07848200e-01 1.68124312e-03 9.81622817e+01] [-1.07848053e-01 9.94167373e-01 -1.78047485e-04 -6.34264576e+00] [-1.69063916e-03 -4.31004947e-06 9.99998571e-01 -3.89318329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.19, Y:-6.35, Z:-0.39 [[ 9.94156736e-01 1.07933120e-01 1.68124758e-03 9.81916811e+01] [-1.07932973e-01 9.94158157e-01 -1.78005331e-04 -6.34588089e+00] [-1.69063867e-03 -4.49685160e-06 9.99998571e-01 -3.89890511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.22, Y:-6.35, Z:-0.39 [[ 9.94205733e-01 1.07480854e-01 1.68125165e-03 9.82215255e+01] [-1.07480707e-01 9.94207154e-01 -1.77966909e-04 -6.35027217e+00] [-1.69064046e-03 -3.76639513e-06 9.99998571e-01 -3.90099847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.455769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:98.25, Y:-6.35, Z:-0.38 [[ 9.94302715e-01 1.06579946e-01 1.68125591e-03 9.82511872e+01] [-1.06579798e-01 9.94304136e-01 -1.77926682e-04 -6.35385482e+00] [-1.69064312e-03 -2.27493210e-06 9.99998571e-01 -3.84401051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:-6.36, Z:-0.39 [[ 9.94321922e-01 1.06400607e-01 1.68126034e-03 9.82801446e+01] [-1.06400458e-01 9.94323343e-01 -1.77884821e-04 -6.35759206e+00] [-1.69064345e-03 -2.01209306e-06 9.99998571e-01 -3.89981611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:-6.36, Z:-0.39 [[ 9.94315502e-01 1.06460583e-01 1.68126254e-03 9.83098161e+01] [-1.06460434e-01 9.94316923e-01 -1.77863996e-04 -6.36061738e+00] [-1.69064330e-03 -2.13501173e-06 9.99998571e-01 -3.89302948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:-6.36, Z:-0.39 [[ 9.94369291e-01 1.05957003e-01 1.68126681e-03 9.83385187e+01] [-1.05956854e-01 9.94370712e-01 -1.77823583e-04 -6.36459828e+00] [-1.69064413e-03 -1.31943155e-06 9.99998571e-01 -3.89324779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:-6.37, Z:-0.39 [[ 9.94404176e-01 1.05629107e-01 1.68127319e-03 9.83673273e+01] [-1.05628958e-01 9.94405597e-01 -1.77763315e-04 -6.36830206e+00] [-1.69064445e-03 -8.22552091e-07 9.99998571e-01 -3.90018765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-6.37, Z:-0.39 [[ 9.94445516e-01 1.05239198e-01 1.68127949e-03 9.83972298e+01] [-1.05239048e-01 9.94446937e-01 -1.77703645e-04 -6.37174761e+00] [-1.69064463e-03 -2.19659785e-07 9.99998571e-01 -3.90450602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:-6.38, Z:-0.39 [[ 9.94463407e-01 1.05070002e-01 1.68128366e-03 9.84263602e+01] [-1.05069852e-01 9.94464828e-01 -1.77664199e-04 -6.37636660e+00] [-1.69064465e-03 2.83185562e-08 9.99998571e-01 -3.90947798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:-6.38, Z:-0.39 [[ 9.94482650e-01 1.04887707e-01 1.68128786e-03 9.84552923e+01] [-1.04887557e-01 9.94484072e-01 -1.77624493e-04 -6.38121844e+00] [-1.69064462e-03 2.98300454e-07 9.99998571e-01 -3.90452430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:-6.39, Z:-0.39 [[ 9.94639514e-01 1.03389607e-01 1.68129204e-03 9.84852940e+01] [-1.03389454e-01 9.94640935e-01 -1.77584916e-04 -6.38750469e+00] [-1.69064232e-03 2.80510786e-06 9.99998571e-01 -3.89828338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:-6.39, Z:-0.39 [[ 9.94745935e-01 1.02360627e-01 1.68129204e-03 9.85153841e+01] [-1.02360473e-01 9.94747356e-01 -1.77584916e-04 -6.39123510e+00] [-1.69063851e-03 4.55402526e-06 9.99998571e-01 -3.90074356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:-6.40, Z:-0.39 [[ 9.94864056e-01 1.01206140e-01 1.68129204e-03 9.85452760e+01] [-1.01205985e-01 9.94865477e-01 -1.77584916e-04 -6.39517097e+00] [-1.69063209e-03 6.51603379e-06 9.99998571e-01 -3.90101971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:-6.40, Z:-0.39 [[ 9.95074066e-01 9.91200134e-02 1.68128993e-03 9.85753213e+01] [-9.91198548e-02 9.95075486e-01 -1.77604883e-04 -6.40137890e+00] [-1.69061459e-03 1.00807992e-05 9.99998571e-01 -3.90137838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-6.41, Z:-0.39 [[ 9.95168453e-01 9.81678378e-02 1.68128784e-03 9.86052110e+01] [-9.81676778e-02 9.95169873e-01 -1.77624640e-04 -6.40670344e+00] [-1.69060403e-03 1.17183150e-05 9.99998571e-01 -3.90400920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:-6.41, Z:-0.39 [[ 9.95166216e-01 9.81905028e-02 1.68128581e-03 9.86368640e+01] [-9.81903428e-02 9.95167637e-01 -1.77643874e-04 -6.41009478e+00] [-1.69060417e-03 1.16991519e-05 9.99998571e-01 -3.90454741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:-6.42, Z:-0.39 [[ 9.95400605e-01 9.57852255e-02 1.68128176e-03 9.86673716e+01] [-9.57850620e-02 9.95402024e-01 -1.77682165e-04 -6.41791067e+00] [-1.69057060e-03 1.58232567e-05 9.99998571e-01 -3.92574719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-6.42, Z:-0.39 [[ 9.95537640e-01 9.43503070e-02 1.68127755e-03 9.86979954e+01] [-9.43501413e-02 9.95539060e-01 -1.77721969e-04 -6.42333254e+00] [-1.69054560e-03 1.83001349e-05 9.99998571e-01 -3.92898313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.73, Y:-6.43, Z:-0.39 [[ 9.95619597e-01 9.34815060e-02 1.68127336e-03 9.87289445e+01] [-9.34813391e-02 9.95621016e-01 -1.77761619e-04 -6.42891554e+00] [-1.69052852e-03 1.98152658e-05 9.99998571e-01 -3.93400482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:-6.44, Z:-0.39 [[ 9.95632858e-01 9.33401639e-02 1.68124621e-03 9.87600125e+01] [-9.33399963e-02 9.95634277e-01 -1.78018028e-04 -6.43614530e+00] [-1.69052259e-03 2.03130827e-05 9.99998571e-01 -3.92832816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:-6.44, Z:-0.39 [[ 9.95513452e-01 9.46051830e-02 1.68124213e-03 9.87910321e+01] [-9.46050172e-02 9.95514871e-01 -1.78056543e-04 -6.44152493e+00] [-1.69054662e-03 1.82037424e-05 9.99998571e-01 -3.91389285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-6.45, Z:-0.39 [[ 9.95402891e-01 9.57614685e-02 1.68123808e-03 9.88219308e+01] [-9.57613043e-02 9.95404310e-01 -1.78094812e-04 -6.44625906e+00] [-1.69056625e-03 1.62785396e-05 9.99998571e-01 -3.90356272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:-6.45, Z:-0.39 [[ 9.95294746e-01 9.68790032e-02 1.68121178e-03 9.88533327e+01] [-9.68788402e-02 9.95296166e-01 -1.78342771e-04 -6.45112206e+00] [-1.69058131e-03 1.46297762e-05 9.99998571e-01 -3.89612800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:-6.46, Z:-0.39 [[ 9.95190969e-01 9.79393096e-02 1.68120774e-03 9.88853611e+01] [-9.79391480e-02 9.95192389e-01 -1.78380854e-04 -6.45569697e+00] [-1.69059564e-03 1.28669618e-05 9.99998571e-01 -3.89037074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:-6.46, Z:-0.39 [[ 9.94922968e-01 1.00625348e-01 1.68117859e-03 9.89160780e+01] [-1.00625190e-01 9.94924389e-01 -1.78655074e-04 -6.45899306e+00] [-1.69062281e-03 8.57912096e-06 9.99998571e-01 -3.89281625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-6.46, Z:-0.39 [[ 9.94750877e-01 1.02312591e-01 1.68117439e-03 9.89471114e+01] [-1.02312435e-01 9.94752298e-01 -1.78694661e-04 -6.46106513e+00] [-1.69063480e-03 5.75162536e-06 9.99998571e-01 -3.89586209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:-6.46, Z:-0.39 [[ 9.94695983e-01 1.02844906e-01 1.68117012e-03 9.89783913e+01] [-1.02844751e-01 9.94697404e-01 -1.78734801e-04 -6.46411493e+00] [-1.69063752e-03 4.88726580e-06 9.99998571e-01 -3.90362817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.01, Y:-6.47, Z:-0.39 [[ 9.94698801e-01 1.02817650e-01 1.68114249e-03 9.90100502e+01] [-1.02817494e-01 9.94700222e-01 -1.78994290e-04 -6.46724162e+00] [-1.69063658e-03 5.19454773e-06 9.99998571e-01 -3.91135168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:-6.47, Z:-0.39 [[ 9.94768200e-01 1.02144030e-01 1.68113840e-03 9.90407440e+01] [-1.02143873e-01 9.94769620e-01 -1.79032668e-04 -6.47070714e+00] [-1.69063253e-03 6.37801661e-06 9.99998571e-01 -3.91726591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:-6.47, Z:-0.39 [[ 9.94804898e-01 1.01785999e-01 1.68113423e-03 9.90718341e+01] [-1.01785842e-01 9.94806318e-01 -1.79071868e-04 -6.47440435e+00] [-1.69062996e-03 7.02590917e-06 9.99998571e-01 -3.91040512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:-6.48, Z:-0.39 [[ 9.94847439e-01 1.01369363e-01 1.68113001e-03 9.91040867e+01] [-1.01369205e-01 9.94848859e-01 -1.79111490e-04 -6.47786932e+00] [-1.69062669e-03 7.77379398e-06 9.99998571e-01 -3.91125663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:-6.48, Z:-0.39 [[ 9.94853403e-01 1.01310814e-01 1.68109981e-03 9.91360693e+01] [-1.01310655e-01 9.94854823e-01 -1.79394429e-04 -6.48087381e+00] [-1.69062485e-03 8.15783428e-06 9.99998571e-01 -3.91366944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:-6.48, Z:-0.39 [[ 9.94800121e-01 1.01832678e-01 1.68106969e-03 9.91670244e+01] [-1.01832519e-01 9.94801541e-01 -1.79676241e-04 -6.48384740e+00] [-1.69062763e-03 7.55438408e-06 9.99998571e-01 -3.90334466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:-6.49, Z:-0.39 [[ 9.94710763e-01 1.02701862e-01 1.68104175e-03 9.91972876e+01] [-1.02701705e-01 9.94712183e-01 -1.79937336e-04 -6.48565226e+00] [-1.69063260e-03 6.33975078e-06 9.99998571e-01 -3.88380023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:-6.49, Z:-0.39 [[ 9.94680875e-01 1.02990926e-01 1.68103962e-03 9.92285700e+01] [-1.02990769e-01 9.94682296e-01 -1.79957161e-04 -6.48849640e+00] [-1.69063431e-03 5.86838223e-06 9.99998571e-01 -3.87506097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:-6.49, Z:-0.39 [[ 9.94765010e-01 1.02175092e-01 1.68103549e-03 9.92586013e+01] [-1.02174934e-01 9.94766430e-01 -1.79995772e-04 -6.49047304e+00] [-1.69062876e-03 7.29380567e-06 9.99998571e-01 -3.89242467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-6.49, Z:-0.39 [[ 9.94878083e-01 1.01068163e-01 1.68103343e-03 9.92894975e+01] [-1.01068003e-01 9.94879503e-01 -1.80014992e-04 -6.49350491e+00] [-1.69061949e-03 9.19427807e-06 9.99998571e-01 -3.89523857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.505769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-6.50, Z:-0.39 [[ 9.95034011e-01 9.95213124e-02 1.68102935e-03 9.93214477e+01] [-9.95211502e-02 9.95035431e-01 -1.80053111e-04 -6.49721340e+00] [-1.69060288e-03 1.18609952e-05 9.99998571e-01 -3.89239731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.535769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:-6.50, Z:-0.39 [[ 9.95352693e-01 9.62818256e-02 1.68099814e-03 9.93518338e+01] [-9.62816583e-02 9.95354113e-01 -1.80344049e-04 -6.50190450e+00] [-1.69055226e-03 1.76566472e-05 9.99998571e-01 -3.90258098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-6.51, Z:-0.39 [[ 9.95440623e-01 9.53684438e-02 1.68098078e-03 9.93838879e+01] [-9.53682750e-02 9.95442042e-01 -1.80505636e-04 -6.50656317e+00] [-1.69053349e-03 1.93704050e-05 9.99998571e-01 -3.90154760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:-6.51, Z:-0.39 [[ 9.95482878e-01 9.49263651e-02 1.68095062e-03 9.94146710e+01] [-9.49261951e-02 9.95484297e-01 -1.80786059e-04 -6.51166155e+00] [-1.69052131e-03 2.04031794e-05 9.99998571e-01 -3.89344533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-6.52, Z:-0.39 [[ 9.95420016e-01 9.55832985e-02 1.68092270e-03 9.94461385e+01] [-9.55831290e-02 9.95421435e-01 -1.81045316e-04 -6.51591347e+00] [-1.69053140e-03 1.95482794e-05 9.99998571e-01 -3.90220823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:-6.52, Z:-0.39 [[ 9.95234990e-01 9.74909681e-02 1.68091861e-03 9.94783933e+01] [-9.74908013e-02 9.95236410e-01 -1.81083326e-04 -6.52081727e+00] [-1.69056539e-03 1.63463606e-05 9.99998571e-01 -3.92775246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:-6.52, Z:-0.39 [[ 9.95129591e-01 9.85610012e-02 1.68088890e-03 9.95090553e+01] [-9.85608355e-02 9.95131011e-01 -1.81358643e-04 -6.52465920e+00] [-1.69057956e-03 1.48055382e-05 9.99998571e-01 -3.93125904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:-6.53, Z:-0.39 [[ 9.95008035e-01 9.97806851e-02 1.68087227e-03 9.95414122e+01] [-9.97805208e-02 9.95009455e-01 -1.81512685e-04 -6.52881037e+00] [-1.69059526e-03 1.28882698e-05 9.99998571e-01 -3.92580162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:-6.53, Z:-0.39 [[ 9.94715694e-01 1.02654094e-01 1.68084214e-03 9.95728908e+01] [-1.02653933e-01 9.94717114e-01 -1.81791231e-04 -6.53378157e+00] [-1.69062406e-03 8.28553326e-06 9.99998571e-01 -3.92921346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:-6.54, Z:-0.39 [[ 9.94571412e-01 1.04042691e-01 1.68081161e-03 9.96039491e+01] [-1.04042532e-01 9.94572832e-01 -1.82073086e-04 -6.53615278e+00] [-1.69063294e-03 6.20879079e-06 9.99998571e-01 -3.93785549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-6.53, Z:-0.39 [[ 9.94260253e-01 1.06975341e-01 1.68078329e-03 9.96356234e+01] [-1.06975186e-01 9.94261674e-01 -1.82334103e-04 -6.53441407e+00] [-1.69064366e-03 1.48544710e-06 9.99998571e-01 -3.93648604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:-6.54, Z:-0.39 [[ 9.94103505e-01 1.08422305e-01 1.68077899e-03 9.96663432e+01] [-1.08422152e-01 9.94104926e-01 -1.82373766e-04 -6.53527255e+00] [-1.69064406e-03 -9.35274823e-07 9.99998571e-01 -3.94462732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:-6.53, Z:-0.39 [[ 9.93928066e-01 1.10018975e-01 1.68077684e-03 9.96974256e+01] [-1.10018824e-01 9.93929487e-01 -1.82393547e-04 -6.53465491e+00] [-1.69064042e-03 -3.63102634e-06 9.99998571e-01 -3.90841035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:-6.54, Z:-0.39 [[ 9.93946729e-01 1.09850238e-01 1.68077469e-03 9.97279300e+01] [-1.09850087e-01 9.93948150e-01 -1.82413417e-04 -6.53551669e+00] [-1.69064105e-03 -3.32402672e-06 9.99998571e-01 -3.90918425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:-6.54, Z:-0.39 [[ 9.94058003e-01 1.08838699e-01 1.68077254e-03 9.97588267e+01] [-1.08838546e-01 9.94059424e-01 -1.82433173e-04 -6.53651469e+00] [-1.69064357e-03 -1.58368385e-06 9.99998571e-01 -3.90400122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:-6.54, Z:-0.39 [[ 9.94429366e-01 1.05391703e-01 1.68077254e-03 9.97894096e+01] [-1.05391545e-01 9.94430786e-01 -1.82433173e-04 -6.53663303e+00] [-1.69063890e-03 4.27768995e-06 9.99998571e-01 -3.93302703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:-6.54, Z:-0.39 [[ 9.94624287e-01 1.03535997e-01 1.68077037e-03 9.98210144e+01] [-1.03535836e-01 9.94625707e-01 -1.82453176e-04 -6.53906548e+00] [-1.69062789e-03 7.45239434e-06 9.99998571e-01 -3.93344498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:-6.54, Z:-0.39 [[ 9.94848634e-01 1.01357633e-01 1.68076603e-03 9.98518961e+01] [-1.01357469e-01 9.94850054e-01 -1.82493126e-04 -6.53969129e+00] [-1.69060725e-03 1.11948458e-05 9.99998571e-01 -3.91479597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:-6.54, Z:-0.39 [[ 9.94818665e-01 1.01651355e-01 1.68076388e-03 9.98819837e+01] [-1.01651192e-01 9.94820085e-01 -1.82512961e-04 -6.54142730e+00] [-1.69061036e-03 1.07156489e-05 9.99998571e-01 -3.89485678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:-6.54, Z:-0.39 [[ 9.94583024e-01 1.03931627e-01 1.68076388e-03 9.99112562e+01] [-1.03931466e-01 9.94584444e-01 -1.82512961e-04 -6.54205784e+00] [-1.69063048e-03 6.84003768e-06 9.99998571e-01 -3.85472308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:-6.54, Z:-0.38 [[ 9.94402020e-01 1.05649411e-01 1.68076607e-03 9.99410932e+01] [-1.05649254e-01 9.94403440e-01 -1.82492798e-04 -6.54343633e+00] [-1.69063982e-03 3.89952601e-06 9.99998571e-01 -3.84762945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:-6.54, Z:-0.38 [[ 9.94218720e-01 1.07360665e-01 1.68077035e-03 9.99706257e+01] [-1.07360510e-01 9.94220140e-01 -1.82453375e-04 -6.54448722e+00] [-1.69064405e-03 9.50198751e-07 9.99998571e-01 -3.84630444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:-6.54, Z:-0.39 [[ 9.93981927e-01 1.09531289e-01 1.68077467e-03 9.99999178e+01] [-1.09531137e-01 9.93983348e-01 -1.82413523e-04 -6.54158107e+00] [-1.69064203e-03 -2.78141548e-06 9.99998571e-01 -3.85003657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:-6.54, Z:-0.39 [[ 9.93977266e-01 1.09573578e-01 1.68077928e-03 1.00029417e+02] [-1.09573426e-01 9.93978687e-01 -1.82371067e-04 -6.54170426e+00] [-1.69064183e-03 -2.89604956e-06 9.99998571e-01 -3.85445430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.06, Y:-6.54, Z:-0.39 [[ 9.94229339e-01 1.07262282e-01 1.68078358e-03 1.00059413e+02] [-1.07262127e-01 9.94230759e-01 -1.82331466e-04 -6.54107964e+00] [-1.69064402e-03 9.94871837e-07 9.99998571e-01 -3.88543330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:-6.54, Z:-0.39 [[ 9.94512694e-01 1.04602464e-01 1.68078808e-03 1.00087998e+02] [-1.04602305e-01 9.94514115e-01 -1.82289924e-04 -6.54246848e+00] [-1.69063545e-03 5.47533603e-06 9.99998571e-01 -3.90706521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:-6.54, Z:-0.39 [[ 9.94815361e-01 1.01683685e-01 1.68079480e-03 1.00117502e+02] [-1.01683522e-01 9.94816781e-01 -1.82227976e-04 -6.54388989e+00] [-1.69061248e-03 1.03740545e-05 9.99998571e-01 -3.91283437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:-6.54, Z:-0.39 [[ 9.95388132e-01 9.59147638e-02 1.68079919e-03 1.00146978e+02] [-9.59145929e-02 9.95389551e-01 -1.82187429e-04 -6.54421580e+00] [-1.69052442e-03 2.01340341e-05 9.99998571e-01 -3.89139290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:-6.55, Z:-0.39 [[ 9.95545285e-01 9.42696184e-02 1.68066402e-03 1.00176096e+02] [-9.42694431e-02 9.95546703e-01 -1.83433772e-04 -6.54753647e+00] [-1.69047176e-03 2.41813652e-05 9.99998571e-01 -3.89784137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.375769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.21, Y:-6.55, Z:-0.39 [[ 9.95831523e-01 9.11962354e-02 1.68078169e-03 1.00205385e+02] [-9.11960575e-02 9.95832941e-01 -1.82349134e-04 -6.55220022e+00] [-1.69040733e-03 2.83083517e-05 9.99998571e-01 -3.88372318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:-6.56, Z:-0.39 [[ 9.95958683e-01 8.97968609e-02 1.68077933e-03 1.00235083e+02] [-8.97966810e-02 9.95960101e-01 -1.82370891e-04 -6.55593943e+00] [-1.69036549e-03 3.07054669e-05 9.99998571e-01 -3.88611408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:-6.56, Z:-0.39 [[ 9.96029485e-01 8.90080842e-02 1.68078362e-03 1.00263885e+02] [-8.90079032e-02 9.96030903e-01 -1.82331340e-04 -6.56126886e+00] [-1.69034139e-03 3.20043643e-05 9.99998571e-01 -3.92221968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:-6.57, Z:-0.39 [[ 9.95985688e-01 8.94968381e-02 1.68078575e-03 1.00292758e+02] [-8.94966578e-02 9.95987106e-01 -1.82311732e-04 -6.56668967e+00] [-1.69035726e-03 3.11551689e-05 9.99998571e-01 -3.92678989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.32, Y:-6.57, Z:-0.39 [[ 9.95866464e-01 9.08138786e-02 1.68078786e-03 1.00322769e+02] [-9.08137003e-02 9.95867882e-01 -1.82292298e-04 -6.57187754e+00] [-1.69039732e-03 2.89002216e-05 9.99998571e-01 -3.91680380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-6.58, Z:-0.39 [[ 9.95469905e-01 9.50623138e-02 1.68078786e-03 1.00351801e+02] [-9.50621415e-02 9.95471324e-01 -1.82292298e-04 -6.57706491e+00] [-1.69050524e-03 2.16872035e-05 9.99998571e-01 -3.91381185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:-6.58, Z:-0.39 [[ 9.95214545e-01 9.76994564e-02 1.68078997e-03 1.00381673e+02] [-9.76992879e-02 9.95215964e-01 -1.82272812e-04 -6.58083902e+00] [-1.69055697e-03 1.71885706e-05 9.99998571e-01 -3.93032117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-6.59, Z:-0.39 [[ 9.94623249e-01 1.03545966e-01 1.68079423e-03 1.00410888e+02] [-1.03545806e-01 9.94624669e-01 -1.82233540e-04 -6.58529670e+00] [-1.69062895e-03 7.21452245e-06 9.99998571e-01 -3.93244502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.615769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.44, Y:-6.59, Z:-0.39 [[ 9.94327210e-01 1.06351180e-01 1.68080138e-03 1.00440055e+02] [-1.06351024e-01 9.94328631e-01 -1.82167561e-04 -6.58877554e+00] [-1.69064267e-03 2.37921487e-06 9.99998571e-01 -3.87427364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.47, Y:-6.59, Z:-0.39 [[ 9.93781702e-01 1.11333304e-01 1.68080575e-03 1.00468353e+02] [-1.11333155e-01 9.93783123e-01 -1.82127234e-04 -6.59050107e+00] [-1.69063321e-03 -6.13469467e-06 9.99998571e-01 -3.88449693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.675769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.50, Y:-6.59, Z:-0.39 [[ 9.93560309e-01 1.13292046e-01 1.68081227e-03 1.00496628e+02] [-1.13291900e-01 9.93561730e-01 -1.82067020e-04 -6.59375358e+00] [-1.69061750e-03 -9.52785253e-06 9.99998571e-01 -3.87966405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.705769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.53, Y:-6.60, Z:-0.39 [[ 9.93374732e-01 1.14907860e-01 1.68081871e-03 1.00526092e+02] [-1.14907717e-01 9.93376154e-01 -1.82007581e-04 -6.59713835e+00] [-1.69059933e-03 -1.23373083e-05 9.99998571e-01 -3.88444024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.735769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.56, Y:-6.60, Z:-0.39 [[ 9.93376136e-01 1.14895720e-01 1.68082316e-03 1.00556087e+02] [-1.14895576e-01 9.93377558e-01 -1.81966477e-04 -6.60034645e+00] [-1.69059917e-03 -1.23579896e-05 9.99998571e-01 -3.88495023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.59, Y:-6.60, Z:-0.39 [[ 9.93171924e-01 1.16647776e-01 1.68082538e-03 1.00585232e+02] [-1.16647635e-01 9.93173346e-01 -1.81945934e-04 -6.60138804e+00] [-1.69057456e-03 -1.53607128e-05 9.99998571e-01 -3.90586053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.61, Y:-6.60, Z:-0.39 [[ 9.93150168e-01 1.16832864e-01 1.68083202e-03 1.00614590e+02] [-1.16832724e-01 9.93151590e-01 -1.81884618e-04 -6.60246365e+00] [-1.69057109e-03 -1.57374442e-05 9.99998571e-01 -3.89901995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:100.64, Y:-6.60, Z:-0.39 [[ 9.93155639e-01 1.16786346e-01 1.68084062e-03 1.00643565e+02] [-1.16786206e-01 9.93157062e-01 -1.81805125e-04 -6.60496309e+00] [-1.69057108e-03 -1.57382123e-05 9.99998571e-01 -3.87795379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:100.67, Y:-6.61, Z:-0.39 [[ 9.93117294e-01 1.17111973e-01 1.68084703e-03 1.00672070e+02] [-1.17111833e-01 9.93118717e-01 -1.81745776e-04 -6.60677321e+00] [-1.69056525e-03 -1.63522033e-05 9.99998571e-01 -3.86901284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.70, Y:-6.61, Z:-0.39 [[ 9.93039323e-01 1.17771293e-01 1.68085565e-03 1.00701191e+02] [-1.17771154e-01 9.93040746e-01 -1.81666045e-04 -6.60819428e+00] [-1.69055319e-03 -1.75547838e-05 9.99998571e-01 -3.87724837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91576923100001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:100.73, Y:-6.61, Z:-0.39 [[ 9.92797034e-01 1.19796592e-01 1.68086420e-03 1.00729979e+02] [-1.19796456e-01 9.92798457e-01 -1.81586931e-04 -6.60691324e+00] [-1.69051288e-03 -2.10826081e-05 9.99998571e-01 -3.91268070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.76, Y:-6.60, Z:-0.39 [[ 9.92709641e-01 1.20518644e-01 1.68087281e-03 1.00757977e+02] [-1.20518510e-01 9.92711064e-01 -1.81507176e-04 -6.60479048e+00] [-1.69049603e-03 -2.23923626e-05 9.99998571e-01 -3.88533142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.975769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:100.79, Y:-6.60, Z:-0.39 [[ 9.92684512e-01 1.20725450e-01 1.68088350e-03 1.00786613e+02] [-1.20725316e-01 9.92685935e-01 -1.81408106e-04 -6.60478888e+00] [-1.69048999e-03 -2.28441750e-05 9.99998571e-01 -3.87670172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.005769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:100.82, Y:-6.60, Z:-0.39 [[ 9.92628644e-01 1.21183951e-01 1.68089203e-03 1.00815800e+02] [-1.21183818e-01 9.92630067e-01 -1.81329040e-04 -6.60475950e+00] [-1.69047814e-03 -2.37045145e-05 9.99998571e-01 -3.87975153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.035769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:100.85, Y:-6.60, Z:-0.39 [[ 9.92524268e-01 1.22035861e-01 1.68090055e-03 1.00845220e+02] [-1.22035729e-01 9.92525691e-01 -1.81250000e-04 -6.60358343e+00] [-1.69045598e-03 -2.52349014e-05 9.99998571e-01 -3.90003551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.065769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:100.87, Y:-6.61, Z:-0.39 [[ 9.92557674e-01 1.21763861e-01 1.68090923e-03 1.00872694e+02] [-1.21763728e-01 9.92559097e-01 -1.81169509e-04 -6.60502143e+00] [-1.69046165e-03 -2.48525882e-05 9.99998571e-01 -3.90408763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.095769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.90, Y:-6.61, Z:-0.39 [[ 9.92749191e-01 1.20192423e-01 1.68091997e-03 1.00901250e+02] [-1.20192289e-01 9.92750614e-01 -1.81069780e-04 -6.60576634e+00] [-1.69049755e-03 -2.22767408e-05 9.99998571e-01 -3.88500960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.125769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:100.93, Y:-6.61, Z:-0.39 [[ 9.92887277e-01 1.19046337e-01 1.68092842e-03 1.00930151e+02] [-1.19046201e-01 9.92888699e-01 -1.80991276e-04 -6.60795811e+00] [-1.69052119e-03 -2.04042074e-05 9.99998571e-01 -3.87230830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15576923100001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:100.96, Y:-6.61, Z:-0.39 [[ 9.93050515e-01 1.17676885e-01 1.68093695e-03 1.00958811e+02] [-1.17676747e-01 9.93051937e-01 -1.80912088e-04 -6.60986600e+00] [-1.69054686e-03 -1.81523498e-05 9.99998571e-01 -3.87722012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18576923100001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:100.99, Y:-6.61, Z:-0.39 [[ 9.93054514e-01 1.17643135e-01 1.68094548e-03 1.00988048e+02] [-1.17642998e-01 9.93055936e-01 -1.80832783e-04 -6.61177687e+00] [-1.69054662e-03 -1.81746537e-05 9.99998571e-01 -3.89804939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:101.02, Y:-6.61, Z:-0.39 [[ 9.93012859e-01 1.17994221e-01 1.68095410e-03 1.01015721e+02] [-1.17994084e-01 9.93014282e-01 -1.80752634e-04 -6.61351997e+00] [-1.69053919e-03 -1.88529497e-05 9.99998571e-01 -3.92299472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.04, Y:-6.62, Z:-0.39 [[ 9.92917481e-01 1.18794153e-01 1.68096479e-03 1.01044408e+02] [-1.18794018e-01 9.92918903e-01 -1.80653166e-04 -6.61535493e+00] [-1.69052225e-03 -2.03148741e-05 9.99998571e-01 -3.92267189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27576923100001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:101.07, Y:-6.62, Z:-0.39 [[ 9.92915943e-01 1.18807008e-01 1.68097326e-03 1.01072498e+02] [-1.18806873e-01 9.92917365e-01 -1.80574265e-04 -6.61739455e+00] [-1.69052103e-03 -2.04161101e-05 9.99998571e-01 -3.90958960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:101.10, Y:-6.62, Z:-0.39 [[ 9.93029067e-01 1.17857736e-01 1.68098478e-03 1.01101068e+02] [-1.17857599e-01 9.93030490e-01 -1.80467028e-04 -6.61842987e+00] [-1.69053857e-03 -1.89078255e-05 9.99998571e-01 -3.89957682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.335769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:101.13, Y:-6.62, Z:-0.39 [[ 9.93149491e-01 1.16838615e-01 1.68099331e-03 1.01129970e+02] [-1.16838477e-01 9.93150914e-01 -1.80387456e-04 -6.62094423e+00] [-1.69055627e-03 -1.72529875e-05 9.99998571e-01 -3.90184686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.365769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:101.16, Y:-6.62, Z:-0.39 [[ 9.93350484e-01 1.15117288e-01 1.68100183e-03 1.01158014e+02] [-1.15117148e-01 9.93351906e-01 -1.80308055e-04 -6.62315393e+00] [-1.69058295e-03 -1.44030428e-05 9.99998571e-01 -3.90380472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.395769231 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:101.19, Y:-6.62, Z:-0.39 [[ 9.93905141e-01 1.10225879e-01 1.68101242e-03 1.01187008e+02] [-1.10225732e-01 9.93906563e-01 -1.80209272e-04 -6.62454328e+00] [-1.69063300e-03 -6.17990258e-06 9.99998571e-01 -3.89577028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.425769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:101.21, Y:-6.63, Z:-0.39 [[ 9.94343894e-01 1.06195082e-01 1.68102088e-03 1.01214913e+02] [-1.06194929e-01 9.94345315e-01 -1.80130368e-04 -6.62757360e+00] [-1.69064419e-03 5.95638572e-07 9.99998571e-01 -3.88257011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.455769231 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:101.24, Y:-6.63, Z:-0.39 [[ 9.94475343e-01 1.04956970e-01 1.68103221e-03 1.01242267e+02] [-1.04956816e-01 9.94476764e-01 -1.80024546e-04 -6.63087980e+00] [-1.69064230e-03 2.59418391e-06 9.99998571e-01 -3.88148783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.485769231 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:101.27, Y:-6.63, Z:-0.39 [[ 9.94531073e-01 1.04427580e-01 1.68104250e-03 1.01271068e+02] [-1.04427425e-01 9.94532493e-01 -1.79928352e-04 -6.63391214e+00] [-1.69064088e-03 3.39739617e-06 9.99998571e-01 -3.88606701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51576923100001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:101.30, Y:-6.64, Z:-0.39 [[ 9.94513338e-01 1.04596338e-01 1.68105087e-03 1.01299861e+02] [-1.04596183e-01 9.94514759e-01 -1.79850196e-04 -6.63604031e+00] [-1.69064157e-03 3.03191411e-06 9.99998571e-01 -3.88770041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54576923100001 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:101.33, Y:-6.64, Z:-0.38 [[ 9.94310702e-01 1.06505405e-01 1.68105973e-03 1.01327893e+02] [-1.06505253e-01 9.94312123e-01 -1.79767330e-04 -6.63700231e+00] [-1.69064426e-03 -2.97110764e-07 9.99998571e-01 -3.84809660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57576923100001 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:101.36, Y:-6.64, Z:-0.38 [[ 9.94216922e-01 1.07377303e-01 1.68107072e-03 1.01356703e+02] [-1.07377153e-01 9.94218344e-01 -1.79664510e-04 -6.63847846e+00] [-1.69064323e-03 -1.88309145e-06 9.99998571e-01 -3.83949516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60576923100001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:101.39, Y:-6.64, Z:-0.39 [[ 9.94267446e-01 1.06908469e-01 1.68107878e-03 1.01385074e+02] [-1.06908318e-01 9.94268867e-01 -1.79589009e-04 -6.64089366e+00] [-1.69064388e-03 -1.16179992e-06 9.99998571e-01 -3.86559773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.41, Y:-6.64, Z:-0.39 [[ 9.94379806e-01 1.05858284e-01 1.68108714e-03 1.01413739e+02] [-1.05858132e-01 9.94381227e-01 -1.79510729e-04 -6.64342445e+00] [-1.69064419e-03 5.45098887e-07 9.99998571e-01 -3.89146056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66576923100001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:101.44, Y:-6.64, Z:-0.39 [[ 9.94615908e-01 1.03616451e-01 1.68109556e-03 1.01442436e+02] [-1.03616296e-01 9.94617329e-01 -1.79431816e-04 -6.64364321e+00] [-1.69063887e-03 4.27684369e-06 9.99998571e-01 -3.90289392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.695769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:101.47, Y:-6.64, Z:-0.39 [[ 9.94664954e-01 1.03144570e-01 1.68110394e-03 1.01471728e+02] [-1.03144414e-01 9.94666375e-01 -1.79353310e-04 -6.64467033e+00] [-1.69063688e-03 4.99997061e-06 9.99998571e-01 -3.89185527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:101.50, Y:-6.64, Z:-0.39 [[ 9.94544156e-01 1.04302903e-01 1.68111248e-03 1.01500134e+02] [-1.04302749e-01 9.94545577e-01 -1.79273248e-04 -6.64263648e+00] [-1.69064170e-03 2.95050910e-06 9.99998571e-01 -3.88853007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.755769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:101.53, Y:-6.64, Z:-0.39 [[ 9.94428230e-01 1.05402411e-01 1.68112304e-03 1.01528263e+02] [-1.05402259e-01 9.94429651e-01 -1.79174130e-04 -6.64254338e+00] [-1.69064399e-03 9.81646680e-07 9.99998571e-01 -3.89671993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.785769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:101.56, Y:-6.64, Z:-0.39 [[ 9.94310947e-01 1.06503124e-01 1.68113350e-03 1.01556737e+02] [-1.06502973e-01 9.94312368e-01 -1.79075990e-04 -6.64294236e+00] [-1.69064398e-03 -9.88499038e-07 9.99998571e-01 -3.91241172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.815769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:101.58, Y:-6.64, Z:-0.39 [[ 9.94167206e-01 1.07836636e-01 1.68114215e-03 1.01584882e+02] [-1.07836487e-01 9.94168628e-01 -1.78994698e-04 -6.64144411e+00] [-1.69064097e-03 -3.33780503e-06 9.99998571e-01 -3.92165524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.845769231 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:101.61, Y:-6.64, Z:-0.39 [[ 9.94150509e-01 1.07990457e-01 1.68115292e-03 1.01613025e+02] [-1.07990309e-01 9.94151931e-01 -1.78893487e-04 -6.64221514e+00] [-1.69064021e-03 -3.70117134e-06 9.99998571e-01 -3.92535880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.875769231 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:101.64, Y:-6.64, Z:-0.39 [[ 9.94322971e-01 1.06390807e-01 1.68116387e-03 1.01641545e+02] [-1.06390657e-01 9.94324392e-01 -1.78790519e-04 -6.64048589e+00] [-1.69064391e-03 -1.08460807e-06 9.99998571e-01 -3.92525083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90576923100001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:101.67, Y:-6.64, Z:-0.39 [[ 9.94489199e-01 1.04825601e-01 1.68117714e-03 1.01669621e+02] [-1.04825449e-01 9.94490620e-01 -1.78665694e-04 -6.64121235e+00] [-1.69064363e-03 1.45095399e-06 9.99998571e-01 -3.92132561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93576923100001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:101.70, Y:-6.64, Z:-0.39 [[ 9.94926485e-01 1.00590575e-01 1.68118866e-03 1.01697166e+02] [-1.00590417e-01 9.94927905e-01 -1.78557191e-04 -6.64193841e+00] [-1.69062268e-03 8.53980986e-06 9.99998571e-01 -3.92206953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96576923100001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:101.73, Y:-6.65, Z:-0.39 [[ 9.95173603e-01 9.81156135e-02 1.68119921e-03 1.01726199e+02] [-9.81154520e-02 9.95175023e-01 -1.78457834e-04 -6.64510919e+00] [-1.69059696e-03 1.26449051e-05 9.99998571e-01 -3.92387439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99576923100001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:101.75, Y:-6.65, Z:-0.39 [[ 9.95403068e-01 9.57596233e-02 1.68120759e-03 1.01753399e+02] [-9.57594586e-02 9.95404488e-01 -1.78378824e-04 -6.64861489e+00] [-1.69056307e-03 1.65672995e-05 9.99998571e-01 -3.92709017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:101.78, Y:-6.65, Z:-0.39 [[ 9.95702438e-01 9.25949684e-02 1.68121802e-03 1.01782310e+02] [-9.25947994e-02 9.95703857e-01 -1.78280503e-04 -6.65285584e+00] [-1.69050314e-03 2.18422866e-05 9.99998571e-01 -3.92086373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05576923100001 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:101.81, Y:-6.66, Z:-0.39 [[ 9.95800576e-01 9.15335235e-02 1.68122629e-03 1.01810507e+02] [-9.15333531e-02 9.95801995e-01 -1.78202430e-04 -6.65641057e+00] [-1.69047999e-03 2.35658025e-05 9.99998571e-01 -3.91777410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085769231 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:101.84, Y:-6.66, Z:-0.39 [[ 9.95872755e-01 9.07448605e-02 1.68123481e-03 1.01837714e+02] [-9.07446891e-02 9.95874174e-01 -1.78122053e-04 -6.66129559e+00] [-1.69046199e-03 2.48237696e-05 9.99998571e-01 -3.88545557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.115769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:101.87, Y:-6.66, Z:-0.39 [[ 9.95867004e-01 9.08079522e-02 1.68124579e-03 1.01866402e+02] [-9.08077811e-02 9.95868423e-01 -1.78018324e-04 -6.66493670e+00] [-1.69046507e-03 2.46123749e-05 9.99998571e-01 -3.88991026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.145769231 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:101.89, Y:-6.67, Z:-0.39 [[ 9.95850475e-01 9.09890423e-02 1.68125416e-03 1.01893600e+02] [-9.09888716e-02 9.95851893e-01 -1.77939289e-04 -6.66806142e+00] [-1.69047066e-03 2.42255073e-05 9.99998571e-01 -3.89381172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.175769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:101.92, Y:-6.67, Z:-0.39 [[ 9.95811464e-01 9.14149908e-02 1.68126458e-03 1.01921031e+02] [-9.14148208e-02 9.95812883e-01 -1.77840729e-04 -6.67188570e+00] [-1.69048224e-03 2.34033366e-05 9.99998571e-01 -3.90978691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.205769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:101.95, Y:-6.68, Z:-0.39 [[ 9.95946819e-01 8.99283443e-02 1.68127494e-03 1.01949605e+02] [-8.99281723e-02 9.95948238e-01 -1.77742749e-04 -6.67750129e+00] [-1.69044692e-03 2.58283431e-05 9.99998571e-01 -3.88135947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.235769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:101.98, Y:-6.68, Z:-0.39 [[ 9.96079206e-01 8.84499181e-02 1.68128324e-03 1.01977413e+02] [-8.84497442e-02 9.96080625e-01 -1.77664180e-04 -6.68175333e+00] [-1.69040804e-03 2.82585230e-05 9.99998571e-01 -3.86724959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:102.01, Y:-6.69, Z:-0.39 [[ 9.96230698e-01 8.67269781e-02 1.68129358e-03 1.02005910e+02] [-8.67268019e-02 9.96232117e-01 -1.77566286e-04 -6.68592788e+00] [-1.69035845e-03 3.10837703e-05 9.99998571e-01 -3.86870119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:102.03, Y:-6.69, Z:-0.39 [[ 9.96529238e-01 8.32265017e-02 1.68130189e-03 1.02033687e+02] [-8.32263206e-02 9.96530656e-01 -1.77487576e-04 -6.69089012e+00] [-1.69024055e-03 3.69429891e-05 9.99998571e-01 -3.90193815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:102.06, Y:-6.70, Z:-0.39 [[ 9.96645547e-01 8.18219242e-02 1.68131223e-03 1.02062127e+02] [-8.18217413e-02 9.96646964e-01 -1.77389601e-04 -6.69542922e+00] [-1.69018909e-03 3.92266613e-05 9.99998571e-01 -3.91888646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:102.09, Y:-6.70, Z:-0.39 [[ 9.96897385e-01 7.86941949e-02 1.68132047e-03 1.02090431e+02] [-7.86940077e-02 9.96898802e-01 -1.77311475e-04 -6.70162943e+00] [-1.69005974e-03 4.44515002e-05 9.99998571e-01 -3.91057491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38576923100001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:102.12, Y:-6.71, Z:-0.39 [[ 9.97009107e-01 7.72658688e-02 1.68132886e-03 1.02118877e+02] [-7.72656797e-02 9.97010523e-01 -1.77231821e-04 -6.70646820e+00] [-1.68999654e-03 4.67927222e-05 9.99998571e-01 -3.91341642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:102.15, Y:-6.71, Z:-0.39 [[ 9.97056850e-01 7.66473145e-02 1.68133512e-03 1.02147284e+02] [-7.66471246e-02 9.97058267e-01 -1.77172451e-04 -6.71197903e+00] [-1.68996887e-03 4.77815031e-05 9.99998571e-01 -3.93195141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445769231 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:102.18, Y:-6.72, Z:-0.40 [[ 9.97012198e-01 7.72259744e-02 1.68134127e-03 1.02176224e+02] [-7.72257854e-02 9.97013614e-01 -1.77114030e-04 -6.72011776e+00] [-1.68999794e-03 4.67419475e-05 9.99998571e-01 -3.97544338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.475769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.20, Y:-6.73, Z:-0.40 [[ 9.96807264e-01 7.98276334e-02 1.68134542e-03 1.02204857e+02] [-7.98274482e-02 9.96808681e-01 -1.77074653e-04 -6.72591357e+00] [-1.69011516e-03 4.22917858e-05 9.99998571e-01 -3.95156547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.505769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.23, Y:-6.73, Z:-0.39 [[ 9.96637991e-01 8.19139050e-02 1.68135159e-03 1.02233425e+02] [-8.19137228e-02 9.96639409e-01 -1.77016024e-04 -6.72988524e+00] [-1.69020133e-03 3.86951261e-05 9.99998571e-01 -3.93678667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.535769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:102.26, Y:-6.73, Z:-0.39 [[ 9.96452966e-01 8.41347740e-02 1.68135975e-03 1.02261514e+02] [-8.41345951e-02 9.96454384e-01 -1.76938490e-04 -6.73327351e+00] [-1.69028498e-03 3.48503607e-05 9.99998571e-01 -3.92736383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.565769231 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:102.29, Y:-6.74, Z:-0.39 [[ 9.96071914e-01 8.85320024e-02 1.68136585e-03 1.02289594e+02] [-8.85318299e-02 9.96073333e-01 -1.76880526e-04 -6.73549989e+00] [-1.69042327e-03 2.73313281e-05 9.99998571e-01 -3.92141898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.595769231 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:102.32, Y:-6.74, Z:-0.39 [[ 9.95923958e-01 9.01811673e-02 1.68137568e-03 1.02318091e+02] [-9.01809973e-02 9.95925377e-01 -1.76787035e-04 -6.73767844e+00] [-1.69046757e-03 2.44383081e-05 9.99998571e-01 -3.92468582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.625769231 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:102.35, Y:-6.74, Z:-0.39 [[ 9.95852667e-01 9.09650434e-02 1.68138348e-03 1.02346107e+02] [-9.09648747e-02 9.95854086e-01 -1.76712814e-04 -6.74078795e+00] [-1.69048730e-03 2.30330891e-05 9.99998571e-01 -3.92107411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65576923100001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:102.38, Y:-6.74, Z:-0.39 [[ 9.95856668e-01 9.09212309e-02 1.68139320e-03 1.02375284e+02] [-9.09210623e-02 9.95858087e-01 -1.76620272e-04 -6.74375976e+00] [-1.69048755e-03 2.30144191e-05 9.99998571e-01 -3.92156996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:102.40, Y:-6.75, Z:-0.39 [[ 9.95968270e-01 8.96904545e-02 1.68140097e-03 1.02404193e+02] [-8.96902843e-02 9.95969689e-01 -1.76546299e-04 -6.74738689e+00] [-1.69045892e-03 2.50291809e-05 9.99998571e-01 -3.91714165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71576923100001 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:102.43, Y:-6.75, Z:-0.39 [[ 9.96137304e-01 8.77931866e-02 1.68140870e-03 1.02433324e+02] [-8.77930137e-02 9.96138723e-01 -1.76472592e-04 -6.75062905e+00] [-1.69040941e-03 2.81749951e-05 9.99998571e-01 -3.92571031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74576923100001 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:102.46, Y:-6.75, Z:-0.39 [[ 9.96401931e-01 8.47370309e-02 1.68141723e-03 1.02461738e+02] [-8.47368539e-02 9.96403349e-01 -1.76391288e-04 -6.75385179e+00] [-1.69031664e-03 3.32786130e-05 9.99998571e-01 -3.90291810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77576923100001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:102.49, Y:-6.76, Z:-0.39 [[ 9.96458607e-01 8.40679275e-02 1.68142359e-03 1.02488892e+02] [-8.40677496e-02 9.96460025e-01 -1.76330643e-04 -6.75706002e+00] [-1.69029515e-03 3.43526891e-05 9.99998571e-01 -3.90049708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.52, Y:-6.76, Z:-0.39 [[ 9.96548438e-01 8.29962874e-02 1.68143347e-03 1.02517070e+02] [-8.29961081e-02 9.96549856e-01 -1.76236460e-04 -6.76138867e+00] [-1.69025925e-03 3.60757350e-05 9.99998571e-01 -3.90110379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.835769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:102.55, Y:-6.76, Z:-0.39 [[ 9.96628826e-01 8.20253372e-02 1.68143781e-03 1.02546969e+02] [-8.20251566e-02 9.96630244e-01 -1.76194957e-04 -6.76460527e+00] [-1.69022423e-03 3.76807735e-05 9.99998571e-01 -3.91509378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.865769231 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:102.58, Y:-6.77, Z:-0.39 [[ 9.96682844e-01 8.13663357e-02 1.68144188e-03 1.02576277e+02] [-8.13661542e-02 9.96684262e-01 -1.76156145e-04 -6.76813950e+00] [-1.69019984e-03 3.87593480e-05 9.99998571e-01 -3.91799597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.895769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:102.60, Y:-6.77, Z:-0.39 [[ 9.96688931e-01 8.12917458e-02 1.68144604e-03 1.02604881e+02] [-8.12915643e-02 9.96690348e-01 -1.76116399e-04 -6.77279054e+00] [-1.69019785e-03 3.88458863e-05 9.99998571e-01 -3.93647779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.925769231 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:102.63, Y:-6.78, Z:-0.40 [[ 9.96669603e-01 8.15283678e-02 1.68145114e-03 1.02633936e+02] [-8.15281867e-02 9.96671021e-01 -1.76067741e-04 -6.77650601e+00] [-1.69020814e-03 3.83957032e-05 9.99998571e-01 -3.95288820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.955769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:102.66, Y:-6.78, Z:-0.40 [[ 9.96599799e-01 8.23772606e-02 1.68145522e-03 1.02663375e+02] [-8.23770808e-02 9.96601217e-01 -1.76028711e-04 -6.78258537e+00] [-1.69024109e-03 3.69168050e-05 9.99998571e-01 -3.95715923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.985769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:102.69, Y:-6.79, Z:-0.39 [[ 9.96577651e-01 8.26447680e-02 1.68145929e-03 1.02691940e+02] [-8.26445887e-02 9.96579069e-01 -1.75989863e-04 -6.78733544e+00] [-1.69025178e-03 3.64240534e-05 9.99998571e-01 -3.94505094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.72, Y:-6.79, Z:-0.39 [[ 9.96559932e-01 8.28581559e-02 1.68146538e-03 1.02720874e+02] [-8.28579770e-02 9.96561350e-01 -1.75931640e-04 -6.79232858e+00] [-1.69026078e-03 3.60036037e-05 9.99998571e-01 -3.94103820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04576923100001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:102.75, Y:-6.80, Z:-0.39 [[ 9.96551255e-01 8.29624525e-02 1.68146946e-03 1.02748596e+02] [-8.29622737e-02 9.96552673e-01 -1.75892692e-04 -6.79921995e+00] [-1.69026537e-03 3.57875539e-05 9.99998571e-01 -3.90284657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:102.78, Y:-6.80, Z:-0.39 [[ 9.96571101e-01 8.27237175e-02 1.68147368e-03 1.02777574e+02] [-8.27235385e-02 9.96572519e-01 -1.75852337e-04 -6.80476578e+00] [-1.69025762e-03 3.61519051e-05 9.99998571e-01 -3.90103294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.81, Y:-6.81, Z:-0.39 [[ 9.96603137e-01 8.23368628e-02 1.68147767e-03 1.02806332e+02] [-8.23366833e-02 9.96604555e-01 -1.75814143e-04 -6.81371380e+00] [-1.69024429e-03 3.67696321e-05 9.99998571e-01 -3.91513903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:102.84, Y:-6.82, Z:-0.39 [[ 9.96619188e-01 8.21423558e-02 1.68147972e-03 1.02835649e+02] [-8.21421760e-02 9.96620606e-01 -1.75794509e-04 -6.82006444e+00] [-1.69023752e-03 3.70797776e-05 9.99998571e-01 -3.91753608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16576923100001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:102.87, Y:-6.83, Z:-0.39 [[ 9.96634922e-01 8.19512384e-02 1.68148178e-03 1.02865270e+02] [-8.19510584e-02 9.96636339e-01 -1.75774865e-04 -6.82635749e+00] [-1.69023081e-03 3.73841579e-05 9.99998571e-01 -3.92832347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.195769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.89, Y:-6.84, Z:-0.39 [[ 9.96595378e-01 8.24307266e-02 1.68148178e-03 1.02894671e+02] [-8.24305473e-02 9.96596796e-01 -1.75774865e-04 -6.83509844e+00] [-1.69024860e-03 3.65709552e-05 9.99998571e-01 -3.93297094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:102.92, Y:-6.84, Z:-0.39 [[ 9.96379234e-01 8.50035016e-02 1.68148178e-03 1.02923119e+02] [-8.50033260e-02 9.96380652e-01 -1.75774865e-04 -6.84367458e+00] [-1.69033739e-03 3.22068820e-05 9.99998571e-01 -3.91436994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.255769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:102.95, Y:-6.85, Z:-0.39 [[ 9.96167263e-01 8.74525974e-02 1.68148384e-03 1.02953631e+02] [-8.74524253e-02 9.96168682e-01 -1.75755128e-04 -6.84948742e+00] [-1.69041178e-03 2.80316649e-05 9.99998571e-01 -3.91046315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.285769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:102.98, Y:-6.86, Z:-0.39 [[ 9.95901209e-01 9.04320445e-02 1.68148384e-03 1.02983712e+02] [-9.04318766e-02 9.95902628e-01 -1.75755128e-04 -6.85520590e+00] [-1.69048807e-03 2.29750053e-05 9.99998571e-01 -3.89521713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.315769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:103.01, Y:-6.86, Z:-0.39 [[ 9.95359927e-01 9.62070105e-02 1.68148384e-03 1.03013529e+02] [-9.62068509e-02 9.95361347e-01 -1.75755128e-04 -6.86261769e+00] [-1.69059290e-03 1.31693463e-05 9.99998571e-01 -3.88214372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.345769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:103.04, Y:-6.87, Z:-0.39 [[ 9.95183133e-01 9.80188993e-02 1.68148384e-03 1.03042564e+02] [-9.80187422e-02 9.95184553e-01 -1.75755128e-04 -6.86750079e+00] [-1.69061407e-03 1.00916078e-05 9.99998571e-01 -3.86554229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.375769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:103.07, Y:-6.87, Z:-0.39 [[ 9.95019427e-01 9.96670115e-02 1.68148585e-03 1.03072140e+02] [-9.96668568e-02 9.95020847e-01 -1.75735856e-04 -6.87364299e+00] [-1.69062855e-03 7.27218077e-06 9.99998571e-01 -3.90961510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40576923100001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:103.10, Y:-6.88, Z:-0.39 [[ 9.94975185e-01 1.00107715e-01 1.68148585e-03 1.03103540e+02] [-1.00107561e-01 9.94976605e-01 -1.75735856e-04 -6.87800180e+00] [-1.69063160e-03 6.52336736e-06 9.99998571e-01 -3.92649541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:103.13, Y:-6.88, Z:-0.39 [[ 9.94928761e-01 1.00568048e-01 1.68148169e-03 1.03133542e+02] [-1.00567894e-01 9.94930182e-01 -1.75775668e-04 -6.88181304e+00] [-1.69063430e-03 5.78119431e-06 9.99998571e-01 -3.92934544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.16, Y:-6.89, Z:-0.39 [[ 9.94783137e-01 1.01998442e-01 1.68147179e-03 1.03163338e+02] [-1.01998291e-01 9.94784558e-01 -1.75870329e-04 -6.88656809e+00] [-1.69064067e-03 3.44558946e-06 9.99998571e-01 -3.91160244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49576923100001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:103.19, Y:-6.89, Z:-0.39 [[ 9.94757864e-01 1.02244628e-01 1.68147179e-03 1.03194439e+02] [-1.02244476e-01 9.94759286e-01 -1.75870329e-04 -6.89088887e+00] [-1.69064147e-03 3.02719027e-06 9.99998571e-01 -3.91216501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52576923100001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:103.22, Y:-6.90, Z:-0.39 [[ 9.94702218e-01 1.02784583e-01 1.68146761e-03 1.03224689e+02] [-1.02784432e-01 9.94703639e-01 -1.75910257e-04 -6.89527298e+00] [-1.69064282e-03 2.14962940e-06 9.99998571e-01 -3.92092048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.26, Y:-6.90, Z:-0.39 [[ 9.94627426e-01 1.03505827e-01 1.68145761e-03 1.03255114e+02] [-1.03505677e-01 9.94628847e-01 -1.76005880e-04 -6.89930716e+00] [-1.69064387e-03 1.01986707e-06 9.99998571e-01 -3.92769202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585769231 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:103.29, Y:-6.90, Z:-0.39 [[ 9.94531854e-01 1.04420132e-01 1.68144777e-03 1.03285485e+02] [-1.04419983e-01 9.94533276e-01 -1.76099808e-04 -6.90385828e+00] [-1.69064412e-03 -4.39878859e-07 9.99998571e-01 -3.94063407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.615769231 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:103.32, Y:-6.91, Z:-0.39 [[ 9.94397318e-01 1.05693648e-01 1.68144777e-03 1.03316717e+02] [-1.05693501e-01 9.94398739e-01 -1.76099808e-04 -6.90919219e+00] [-1.69064217e-03 -2.60492499e-06 9.99998571e-01 -3.94378180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.645769231 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:103.35, Y:-6.92, Z:-0.40 [[ 9.94447871e-01 1.05216939e-01 1.68144363e-03 1.03347852e+02] [-1.05216791e-01 9.94449293e-01 -1.76139355e-04 -6.91702282e+00] [-1.69064327e-03 -1.75469670e-06 9.99998571e-01 -3.95908376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.675769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:103.38, Y:-6.93, Z:-0.40 [[ 9.94721259e-01 1.02600145e-01 1.68143941e-03 1.03377826e+02] [-1.02599993e-01 9.94722680e-01 -1.76179552e-04 -6.92545032e+00] [-1.69064197e-03 2.73387262e-06 9.99998571e-01 -4.00410016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.705769231 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:103.41, Y:-6.93, Z:-0.40 [[ 9.94761965e-01 1.02204729e-01 1.68141623e-03 1.03409099e+02] [-1.02204577e-01 9.94763386e-01 -1.76400544e-04 -6.93091195e+00] [-1.69064027e-03 3.62811786e-06 9.99998571e-01 -4.03119154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.735769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:103.44, Y:-6.94, Z:-0.40 [[ 9.94678075e-01 1.03017963e-01 1.68139998e-03 1.03439963e+02] [-1.03017812e-01 9.94679496e-01 -1.76555287e-04 -6.93632510e+00] [-1.69064245e-03 2.40152625e-06 9.99998571e-01 -4.04658147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76576923100001 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:103.47, Y:-6.94, Z:-0.41 [[ 9.94289183e-01 1.06706109e-01 1.68137279e-03 1.03469495e+02] [-1.06705963e-01 9.94290605e-01 -1.76813801e-04 -6.94099833e+00] [-1.69064028e-03 -3.60845293e-06 9.99998571e-01 -4.06942109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79576923100001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:103.50, Y:-6.94, Z:-0.41 [[ 9.94008041e-01 1.09294044e-01 1.68137074e-03 1.03501022e+02] [-1.09293901e-01 9.94009463e-01 -1.76833326e-04 -6.94421074e+00] [-1.69062526e-03 -7.98981931e-06 9.99998571e-01 -4.06674420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82576923100001 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:103.53, Y:-6.95, Z:-0.41 [[ 9.93483248e-01 1.13965824e-01 1.68136675e-03 1.03531812e+02] [-1.13965687e-01 9.93484671e-01 -1.76871248e-04 -6.94705958e+00] [-1.69056937e-03 -1.58994952e-05 9.99998571e-01 -4.05427964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85576923100001 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:103.56, Y:-6.95, Z:-0.40 [[ 9.93418844e-01 1.14525862e-01 1.68136264e-03 1.03561610e+02] [-1.14525727e-01 9.93420267e-01 -1.76910302e-04 -6.95053312e+00] [-1.69056053e-03 -1.68132513e-05 9.99998571e-01 -4.04342758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88576923100001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:103.59, Y:-6.95, Z:-0.40 [[ 9.93519770e-01 1.13646992e-01 1.68136060e-03 1.03592760e+02] [-1.13646855e-01 9.93521193e-01 -1.76929706e-04 -6.95433804e+00] [-1.69057492e-03 -1.52981840e-05 9.99998571e-01 -4.04590275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91576923100001 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:103.62, Y:-6.96, Z:-0.40 [[ 9.94099167e-01 1.08462061e-01 1.68135640e-03 1.03623293e+02] [-1.08461917e-01 9.94100589e-01 -1.76969609e-04 -6.96025345e+00] [-1.69063188e-03 -6.43779660e-06 9.99998571e-01 -4.02929661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945769231 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:103.66, Y:-6.97, Z:-0.40 [[ 9.94433706e-01 1.05350737e-01 1.68132925e-03 1.03655184e+02] [-1.05350588e-01 9.94435127e-01 -1.77227222e-04 -6.96547611e+00] [-1.69064388e-03 -8.88302208e-07 9.99998571e-01 -4.02646198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.975769231 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:103.69, Y:-6.97, Z:-0.40 [[ 9.94740934e-01 1.02409220e-01 1.68129967e-03 1.03686909e+02] [-1.02409066e-01 9.94742354e-01 -1.77507321e-04 -6.97158471e+00] [-1.69063838e-03 4.39346949e-06 9.99998571e-01 -4.01922165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.005769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:103.72, Y:-6.98, Z:-0.40 [[ 9.95244500e-01 9.73938272e-02 1.68126808e-03 1.03719423e+02] [-9.73936658e-02 9.95245920e-01 -1.77806055e-04 -6.98179444e+00] [-1.69059241e-03 1.32156367e-05 9.99998571e-01 -4.01725667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.035769231 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:103.75, Y:-6.99, Z:-0.40 [[ 9.95368835e-01 9.61148069e-02 1.68123453e-03 1.03751362e+02] [-9.61146431e-02 9.95370255e-01 -1.78122686e-04 -6.98957998e+00] [-1.69057107e-03 1.57065127e-05 9.99998571e-01 -3.96670763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.065769231 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:103.78, Y:-7.00, Z:-0.40 [[ 9.95219202e-01 9.76520047e-02 1.68120071e-03 1.03782717e+02] [-9.76518426e-02 9.95220622e-01 -1.78441368e-04 -7.00033153e+00] [-1.69059077e-03 1.34159292e-05 9.99998571e-01 -4.01373838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.095769231 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:103.81, Y:-7.01, Z:-0.40 [[ 9.94998603e-01 9.98746876e-02 1.68116913e-03 1.03813743e+02] [-9.98745281e-02 9.95000023e-01 -1.78738424e-04 -7.00736604e+00] [-1.69061477e-03 9.93850913e-06 9.99998571e-01 -4.00719244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.125769231 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:103.85, Y:-7.01, Z:-0.40 [[ 9.94755141e-01 1.02271122e-01 1.68113800e-03 1.03846148e+02] [-1.02270966e-01 9.94756562e-01 -1.79030694e-04 -7.01401193e+00] [-1.69063273e-03 6.16009593e-06 9.99998571e-01 -4.02360669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15576923100001 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:103.88, Y:-7.02, Z:-0.40 [[ 9.94198256e-01 1.07549999e-01 1.68110481e-03 1.03877064e+02] [-1.07549849e-01 9.94199677e-01 -1.79341807e-04 -7.02308639e+00] [-1.69064207e-03 -2.50125750e-06 9.99998571e-01 -4.04794951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18576923100001 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:103.91, Y:-7.03, Z:-0.40 [[ 9.93907041e-01 1.10208747e-01 1.68107383e-03 1.03909147e+02] [-1.10208601e-01 9.93908463e-01 -1.79631800e-04 -7.02924696e+00] [-1.69063050e-03 -6.73148432e-06 9.99998571e-01 -4.04602858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21576923100001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:103.94, Y:-7.04, Z:-0.40 [[ 9.93322053e-01 1.15362355e-01 1.68104060e-03 1.03939588e+02] [-1.15362216e-01 9.93323475e-01 -1.79942179e-04 -7.03607960e+00] [-1.69057565e-03 -1.51880344e-05 9.99998571e-01 -4.01081975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24576923100001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:103.97, Y:-7.04, Z:-0.40 [[ 9.93035777e-01 1.17801189e-01 1.68101377e-03 1.03970469e+02] [-1.17801053e-01 9.93037199e-01 -1.80192495e-04 -7.03996152e+00] [-1.69053610e-03 -1.90875972e-05 9.99998571e-01 -3.99356076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27576923100001 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:104.00, Y:-7.04, Z:-0.40 [[ 9.92710407e-01 1.20512335e-01 1.68098754e-03 1.04003553e+02] [-1.20512202e-01 9.92711830e-01 -1.80436853e-04 -7.04399758e+00] [-1.69048108e-03 -2.34579691e-05 9.99998571e-01 -3.99239365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30576923100001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:104.04, Y:-7.05, Z:-0.40 [[ 9.92379878e-01 1.23204517e-01 1.68095520e-03 1.04036799e+02] [-1.23204387e-01 9.92381301e-01 -1.80737622e-04 -7.04721137e+00] [-1.69041620e-03 -2.77406772e-05 9.99998571e-01 -4.02671564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.335769231 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:104.07, Y:-7.05, Z:-0.40 [[ 9.91695390e-01 1.28597928e-01 1.68092062e-03 1.04067222e+02] [-1.28597806e-01 9.91696814e-01 -1.81058629e-04 -7.04747708e+00] [-1.69024739e-03 -3.66076967e-05 9.99998571e-01 -4.04782293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.365769231 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:104.10, Y:-7.05, Z:-0.41 [[ 9.91411310e-01 1.30769980e-01 1.68123772e-03 1.04100521e+02] [-1.30769866e-01 9.91412735e-01 -1.78115888e-04 -7.04896351e+00] [-1.69009270e-03 -4.32691250e-05 9.99998571e-01 -4.07296524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.395769231 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:104.13, Y:-7.05, Z:-0.40 [[ 9.90901179e-01 1.34580936e-01 1.68088588e-03 1.04132238e+02] [-1.34580822e-01 9.90902603e-01 -1.81376559e-04 -7.04757716e+00] [-1.69000402e-03 -4.64887570e-05 9.99998571e-01 -4.04589979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.425769231 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:104.16, Y:-7.05, Z:-0.40 [[ 9.90767668e-01 1.35560332e-01 1.68085854e-03 1.04164401e+02] [-1.35560219e-01 9.90769092e-01 -1.81629543e-04 -7.04891360e+00] [-1.68996445e-03 -4.79048735e-05 9.99998571e-01 -4.04344717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.455769231 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:104.20, Y:-7.05, Z:-0.41 [[ 9.90850220e-01 1.34955606e-01 1.68083020e-03 1.04196590e+02] [-1.34955492e-01 9.90851645e-01 -1.81891430e-04 -7.04849326e+00] [-1.69000064e-03 -4.66101030e-05 9.99998571e-01 -4.06589413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.485769231 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:104.23, Y:-7.05, Z:-0.41 [[ 9.90950544e-01 1.34216968e-01 1.68081845e-03 1.04229050e+02] [-1.34216853e-01 9.90951968e-01 -1.81999963e-04 -7.05011868e+00] [-1.69003784e-03 -4.52411995e-05 9.99998571e-01 -4.07763276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51576923100001 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:104.26, Y:-7.05, Z:-0.41 [[ 9.91062815e-01 1.33385427e-01 1.68078983e-03 1.04260613e+02] [-1.33385309e-01 9.91064239e-01 -1.82263916e-04 -7.05158906e+00] [-1.69008204e-03 -4.35576813e-05 9.99998571e-01 -4.08827771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54576923100001 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:104.29, Y:-7.06, Z:-0.41 [[ 9.91041651e-01 1.33542580e-01 1.68076279e-03 1.04293074e+02] [-1.33542462e-01 9.91043075e-01 -1.82512921e-04 -7.05526130e+00] [-1.69008157e-03 -4.35752942e-05 9.99998571e-01 -4.08883022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57576923100001 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:104.33, Y:-7.06, Z:-0.41 [[ 9.91246025e-01 1.32017018e-01 1.68073380e-03 1.04325117e+02] [-1.32016898e-01 9.91247449e-01 -1.82779438e-04 -7.05517364e+00] [-1.69015309e-03 -4.07058720e-05 9.99998571e-01 -4.08898168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60576923100001 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:104.36, Y:-7.06, Z:-0.41 [[ 9.91318119e-01 1.31474566e-01 1.68070420e-03 1.04356451e+02] [-1.31474444e-01 9.91319543e-01 -1.83051283e-04 -7.05737258e+00] [-1.69018151e-03 -3.95075972e-05 9.99998571e-01 -4.08605483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63576923100001 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:104.39, Y:-7.06, Z:-0.41 [[ 9.91394479e-01 1.30897526e-01 1.68067671e-03 1.04387151e+02] [-1.30897403e-01 9.91395903e-01 -1.83303348e-04 -7.05912412e+00] [-1.69020995e-03 -3.82702894e-05 9.99998571e-01 -4.09753338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66576923100001 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:104.42, Y:-7.06, Z:-0.41 [[ 9.91666691e-01 1.28819051e-01 1.68094409e-03 1.04418435e+02] [-1.28818930e-01 9.91668115e-01 -1.80851191e-04 -7.05885012e+00] [-1.69023574e-03 -3.71933164e-05 9.99998571e-01 -4.10840386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.695769231 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:104.45, Y:-7.06, Z:-0.41 [[ 9.91750249e-01 1.28174176e-01 1.68065859e-03 1.04450829e+02] [-1.28174049e-01 9.91751672e-01 -1.83466500e-04 -7.06101940e+00] [-1.69031164e-03 -3.34638701e-05 9.99998571e-01 -4.12602254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725769231 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:104.48, Y:-7.06, Z:-0.42 [[ 9.91942109e-01 1.26680809e-01 1.68062810e-03 1.04482374e+02] [-1.26680679e-01 9.91943533e-01 -1.83745432e-04 -7.06200898e+00] [-1.69036519e-03 -3.06382777e-05 9.99998571e-01 -4.15193231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.755769231 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:104.51, Y:-7.06, Z:-0.42 [[ 9.92060697e-01 1.25748751e-01 1.68059985e-03 1.04514945e+02] [-1.25748620e-01 9.92062120e-01 -1.84003469e-04 -7.06384634e+00] [-1.69039765e-03 -2.87905019e-05 9.99998571e-01 -4.15851380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.785769231 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:104.55, Y:-7.07, Z:-0.41 [[ 9.92169788e-01 1.24885096e-01 1.68056922e-03 1.04546535e+02] [-1.24884963e-01 9.92171211e-01 -1.84282727e-04 -7.06535964e+00] [-1.69042657e-03 -2.70380705e-05 9.99998571e-01 -4.14729563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.815769231 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:104.58, Y:-7.07, Z:-0.41 [[ 9.92567758e-01 1.21681638e-01 1.68054082e-03 1.04577739e+02] [-1.21681500e-01 9.92569181e-01 -1.84541383e-04 -7.06776772e+00] [-1.69050832e-03 -2.13209002e-05 9.99998571e-01 -4.13133756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.845769231 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:104.61, Y:-7.07, Z:-0.41 [[ 9.92876168e-01 1.19138955e-01 1.68053651e-03 1.04608738e+02] [-1.19138813e-01 9.92877590e-01 -1.84580602e-04 -7.07154812e+00] [-1.69055778e-03 -1.69514444e-05 9.99998571e-01 -4.12160635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.875769231 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:104.64, Y:-7.08, Z:-0.41 [[ 9.93527541e-01 1.13579051e-01 1.68051967e-03 1.04640201e+02] [-1.13578901e-01 9.93528962e-01 -1.84733808e-04 -7.07579216e+00] [-1.69062686e-03 -7.33345094e-06 9.99998571e-01 -4.14777322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90576923100001 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:104.67, Y:-7.08, Z:-0.42 [[ 9.93830972e-01 1.10892627e-01 1.68048844e-03 1.04671169e+02] [-1.10892473e-01 9.93832393e-01 -1.85017468e-04 -7.07946549e+00] [-1.69064092e-03 -2.47742811e-06 9.99998571e-01 -4.15489511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93576923100001 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:104.70, Y:-7.08, Z:-0.42 [[ 9.94112014e-01 1.08344264e-01 1.68045955e-03 1.04703481e+02] [-1.08344106e-01 9.94113434e-01 -1.85279466e-04 -7.08445384e+00] [-1.69064139e-03 2.12065559e-06 9.99998571e-01 -4.16911447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96576923100001 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:104.73, Y:-7.09, Z:-0.42 [[ 9.94584792e-01 1.03914712e-01 1.68042905e-03 1.04734225e+02] [-1.03914547e-01 9.94586212e-01 -1.85555696e-04 -7.09296741e+00] [-1.69061353e-03 9.92984953e-06 9.99998571e-01 -4.18668335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99576923100001 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:104.77, Y:-7.10, Z:-0.42 [[ 9.94717951e-01 1.02632231e-01 1.68039867e-03 1.04766329e+02] [-1.02632064e-01 9.94719370e-01 -1.85830425e-04 -7.09960929e+00] [-1.69059730e-03 1.23860757e-05 9.99998571e-01 -4.20098496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02576923100001 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:104.80, Y:-7.11, Z:-0.42 [[ 9.94777872e-01 1.02049801e-01 1.68036290e-03 1.04798411e+02] [-1.02049632e-01 9.94779291e-01 -1.86153333e-04 -7.10802766e+00] [-1.69058712e-03 1.37008004e-05 9.99998571e-01 -4.21143667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05576923100001 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:104.83, Y:-7.11, Z:-0.42 [[ 9.94697863e-01 1.02826739e-01 1.68032673e-03 1.04829553e+02] [-1.02826571e-01 9.94699282e-01 -1.86479280e-04 -7.11350312e+00] [-1.69059484e-03 1.27083064e-05 9.99998571e-01 -4.20571476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085769231 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:104.86, Y:-7.12, Z:-0.42 [[ 9.94526237e-01 1.04473638e-01 1.68029289e-03 1.04861944e+02] [-1.04473471e-01 9.94527656e-01 -1.86783624e-04 -7.11895321e+00] [-1.69061172e-03 1.02151831e-05 9.99998571e-01 -4.19403109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.115769231 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:104.89, Y:-7.12, Z:-0.42 [[ 9.94004851e-01 1.09323063e-01 1.68025711e-03 1.04893325e+02] [-1.09322903e-01 9.94006272e-01 -1.87104984e-04 -7.12264773e+00] [-1.69064100e-03 2.29267712e-06 9.99998571e-01 -4.18143995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.145769231 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:104.93, Y:-7.13, Z:-0.42 [[ 9.93662634e-01 1.12391047e-01 1.68022357e-03 1.04925443e+02] [-1.12390890e-01 9.93664054e-01 -1.87405661e-04 -7.12586203e+00] [-1.69064049e-03 -2.62382114e-06 9.99998571e-01 -4.18609386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.175769231 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:104.96, Y:-7.13, Z:-0.42 [[ 9.93329816e-01 1.15295504e-01 1.68019064e-03 1.04957240e+02] [-1.15295351e-01 9.93331237e-01 -1.87700421e-04 -7.12884351e+00] [-1.69062687e-03 -7.26974526e-06 9.99998571e-01 -4.19613298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.205769231 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:104.99, Y:-7.13, Z:-0.42 [[ 9.92934457e-01 1.18652187e-01 1.68015997e-03 1.04989367e+02] [-1.18652039e-01 9.92935878e-01 -1.87974598e-04 -7.13179202e+00] [-1.69059471e-03 -1.27079499e-05 9.99998571e-01 -4.21395810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.235769231 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:105.02, Y:-7.13, Z:-0.42 [[ 9.92840573e-01 1.19435228e-01 1.68012936e-03 1.05020103e+02] [-1.19435081e-01 9.92841995e-01 -1.88247837e-04 -7.13465012e+00] [-1.69058640e-03 -1.37662948e-05 9.99998571e-01 -4.22673882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26576923100001 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:105.05, Y:-7.14, Z:-0.42 [[ 9.92790920e-01 1.19847266e-01 1.68010104e-03 1.05052272e+02] [-1.19847119e-01 9.92792341e-01 -1.88500226e-04 -7.13654282e+00] [-1.69058268e-03 -1.42139558e-05 9.99998571e-01 -4.23480450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29576923100001 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:105.08, Y:-7.14, Z:-0.42 [[ 9.92801066e-01 1.19763182e-01 1.68006955e-03 1.05084048e+02] [-1.19763034e-01 9.92802488e-01 -1.88780418e-04 -7.14027030e+00] [-1.69058618e-03 -1.37888270e-05 9.99998571e-01 -4.22907599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32576923100001 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:105.12, Y:-7.14, Z:-0.42 [[ 9.92890994e-01 1.19015337e-01 1.68003597e-03 1.05115865e+02] [-1.19015188e-01 9.92892416e-01 -1.89078790e-04 -7.14433548e+00] [-1.69059825e-03 -1.22151687e-05 9.99998571e-01 -4.22959176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35576923100001 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:105.15, Y:-7.15, Z:-0.43 [[ 9.93103726e-01 1.17226992e-01 1.68000523e-03 1.05147446e+02] [-1.17226840e-01 9.93105147e-01 -1.89351565e-04 -7.14839125e+00] [-1.69061896e-03 -8.89595933e-06 9.99998571e-01 -4.26959789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38576923100001 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:105.18, Y:-7.15, Z:-0.43 [[ 9.93188685e-01 1.16504997e-01 1.67997425e-03 1.05178409e+02] [-1.16504842e-01 9.93190106e-01 -1.89625996e-04 -7.15221339e+00] [-1.69062618e-03 -7.39074188e-06 9.99998571e-01 -4.28666745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41576923100001 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:105.21, Y:-7.16, Z:-0.43 [[ 9.93264915e-01 1.15853301e-01 1.67994348e-03 1.05210889e+02] [-1.15853145e-01 9.93266335e-01 -1.89898199e-04 -7.15726573e+00] [-1.69063164e-03 -6.00751880e-06 9.99998571e-01 -4.29443482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445769231 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:105.24, Y:-7.16, Z:-0.43 [[ 9.93331346e-01 1.15282328e-01 1.67990703e-03 1.05242786e+02] [-1.15282171e-01 9.93332766e-01 -1.90220187e-04 -7.16270766e+00] [-1.69063572e-03 -4.71165419e-06 9.99998571e-01 -4.28394036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.475769231 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:105.27, Y:-7.17, Z:-0.43 [[ 9.93385471e-01 1.14814998e-01 1.67987296e-03 1.05273802e+02] [-1.14814840e-01 9.93386891e-01 -1.90520576e-04 -7.17041225e+00] [-1.69063839e-03 -3.61397338e-06 9.99998571e-01 -4.27861268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.505769231 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:105.31, Y:-7.18, Z:-0.43 [[ 9.93295423e-01 1.15591437e-01 1.67983927e-03 1.05306424e+02] [-1.15591279e-01 9.93296844e-01 -1.90817176e-04 -7.17692324e+00] [-1.69063587e-03 -4.63694191e-06 9.99998571e-01 -4.30191450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.535769231 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:105.34, Y:-7.19, Z:-0.43 [[ 9.93094710e-01 1.17303343e-01 1.67980257e-03 1.05337020e+02] [-1.17303188e-01 9.93096131e-01 -1.91139626e-04 -7.18755788e+00] [-1.69062676e-03 -7.22644484e-06 9.99998571e-01 -4.33904999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.565769231 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:105.37, Y:-7.19, Z:-0.43 [[ 9.92909837e-01 1.18858042e-01 1.67977970e-03 1.05369549e+02] [-1.18857888e-01 9.92911258e-01 -1.91340474e-04 -7.19383559e+00] [-1.69061453e-03 -9.67122803e-06 9.99998571e-01 -4.33163060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.595769231 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:105.40, Y:-7.20, Z:-0.43 [[ 9.92645704e-01 1.21044145e-01 1.67974363e-03 1.05401186e+02] [-1.21043994e-01 9.92647125e-01 -1.91656540e-04 -7.19885200e+00] [-1.69059159e-03 -1.30758373e-05 9.99998571e-01 -4.32139608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.625769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:105.43, Y:-7.20, Z:-0.43 [[ 9.91840029e-01 1.27477587e-01 1.67971003e-03 1.05433904e+02] [-1.27477445e-01 9.91841451e-01 -1.91950599e-04 -7.20477673e+00] [-1.69047543e-03 -2.37408556e-05 9.99998571e-01 -4.29441688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65576923100001 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:105.47, Y:-7.21, Z:-0.43 [[ 9.91339210e-01 1.31315456e-01 1.67967407e-03 1.05465191e+02] [-1.31315319e-01 9.91340633e-01 -1.92264727e-04 -7.20950621e+00] [-1.69037649e-03 -2.99673734e-05 9.99998571e-01 -4.29855257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68576923100001 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:105.50, Y:-7.21, Z:-0.43 [[ 9.90284985e-01 1.39042535e-01 1.67964060e-03 1.05497431e+02] [-1.39042408e-01 9.90286409e-01 -1.92556737e-04 -7.21361465e+00] [-1.69009883e-03 -4.28552288e-05 9.99998571e-01 -4.32384926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71576923100001 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:105.53, Y:-7.22, Z:-0.43 [[ 9.89727055e-01 1.42959911e-01 1.67960931e-03 1.05529142e+02] [-1.42959790e-01 9.89728479e-01 -1.92829246e-04 -7.21598460e+00] [-1.68992402e-03 -4.92682731e-05 9.99998571e-01 -4.33761230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74576923100001 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:105.56, Y:-7.22, Z:-0.43 [[ 9.89201857e-01 1.46549874e-01 1.67957594e-03 1.05560714e+02] [-1.46549758e-01 9.89203281e-01 -1.93119445e-04 -7.21821629e+00] [-1.68974366e-03 -5.51073339e-05 9.99998571e-01 -4.34429205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77576923100001 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:105.59, Y:-7.22, Z:-0.43 [[ 9.88646322e-01 1.50251887e-01 1.67954759e-03 1.05592613e+02] [-1.50251775e-01 9.88647747e-01 -1.93365730e-04 -7.21865795e+00] [-1.68953450e-03 -6.11846884e-05 9.99998571e-01 -4.33989497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80576923100001 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:105.63, Y:-7.22, Z:-0.44 [[ 9.88603498e-01 1.50533394e-01 1.67954328e-03 1.05625237e+02] [-1.50533282e-01 9.88604923e-01 -1.93403126e-04 -7.21978629e+00] [-1.68951839e-03 -6.16281558e-05 9.99998571e-01 -4.35368392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.835769231 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:105.66, Y:-7.22, Z:-0.44 [[ 9.88649419e-01 1.50231503e-01 1.67951143e-03 1.05656461e+02] [-1.50231391e-01 9.88650844e-01 -1.93679370e-04 -7.22049357e+00] [-1.68954713e-03 -6.08343412e-05 9.99998571e-01 -4.37482299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.865769231 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:105.69, Y:-7.22, Z:-0.44 [[ 9.88942570e-01 1.48289488e-01 1.67948195e-03 1.05688611e+02] [-1.48289372e-01 9.88943995e-01 -1.93934666e-04 -7.21856930e+00] [-1.68967206e-03 -5.72590766e-05 9.99998571e-01 -4.37543382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.895769231 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:105.72, Y:-7.22, Z:-0.44 [[ 9.89169317e-01 1.46769348e-01 1.67945033e-03 1.05719328e+02] [-1.46769230e-01 9.89170741e-01 -1.94208117e-04 -7.22118422e+00] [-1.68976692e-03 -5.43869197e-05 9.99998571e-01 -4.36043305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.925769231 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:105.75, Y:-7.22, Z:-0.43 [[ 9.89905104e-01 1.41721783e-01 1.67942103e-03 1.05751844e+02] [-1.41721657e-01 9.89906528e-01 -1.94461144e-04 -7.22269102e+00] [-1.69002922e-03 -4.55122525e-05 9.99998571e-01 -4.32524617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.955769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:105.78, Y:-7.22, Z:-0.43 [[ 9.90280285e-01 1.39076014e-01 1.67938911e-03 1.05783611e+02] [-1.39075884e-01 9.90281708e-01 -1.94736379e-04 -7.22450049e+00] [-1.69015148e-03 -4.07189279e-05 9.99998571e-01 -4.32806172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.985769231 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:105.82, Y:-7.23, Z:-0.43 [[ 9.90661308e-01 1.36335444e-01 1.67935649e-03 1.05815990e+02] [-1.36335309e-01 9.90662730e-01 -1.95017304e-04 -7.22682186e+00] [-1.69026366e-03 -3.57594890e-05 9.99998571e-01 -4.34170268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01576923100001 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:105.85, Y:-7.23, Z:-0.44 [[ 9.91308292e-01 1.31548663e-01 1.67932380e-03 1.05846865e+02] [-1.31548521e-01 9.91309714e-01 -1.95298395e-04 -7.22913771e+00] [-1.69042124e-03 -2.73116441e-05 9.99998571e-01 -4.39132403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04576923100001 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:105.88, Y:-7.23, Z:-0.44 [[ 9.91525439e-01 1.29901823e-01 1.67929347e-03 1.05879086e+02] [-1.29901678e-01 9.91526861e-01 -1.95558816e-04 -7.23286718e+00] [-1.69046803e-03 -2.42414986e-05 9.99998571e-01 -4.41237031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07576923100001 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:105.91, Y:-7.24, Z:-0.44 [[ 9.91934027e-01 1.26744095e-01 1.67926105e-03 1.05909761e+02] [-1.26743945e-01 9.91935449e-01 -1.95836807e-04 -7.23711851e+00] [-1.69053972e-03 -1.85789781e-05 9.99998571e-01 -4.43517823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10576923100001 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:105.94, Y:-7.24, Z:-0.44 [[ 9.92099527e-01 1.25442055e-01 1.67923105e-03 1.05941653e+02] [-1.25441903e-01 9.92100948e-01 -1.96093707e-04 -7.24170099e+00] [-1.69056512e-03 -1.61014656e-05 9.99998571e-01 -4.44237334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13576923100001 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:105.97, Y:-7.25, Z:-0.45 [[ 9.92284784e-01 1.23968092e-01 1.67919868e-03 1.05972678e+02] [-1.23967937e-01 9.92286205e-01 -1.96370520e-04 -7.24648813e+00] [-1.69058937e-03 -1.33113176e-05 9.99998571e-01 -4.46258854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16576923100001 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:106.00, Y:-7.25, Z:-0.45 [[ 9.92711810e-01 1.20500798e-01 1.67916872e-03 1.06004975e+02] [-1.20500638e-01 9.92713230e-01 -1.96626383e-04 -7.25401867e+00] [-1.69062664e-03 -7.14756919e-06 9.99998571e-01 -4.47877904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.195769231 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:106.04, Y:-7.26, Z:-0.45 [[ 9.92880517e-01 1.19102727e-01 1.67913191e-03 1.06036784e+02] [-1.19102564e-01 9.92881937e-01 -1.96940233e-04 -7.26028824e+00] [-1.69063586e-03 -4.45079616e-06 9.99998571e-01 -4.48168242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.225769231 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:106.07, Y:-7.27, Z:-0.45 [[ 9.92959413e-01 1.18443171e-01 1.67909743e-03 1.06069558e+02] [-1.18443007e-01 9.92960833e-01 -1.97233753e-04 -7.26647594e+00] [-1.69063898e-03 -3.03223681e-06 9.99998571e-01 -4.48387007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.255769231 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:106.10, Y:-7.27, Z:-0.45 [[ 9.92863475e-01 1.19244708e-01 1.67906056e-03 1.06100319e+02] [-1.19244544e-01 9.92864895e-01 -1.97547156e-04 -7.27395774e+00] [-1.69063674e-03 -4.08145608e-06 9.99998571e-01 -4.50105180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.285769231 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:106.13, Y:-7.28, Z:-0.45 [[ 9.92662376e-01 1.20907351e-01 1.67903065e-03 1.06131837e+02] [-1.20907189e-01 9.92663796e-01 -1.97801022e-04 -7.27922792e+00] [-1.69062854e-03 -6.65724377e-06 9.99998571e-01 -4.51080367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.315769231 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:106.16, Y:-7.28, Z:-0.45 [[ 9.92166580e-01 1.24910606e-01 1.67899652e-03 1.06163991e+02] [-1.24910449e-01 9.92168000e-01 -1.98090358e-04 -7.28399658e+00] [-1.69059020e-03 -1.31855770e-05 9.99998571e-01 -4.50598164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.345769231 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:106.19, Y:-7.29, Z:-0.45 [[ 9.91851167e-01 1.27390905e-01 1.67896492e-03 1.06194472e+02] [-1.27390752e-01 9.91852588e-01 -1.98357790e-04 -7.28786704e+00] [-1.69055468e-03 -1.71431980e-05 9.99998571e-01 -4.50061471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.375769231 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:106.23, Y:-7.29, Z:-0.45 [[ 9.91509143e-01 1.30026150e-01 1.67893572e-03 1.06225868e+02] [-1.30026000e-01 9.91510565e-01 -1.98604656e-04 -7.29268994e+00] [-1.69050630e-03 -2.13869633e-05 9.99998571e-01 -4.49603035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40576923100001 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:106.26, Y:-7.30, Z:-0.45 [[ 9.91119934e-01 1.32960360e-01 1.67890445e-03 1.06257757e+02] [-1.32960214e-01 9.91121356e-01 -1.98868599e-04 -7.29720518e+00] [-1.69043970e-03 -2.61248631e-05 9.99998571e-01 -4.48649209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43576923100001 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:106.29, Y:-7.30, Z:-0.45 [[ 9.90475079e-01 1.37681874e-01 1.67887271e-03 1.06288567e+02] [-1.37681735e-01 9.90476502e-01 -1.99136249e-04 -7.30051381e+00] [-1.69030142e-03 -3.39106146e-05 9.99998571e-01 -4.49531044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46576923100001 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:106.32, Y:-7.30, Z:-0.45 [[ 9.90453685e-01 1.37835695e-01 1.67885510e-03 1.06320987e+02] [-1.37835555e-01 9.90455107e-01 -1.99284625e-04 -7.30452079e+00] [-1.69029914e-03 -3.40237335e-05 9.99998571e-01 -4.49586286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49576923100001 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:106.35, Y:-7.31, Z:-0.45 [[ 9.90252463e-01 1.39273980e-01 1.67882411e-03 1.06352421e+02] [-1.39273841e-01 9.90253885e-01 -1.99545349e-04 -7.30679206e+00] [-1.69025357e-03 -3.62160088e-05 9.99998571e-01 -4.50144779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52576923100001 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:106.38, Y:-7.31, Z:-0.45 [[ 9.90165893e-01 1.39888122e-01 1.67881965e-03 1.06383808e+02] [-1.39887985e-01 9.90167315e-01 -1.99582869e-04 -7.30936400e+00] [-1.69023161e-03 -3.72265478e-05 9.99998571e-01 -4.50204964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55576923100001 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:106.42, Y:-7.31, Z:-0.45 [[ 9.90432082e-01 1.37990843e-01 1.67879079e-03 1.06416225e+02] [-1.37990702e-01 9.90433504e-01 -1.99825314e-04 -7.31245096e+00] [-1.69030471e-03 -3.37441170e-05 9.99998571e-01 -4.48858593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.585769231 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:106.45, Y:-7.32, Z:-0.45 [[ 9.90629040e-01 1.36569712e-01 1.67875961e-03 1.06446854e+02] [-1.36569569e-01 9.90630462e-01 -2.00086879e-04 -7.31635376e+00] [-1.69035622e-03 -3.10556040e-05 9.99998571e-01 -4.50000588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.615769231 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:106.48, Y:-7.32, Z:-0.45 [[ 9.90998591e-01 1.33861771e-01 1.67873073e-03 1.06478558e+02] [-1.33861624e-01 9.91000013e-01 -2.00328905e-04 -7.31944040e+00] [-1.69043856e-03 -2.61919585e-05 9.99998571e-01 -4.51835964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.645769231 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:106.51, Y:-7.32, Z:-0.45 [[ 9.91185823e-01 1.32468285e-01 1.67869974e-03 1.06510340e+02] [-1.32468135e-01 9.91187244e-01 -2.00588255e-04 -7.32239194e+00] [-1.69047735e-03 -2.35539901e-05 9.99998571e-01 -4.52754525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.675769231 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:106.54, Y:-7.33, Z:-0.45 [[ 9.91375109e-01 1.31044172e-01 1.67866795e-03 1.06542481e+02] [-1.31044020e-01 9.91376530e-01 -2.00853946e-04 -7.32563020e+00] [-1.69051275e-03 -2.08577928e-05 9.99998571e-01 -4.54083805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.705769231 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:106.57, Y:-7.33, Z:-0.46 [[ 9.91802045e-01 1.27772789e-01 1.67863388e-03 1.06574116e+02] [-1.27772631e-01 9.91803466e-01 -2.01138315e-04 -7.33013603e+00] [-1.69057490e-03 -1.49940757e-05 9.99998571e-01 -4.55090326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.735769231 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:106.61, Y:-7.33, Z:-0.46 [[ 9.92054163e-01 1.25800321e-01 1.67860354e-03 1.06605159e+02] [-1.25800160e-01 9.92055583e-01 -2.01391182e-04 -7.33453373e+00] [-1.69060309e-03 -1.13776331e-05 9.99998571e-01 -4.56212322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76576923100001 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:106.64, Y:-7.34, Z:-0.46 [[ 9.92315088e-01 1.23725291e-01 1.67857550e-03 1.06636249e+02] [-1.23725127e-01 9.92316508e-01 -2.01624620e-04 -7.33851956e+00] [-1.69062424e-03 -7.60681425e-06 9.99998571e-01 -4.56830070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79576923100001 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:106.67, Y:-7.35, Z:-0.45 [[ 9.92746254e-01 1.20216709e-01 1.67856903e-03 1.06668006e+02] [-1.20216540e-01 9.92747673e-01 -2.01678416e-04 -7.34503582e+00] [-1.69064062e-03 -1.57626943e-06 9.99998571e-01 -4.53534353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82576923100001 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:106.70, Y:-7.35, Z:-0.45 [[ 9.92966862e-01 1.18380711e-01 1.67853758e-03 1.06700342e+02] [-1.18380539e-01 9.92968281e-01 -2.01939834e-04 -7.35250038e+00] [-1.69064036e-03 1.81337936e-06 9.99998571e-01 -4.51689085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85576923100001 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:106.73, Y:-7.36, Z:-0.45 [[ 9.93500589e-01 1.13814594e-01 1.67850159e-03 1.06731770e+02] [-1.13814415e-01 9.93502007e-01 -2.02238539e-04 -7.36362616e+00] [-1.69061240e-03 9.88643007e-06 9.99998571e-01 -4.50795947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88576923100001 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:106.76, Y:-7.37, Z:-0.45 [[ 9.93678982e-01 1.12246441e-01 1.67848538e-03 1.06763905e+02] [-1.12246259e-01 9.93680400e-01 -2.02373044e-04 -7.37057739e+00] [-1.69059367e-03 1.26901359e-05 9.99998571e-01 -4.51217526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91576923100001 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:106.80, Y:-7.38, Z:-0.45 [[ 9.93719495e-01 1.11887211e-01 1.67844687e-03 1.06795065e+02] [-1.11887028e-01 9.93720912e-01 -2.02691941e-04 -7.37750089e+00] [-1.69058639e-03 1.36225009e-05 9.99998571e-01 -4.52031182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.945769231 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:106.83, Y:-7.39, Z:-0.45 [[ 9.93446699e-01 1.14284028e-01 1.67841095e-03 1.06827507e+02] [-1.14283848e-01 9.93448117e-01 -2.02988950e-04 -7.38786116e+00] [-1.69061259e-03 9.84344093e-06 9.99998571e-01 -4.51730275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.975769231 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:106.86, Y:-7.39, Z:-0.45 [[ 9.93122904e-01 1.17064426e-01 1.67837282e-03 1.06858996e+02] [-1.17064249e-01 9.93124323e-01 -2.03303730e-04 -7.39465840e+00] [-1.69063250e-03 5.42813701e-06 9.99998571e-01 -4.52963490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.005769231 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:106.89, Y:-7.40, Z:-0.45 [[ 9.92745429e-01 1.20223525e-01 1.67833725e-03 1.06891742e+02] [-1.20223353e-01 9.92746848e-01 -2.03596902e-04 -7.40092469e+00] [-1.69064115e-03 3.44562505e-07 9.99998571e-01 -4.51005460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.035769231 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:106.92, Y:-7.41, Z:-0.45 [[ 9.91901924e-01 1.26995102e-01 1.67829618e-03 1.06923115e+02] [-1.26994939e-01 9.91903344e-01 -2.03934921e-04 -7.40823892e+00] [-1.69060633e-03 -1.08516805e-05 9.99998571e-01 -4.53115727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.065769231 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:106.95, Y:-7.41, Z:-0.45 [[ 9.91490464e-01 1.30168519e-01 1.67825792e-03 1.06954512e+02] [-1.30168360e-01 9.91491884e-01 -2.04249286e-04 -7.41429262e+00] [-1.69056593e-03 -1.59448609e-05 9.99998571e-01 -4.54692522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.095769231 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:106.99, Y:-7.42, Z:-0.45 [[ 9.90845618e-01 1.34989422e-01 1.67822280e-03 1.06985426e+02] [-1.34989269e-01 9.90847039e-01 -2.04537432e-04 -7.42170879e+00] [-1.69047248e-03 -2.38770514e-05 9.99998571e-01 -4.52349000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.125769231 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:107.02, Y:-7.43, Z:-0.45 [[ 9.90593097e-01 1.36830183e-01 1.67819468e-03 1.07018171e+02] [-1.36830033e-01 9.90594519e-01 -2.04767862e-04 -7.42658296e+00] [-1.69042888e-03 -2.67858026e-05 9.99998571e-01 -4.52388956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15576923100001 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:107.05, Y:-7.43, Z:-0.45 [[ 9.90327512e-01 1.38739335e-01 1.67816015e-03 1.07051107e+02] [-1.38739187e-01 9.90328933e-01 -2.05050461e-04 -7.43125622e+00] [-1.69037912e-03 -2.97594627e-05 9.99998571e-01 -4.53195793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18576923100001 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:107.08, Y:-7.44, Z:-0.45 [[ 9.90082788e-01 1.40475109e-01 1.67812569e-03 1.07083598e+02] [-1.40474963e-01 9.90084210e-01 -2.05332148e-04 -7.43593905e+00] [-1.69032980e-03 -3.24388177e-05 9.99998571e-01 -4.54030214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21576923100001 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:107.12, Y:-7.44, Z:-0.46 [[ 9.89841943e-01 1.42162271e-01 1.67808887e-03 1.07115516e+02] [-1.42162126e-01 9.89843365e-01 -2.05632566e-04 -7.44133233e+00] [-1.69027833e-03 -3.50169434e-05 9.99998571e-01 -4.56206948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24576923100001 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:107.15, Y:-7.45, Z:-0.46 [[ 9.89791469e-01 1.42513267e-01 1.67805453e-03 1.07146137e+02] [-1.42513123e-01 9.89792891e-01 -2.05912422e-04 -7.44514371e+00] [-1.69027170e-03 -3.53344332e-05 9.99998571e-01 -4.57960846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27576923100001 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:107.18, Y:-7.45, Z:-0.46 [[ 9.89778591e-01 1.42602685e-01 1.67802276e-03 1.07176973e+02] [-1.42602540e-01 9.89780012e-01 -2.06170997e-04 -7.44876916e+00] [-1.69027393e-03 -3.52266698e-05 9.99998571e-01 -4.57452216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30576923100001 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:107.21, Y:-7.45, Z:-0.46 [[ 9.89774008e-01 1.42634490e-01 1.67799136e-03 1.07209176e+02] [-1.42634345e-01 9.89775430e-01 -2.06426294e-04 -7.45303768e+00] [-1.69027813e-03 -3.50238179e-05 9.99998571e-01 -4.58992813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.335769231 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:107.24, Y:-7.46, Z:-0.46 [[ 9.89731615e-01 1.42928352e-01 1.67795606e-03 1.07242220e+02] [-1.42928207e-01 9.89733037e-01 -2.06712772e-04 -7.45734405e+00] [-1.69027367e-03 -3.52370850e-05 9.99998571e-01 -4.56664266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.365769231 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:107.27, Y:-7.46, Z:-0.46 [[ 9.89757436e-01 1.42749442e-01 1.67791723e-03 1.07274300e+02] [-1.42749296e-01 9.89758857e-01 -2.07027519e-04 -7.45982316e+00] [-1.69028650e-03 -3.46144768e-05 9.99998571e-01 -4.59136557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.395769231 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:107.31, Y:-7.46, Z:-0.46 [[ 9.89772638e-01 1.42643998e-01 1.67788343e-03 1.07307006e+02] [-1.42643851e-01 9.89774059e-01 -2.07301121e-04 -7.46264611e+00] [-1.69029575e-03 -3.41587771e-05 9.99998571e-01 -4.58853753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.425769231 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:107.34, Y:-7.47, Z:-0.46 [[ 9.89779994e-01 1.42592944e-01 1.67784456e-03 1.07338402e+02] [-1.42592797e-01 9.89781416e-01 -2.07615188e-04 -7.46567250e+00] [-1.69030383e-03 -3.37551897e-05 9.99998571e-01 -4.59524975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.455769231 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:107.37, Y:-7.47, Z:-0.46 [[ 9.89993259e-01 1.41104685e-01 1.67780822e-03 1.07370066e+02] [-1.41104536e-01 9.89994680e-01 -2.07908482e-04 -7.46982134e+00] [-1.69035807e-03 -3.09183540e-05 9.99998571e-01 -4.61464792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.485769231 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:107.40, Y:-7.47, Z:-0.46 [[ 9.90114270e-01 1.40253049e-01 1.67777454e-03 1.07401661e+02] [-1.40252897e-01 9.90115691e-01 -2.08179893e-04 -7.47449102e+00] [-1.69038877e-03 -2.91908579e-05 9.99998571e-01 -4.62239979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51576923100001 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:107.43, Y:-7.48, Z:-0.46 [[ 9.90409586e-01 1.38152226e-01 1.67773840e-03 1.07431876e+02] [-1.38152071e-01 9.90411007e-01 -2.08470799e-04 -7.48019483e+00] [-1.69045128e-03 -2.53115568e-05 9.99998571e-01 -4.62286553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54576923100001 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:107.46, Y:-7.49, Z:-0.46 [[ 9.90625712e-01 1.36593865e-01 1.67771204e-03 1.07464392e+02] [-1.36593707e-01 9.90627133e-01 -2.08682688e-04 -7.48622642e+00] [-1.69049184e-03 -2.24384706e-05 9.99998571e-01 -4.62355358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57576923100001 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:107.50, Y:-7.50, Z:-0.46 [[ 9.91210303e-01 1.32284994e-01 1.67767427e-03 1.07496564e+02] [-1.32284830e-01 9.91211723e-01 -2.08985883e-04 -7.49504661e+00] [-1.69057610e-03 -1.47818957e-05 9.99998571e-01 -4.62261848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60576923100001 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:107.53, Y:-7.50, Z:-0.46 [[ 9.91514604e-01 1.29984521e-01 1.67763554e-03 1.07528332e+02] [-1.29984353e-01 9.91516023e-01 -2.09296304e-04 -7.50097077e+00] [-1.69060780e-03 -1.05460283e-05 9.99998571e-01 -4.63264347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63576923100001 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:107.56, Y:-7.51, Z:-0.47 [[ 9.91766769e-01 1.28046328e-01 1.67760131e-03 1.07559537e+02] [-1.28046156e-01 9.91768188e-01 -2.09570348e-04 -7.50668926e+00] [-1.69062632e-03 -6.96549316e-06 9.99998571e-01 -4.65047724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66576923100001 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:107.59, Y:-7.51, Z:-0.46 [[ 9.91951174e-01 1.26609852e-01 1.67756713e-03 1.07590689e+02] [-1.26609678e-01 9.91952592e-01 -2.09843574e-04 -7.51283517e+00] [-1.69063533e-03 -4.24165442e-06 9.99998571e-01 -4.64748909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.695769231 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:107.62, Y:-7.52, Z:-0.46 [[ 9.92046832e-01 1.25858133e-01 1.67753086e-03 1.07620720e+02] [-1.25857958e-01 9.92048250e-01 -2.10133165e-04 -7.52190956e+00] [-1.69063852e-03 -2.66866724e-06 9.99998571e-01 -4.59072607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.725769231 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:107.65, Y:-7.53, Z:-0.46 [[ 9.92003629e-01 1.26198198e-01 1.67751291e-03 1.07653271e+02] [-1.26198023e-01 9.92005048e-01 -2.10276340e-04 -7.52914542e+00] [-1.69063777e-03 -3.10392032e-06 9.99998571e-01 -4.56911318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.755769231 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:107.69, Y:-7.54, Z:-0.46 [[ 9.91794231e-01 1.27833447e-01 1.67747397e-03 1.07685957e+02] [-1.27833274e-01 9.91795649e-01 -2.10586507e-04 -7.53721156e+00] [-1.69063139e-03 -5.57850658e-06 9.99998571e-01 -4.55295984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.785769231 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:107.72, Y:-7.54, Z:-0.46 [[ 9.91486852e-01 1.30196039e-01 1.67743326e-03 1.07717666e+02] [-1.30195868e-01 9.91488271e-01 -2.10910338e-04 -7.54273105e+00] [-1.69061509e-03 -9.28005210e-06 9.99998571e-01 -4.55951754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.815769231 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:107.75, Y:-7.55, Z:-0.45 [[ 9.91118564e-01 1.32970593e-01 1.67739516e-03 1.07750547e+02] [-1.32970426e-01 9.91119983e-01 -2.11212894e-04 -7.54754590e+00] [-1.69058497e-03 -1.37069287e-05 9.99998571e-01 -4.54393303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.845769231 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:107.78, Y:-7.55, Z:-0.45 [[ 9.90166880e-01 1.39881152e-01 1.67735725e-03 1.07784000e+02] [-1.39880994e-01 9.90168300e-01 -2.11513533e-04 -7.54984113e+00] [-1.69045273e-03 -2.51967047e-05 9.99998571e-01 -4.52539819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.875769231 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:107.82, Y:-7.55, Z:-0.45 [[ 9.89561158e-01 1.44103789e-01 1.67731897e-03 1.07816763e+02] [-1.44103637e-01 9.89562579e-01 -2.11816664e-04 -7.55191566e+00] [-1.69033567e-03 -3.21022204e-05 9.99998571e-01 -4.54056877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90576923100001 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:107.85, Y:-7.55, Z:-0.46 [[ 9.88895660e-01 1.48602019e-01 1.67728073e-03 1.07850014e+02] [-1.48601873e-01 9.88897082e-01 -2.12119005e-04 -7.55327702e+00] [-1.69017933e-03 -3.94834949e-05 9.99998571e-01 -4.55563645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93576923100001 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:107.88, Y:-7.55, Z:-0.46 [[ 9.87606818e-01 1.56939350e-01 1.67724264e-03 1.07881650e+02] [-1.56939215e-01 9.87608241e-01 -2.12419787e-04 -7.55172525e+00] [-1.68979568e-03 -5.34379145e-05 9.99998571e-01 -4.58761419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96576923100001 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:107.91, Y:-7.55, Z:-0.46 [[ 9.87139074e-01 1.59855045e-01 1.67721188e-03 1.07914286e+02] [-1.59854914e-01 9.87140497e-01 -2.12662416e-04 -7.55356376e+00] [-1.68963892e-03 -5.81831791e-05 9.99998571e-01 -4.59607879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99576923100001 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:107.95, Y:-7.55, Z:-0.46 [[ 9.86712700e-01 1.62466105e-01 1.67717887e-03 1.07945790e+02] [-1.62465977e-01 9.86714123e-01 -2.12922408e-04 -7.55444124e+00] [-1.68948875e-03 -6.23912600e-05 9.99998571e-01 -4.61268483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02576923100001 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:107.98, Y:-7.56, Z:-0.46 [[ 9.86659440e-01 1.62789237e-01 1.67716030e-03 1.07978236e+02] [-1.62789110e-01 9.86660864e-01 -2.13068568e-04 -7.55711767e+00] [-1.68947370e-03 -6.27973179e-05 9.99998571e-01 -4.58774409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05576923100001 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:108.01, Y:-7.56, Z:-0.46 [[ 9.86667140e-01 1.62742563e-01 1.67711888e-03 1.08009453e+02] [-1.62742436e-01 9.86668563e-01 -2.13394084e-04 -7.55950064e+00] [-1.68948878e-03 -6.23894814e-05 9.99998571e-01 -4.59822842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.085769231 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:108.04, Y:-7.56, Z:-0.46 [[ 9.86718618e-01 1.62430158e-01 1.67708529e-03 1.08041698e+02] [-1.62430029e-01 9.86720041e-01 -2.13657730e-04 -7.56178187e+00] [-1.68951813e-03 -6.15889537e-05 9.99998571e-01 -4.56262339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.115769231 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:108.07, Y:-7.56, Z:-0.45 [[ 9.86682566e-01 1.62649011e-01 1.67705151e-03 1.08073718e+02] [-1.62648882e-01 9.86683990e-01 -2.13922555e-04 -7.56280970e+00] [-1.68951417e-03 -6.16968987e-05 9.99998571e-01 -4.49995106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.145769231 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:108.11, Y:-7.56, Z:-0.45 [[ 9.86582378e-01 1.63255624e-01 1.67701657e-03 1.08105922e+02] [-1.63255496e-01 9.86583801e-01 -2.14196178e-04 -7.56447170e+00] [-1.68948611e-03 -6.24599957e-05 9.99998571e-01 -4.50237063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.175769231 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:108.14, Y:-7.56, Z:-0.46 [[ 9.86203083e-01 1.65531467e-01 1.67697941e-03 1.08138097e+02] [-1.65531341e-01 9.86204507e-01 -2.14486696e-04 -7.56166336e+00] [-1.68934895e-03 -6.60652100e-05 9.99998571e-01 -4.55594122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.205769231 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:108.17, Y:-7.56, Z:-0.46 [[ 9.85964986e-01 1.66943804e-01 1.67694754e-03 1.08169972e+02] [-1.66943680e-01 9.85966410e-01 -2.14735569e-04 -7.56246641e+00] [-1.68926272e-03 -6.82340401e-05 9.99998571e-01 -4.56955936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.235769231 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:108.20, Y:-7.56, Z:-0.46 [[ 9.85860647e-01 1.67558865e-01 1.67691257e-03 1.08201818e+02] [-1.67558741e-01 9.85862070e-01 -2.15008285e-04 -7.56136736e+00] [-1.68923104e-03 -6.90131533e-05 9.99998571e-01 -4.58601742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26576923100001 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:108.23, Y:-7.56, Z:-0.46 [[ 9.85975527e-01 1.66881537e-01 1.67689258e-03 1.08233924e+02] [-1.66881412e-01 9.85976951e-01 -2.15164115e-04 -7.56319022e+00] [-1.68928435e-03 -6.76956498e-05 9.99998571e-01 -4.58985901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29576923100001 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:108.27, Y:-7.56, Z:-0.46 [[ 9.86281638e-01 1.65062774e-01 1.67685801e-03 1.08266087e+02] [-1.65062645e-01 9.86283061e-01 -2.15433161e-04 -7.56439042e+00] [-1.68941665e-03 -6.43088491e-05 9.99998571e-01 -4.59427743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32576923100001 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:108.30, Y:-7.57, Z:-0.46 [[ 9.86624713e-01 1.62999582e-01 1.67682331e-03 1.08297949e+02] [-1.62999451e-01 9.86626136e-01 -2.15702910e-04 -7.56516745e+00] [-1.68955719e-03 -6.05034579e-05 9.99998571e-01 -4.59741350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35576923100001 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:108.33, Y:-7.57, Z:-0.46 [[ 9.86620980e-01 1.63022179e-01 1.67678859e-03 1.08329514e+02] [-1.63022047e-01 9.86622403e-01 -2.15972456e-04 -7.56927745e+00] [-1.68956549e-03 -6.02705529e-05 9.99998571e-01 -4.59795193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38576923100001 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:108.36, Y:-7.57, Z:-0.46 [[ 9.87329560e-01 1.58674286e-01 1.67678365e-03 1.08361581e+02] [-1.58674148e-01 9.87330982e-01 -2.16010858e-04 -7.56710733e+00] [-1.68981581e-03 -5.27883120e-05 9.99998571e-01 -4.59675077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41576923100001 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:108.39, Y:-7.57, Z:-0.46 [[ 9.87926743e-01 1.54912682e-01 1.67675161e-03 1.08393753e+02] [-1.54912537e-01 9.87928165e-01 -2.16259268e-04 -7.56653711e+00] [-1.69001144e-03 -4.61015316e-05 9.99998571e-01 -4.58451372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.445769231 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:108.42, Y:-7.57, Z:-0.46 [[ 9.88204883e-01 1.53128372e-01 1.67674391e-03 1.08424887e+02] [-1.53128226e-01 9.88206304e-01 -2.16318969e-04 -7.56783681e+00] [-1.69009347e-03 -4.29893577e-05 9.99998571e-01 -4.61738969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.475769231 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:108.45, Y:-7.57, Z:-0.47 [[ 9.88488145e-01 1.51289044e-01 1.67672349e-03 1.08454079e+02] [-1.51288895e-01 9.88489567e-01 -2.16477085e-04 -7.56911508e+00] [-1.69017429e-03 -3.96846114e-05 9.99998571e-01 -4.65134592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.505769231 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:108.48, Y:-7.57, Z:-0.47 [[ 9.88779901e-01 1.49370333e-01 1.67672029e-03 1.08483285e+02] [-1.49370181e-01 9.88781322e-01 -2.16501890e-04 -7.57128844e+00] [-1.69024866e-03 -3.63792958e-05 9.99998571e-01 -4.67956811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.535769231 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:108.51, Y:-7.57, Z:-0.46 [[ 9.89373962e-01 1.45383465e-01 1.67672267e-03 1.08514486e+02] [-1.45383307e-01 9.89375382e-01 -2.16483464e-04 -7.57355277e+00] [-1.69038125e-03 -2.95843834e-05 9.99998571e-01 -4.63952371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.565769231 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:108.55, Y:-7.58, Z:-0.46 [[ 9.89732751e-01 1.42920500e-01 1.67671770e-03 1.08545144e+02] [-1.42920339e-01 9.89734171e-01 -2.16521911e-04 -7.57665663e+00] [-1.69045023e-03 -2.53382347e-05 9.99998571e-01 -4.63294574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.595769231 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:108.58, Y:-7.58, Z:-0.46 [[ 9.90281301e-01 1.39068807e-01 1.67671522e-03 1.08576789e+02] [-1.39068640e-01 9.90282721e-01 -2.16541137e-04 -7.57966744e+00] [-1.69053623e-03 -1.87418660e-05 9.99998571e-01 -4.62668168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.625769231 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:108.61, Y:-7.58, Z:-0.46 [[ 9.90580111e-01 1.36924188e-01 1.67671015e-03 1.08607658e+02] [-1.36924017e-01 9.90581530e-01 -2.16580396e-04 -7.58370023e+00] [-1.69057320e-03 -1.50416566e-05 9.99998571e-01 -4.61179903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65576923100001 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:108.64, Y:-7.59, Z:-0.46 [[ 9.90967226e-01 1.34093795e-01 1.67667726e-03 1.08638422e+02] [-1.34093620e-01 9.90968644e-01 -2.16834741e-04 -7.58826283e+00] [-1.69061078e-03 -9.95560114e-06 9.99998571e-01 -4.59051668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68576923100001 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:108.67, Y:-7.59, Z:-0.46 [[ 9.91681149e-01 1.28707756e-01 1.67667218e-03 1.08669604e+02] [-1.28707574e-01 9.91682567e-01 -2.16873977e-04 -7.59496858e+00] [-1.69063994e-03 -7.30573236e-07 9.99998571e-01 -4.57103482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71576923100001 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:108.70, Y:-7.60, Z:-0.46 [[ 9.91985336e-01 1.26341925e-01 1.67663640e-03 1.08701646e+02] [-1.26341738e-01 9.91986753e-01 -2.17150286e-04 -7.60150353e+00] [-1.69063628e-03 3.58074239e-06 9.99998571e-01 -4.57762945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74576923100001 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:108.73, Y:-7.61, Z:-0.46 [[ 9.92207755e-01 1.24583141e-01 1.67660033e-03 1.08733683e+02] [-1.24582951e-01 9.92209172e-01 -2.17428380e-04 -7.60777284e+00] [-1.69062614e-03 6.85830747e-06 9.99998571e-01 -4.58234011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77576923100001 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:108.76, Y:-7.62, Z:-0.46 [[ 9.92495042e-01 1.22273383e-01 1.67656448e-03 1.08764949e+02] [-1.22273190e-01 9.92496458e-01 -2.17704511e-04 -7.61683118e+00] [-1.69060377e-03 1.10717615e-05 9.99998571e-01 -4.56478312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80576923100001 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:108.80, Y:-7.62, Z:-0.45 [[ 9.92434028e-01 1.22767626e-01 1.67652604e-03 1.08797574e+02] [-1.22767433e-01 9.92435444e-01 -2.18000111e-04 -7.62300536e+00] [-1.69060722e-03 1.05279308e-05 9.99998571e-01 -4.54479464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.835769231 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:108.83, Y:-7.63, Z:-0.45 [[ 9.91707503e-01 1.28504545e-01 1.67648514e-03 1.08829737e+02] [-1.28504360e-01 9.91708920e-01 -2.18314204e-04 -7.62864943e+00] [-1.69063963e-03 1.06818489e-06 9.99998571e-01 -4.52604596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.865769231 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:108.86, Y:-7.63, Z:-0.45 [[ 9.91047940e-01 1.33495955e-01 1.67644306e-03 1.08861504e+02] [-1.33495776e-01 9.91049358e-01 -2.18636818e-04 -7.63244392e+00] [-1.69062495e-03 -7.11849916e-06 9.99998571e-01 -4.54036366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.895769231 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:108.89, Y:-7.64, Z:-0.45 [[ 9.90336317e-01 1.38676492e-01 1.67640381e-03 1.08893012e+02] [-1.38676320e-01 9.90337736e-01 -2.18937359e-04 -7.63550504e+00] [-1.69056742e-03 -1.56558928e-05 9.99998571e-01 -4.53923408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.925769231 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:108.92, Y:-7.64, Z:-0.45 [[ 9.88984906e-01 1.48006911e-01 1.67639883e-03 1.08923234e+02] [-1.48006753e-01 9.88986326e-01 -2.18975496e-04 -7.63615127e+00] [-1.69034541e-03 -3.15548869e-05 9.99998571e-01 -4.53704585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.955769231 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:108.95, Y:-7.64, Z:-0.45 [[ 9.88446598e-01 1.51560263e-01 1.67639883e-03 1.08954311e+02] [-1.51560109e-01 9.88448019e-01 -2.18975496e-04 -7.63829244e+00] [-1.69022109e-03 -3.76296063e-05 9.99998571e-01 -4.52034591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.985769231 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:108.98, Y:-7.64, Z:-0.45 [[ 9.87947889e-01 1.54777773e-01 1.67639374e-03 1.08984005e+02] [-1.54777624e-01 9.87949310e-01 -2.19014423e-04 -7.64006762e+00] [-1.69009061e-03 -4.30934028e-05 9.99998571e-01 -4.50989725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01576923100001 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:109.01, Y:-7.64, Z:-0.45 [[ 9.87092537e-01 1.60142168e-01 1.67639627e-03 1.09013359e+02] [-1.60142027e-01 9.87093959e-01 -2.18995092e-04 -7.63791050e+00] [-1.68983098e-03 -5.22930756e-05 9.99998571e-01 -4.50447134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04576923100001 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:109.04, Y:-7.64, Z:-0.45 [[ 9.86757851e-01 1.62191653e-01 1.67640358e-03 1.09043672e+02] [-1.62191515e-01 9.86759274e-01 -2.18939136e-04 -7.63853696e+00] [-1.68971688e-03 -5.58585248e-05 9.99998571e-01 -4.49798184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07576923100001 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:109.07, Y:-7.64, Z:-0.45 [[ 9.86312028e-01 1.64881086e-01 1.67640358e-03 1.09073336e+02] [-1.64880952e-01 9.86313451e-01 -2.18939136e-04 -7.63523523e+00] [-1.68955832e-03 -6.04647148e-05 9.99998571e-01 -4.54303224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10576923100001 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:109.10, Y:-7.64, Z:-0.45 [[ 9.86184575e-01 1.65641704e-01 1.67640854e-03 1.09103725e+02] [-1.65641571e-01 9.86185998e-01 -2.18901123e-04 -7.63508690e+00] [-1.68950978e-03 -6.18060342e-05 9.99998571e-01 -4.54411009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13576923100001 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:109.13, Y:-7.63, Z:-0.46 [[ 9.86009579e-01 1.66680234e-01 1.67641368e-03 1.09133791e+02] [-1.66680103e-01 9.86011002e-01 -2.18861777e-04 -7.63465583e+00] [-1.68944226e-03 -6.36249948e-05 9.99998571e-01 -4.56696478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16576923100001 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:109.16, Y:-7.63, Z:-0.46 [[ 9.85906693e-01 1.67287723e-01 1.67641884e-03 1.09162700e+02] [-1.67287592e-01 9.85908116e-01 -2.18822219e-04 -7.63298588e+00] [-1.68940121e-03 -6.47057809e-05 9.99998571e-01 -4.57191443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19576923100001 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:109.19, Y:-7.64, Z:-0.46 [[ 9.86054178e-01 1.66416191e-01 1.67642944e-03 1.09190959e+02] [-1.66416059e-01 9.86055601e-01 -2.18741029e-04 -7.63517021e+00] [-1.68945468e-03 -6.32942747e-05 9.99998571e-01 -4.58863000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.225769231 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:109.22, Y:-7.64, Z:-0.46 [[ 9.86361885e-01 1.64582569e-01 1.67643470e-03 1.09219266e+02] [-1.64582435e-01 9.86363307e-01 -2.18700704e-04 -7.63677992e+00] [-1.68956799e-03 -6.01936662e-05 9.99998571e-01 -4.60501182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.255769231 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:109.25, Y:-7.64, Z:-0.46 [[ 9.87035567e-01 1.60492927e-01 1.67644715e-03 1.09247859e+02] [-1.60492787e-01 9.87036989e-01 -2.18605190e-04 -7.63755386e+00] [-1.68979993e-03 -5.32865771e-05 9.99998571e-01 -4.60316102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.285769231 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:109.28, Y:-7.64, Z:-0.46 [[ 9.87342829e-01 1.58591703e-01 1.67645728e-03 1.09276484e+02] [-1.58591560e-01 9.87344251e-01 -2.18527471e-04 -7.64075378e+00] [-1.68989710e-03 -5.01104442e-05 9.99998571e-01 -4.59510821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.315769231 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:109.31, Y:-7.64, Z:-0.45 [[ 9.87763275e-01 1.55951602e-01 1.67646484e-03 1.09305273e+02] [-1.55951455e-01 9.87764697e-01 -2.18469457e-04 -7.64420650e+00] [-1.69002345e-03 -4.56510262e-05 9.99998571e-01 -4.54898623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.345769231 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:109.33, Y:-7.65, Z:-0.45 [[ 9.87886954e-01 1.55166220e-01 1.67647079e-03 1.09333599e+02] [-1.55166073e-01 9.87888375e-01 -2.18423785e-04 -7.64724200e+00] [-1.69005800e-03 -4.43533813e-05 9.99998571e-01 -4.53755588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.375769231 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:109.36, Y:-7.65, Z:-0.45 [[ 9.87928805e-01 1.54899531e-01 1.67648064e-03 1.09362803e+02] [-1.54899383e-01 9.87930227e-01 -2.18348167e-04 -7.65015244e+00] [-1.69006793e-03 -4.39733739e-05 9.99998571e-01 -4.54691180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40576923100001 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:109.39, Y:-7.65, Z:-0.46 [[ 9.88006133e-01 1.54405540e-01 1.67648832e-03 1.09390846e+02] [-1.54405392e-01 9.88007554e-01 -2.18289154e-04 -7.65334037e+00] [-1.69008818e-03 -4.31878146e-05 9.99998571e-01 -4.59719923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43576923100001 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:109.42, Y:-7.66, Z:-0.46 [[ 9.88089562e-01 1.53870744e-01 1.67650112e-03 1.09418837e+02] [-1.53870595e-01 9.88090984e-01 -2.18190873e-04 -7.65760409e+00] [-1.69010883e-03 -4.23721009e-05 9.99998571e-01 -4.62223157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46576923100001 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:109.45, Y:-7.66, Z:-0.46 [[ 9.88267964e-01 1.52720725e-01 1.67651113e-03 1.09447839e+02] [-1.52720575e-01 9.88269386e-01 -2.18113859e-04 -7.66192338e+00] [-1.69015514e-03 -4.04828041e-05 9.99998571e-01 -4.62318082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49576923100001 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:109.48, Y:-7.67, Z:-0.46 [[ 9.88858954e-01 1.48846090e-01 1.67652092e-03 1.09477201e+02] [-1.48845935e-01 9.88860374e-01 -2.18038652e-04 -7.66587211e+00] [-1.69029930e-03 -3.39338490e-05 9.99998571e-01 -4.60909999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52576923100001 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:109.51, Y:-7.67, Z:-0.46 [[ 9.89195706e-01 1.46591417e-01 1.67652597e-03 1.09505311e+02] [-1.46591258e-01 9.89197127e-01 -2.17999819e-04 -7.66917315e+00] [-1.69037157e-03 -3.01195660e-05 9.99998571e-01 -4.61405558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55576923100001 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:109.53, Y:-7.67, Z:-0.46 [[ 9.89444322e-01 1.44903839e-01 1.67653128e-03 1.09534602e+02] [-1.44903678e-01 9.89445742e-01 -2.17958975e-04 -7.67361029e+00] [-1.69041982e-03 -2.72772777e-05 9.99998571e-01 -4.60563530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.585769231 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:109.56, Y:-7.68, Z:-0.46 [[ 9.89773309e-01 1.42639360e-01 1.67653628e-03 1.09564190e+02] [-1.42639195e-01 9.89774728e-01 -2.17920503e-04 -7.67877686e+00] [-1.69047728e-03 -2.34478879e-05 9.99998571e-01 -4.61322136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.615769231 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:109.59, Y:-7.68, Z:-0.46 [[ 9.89899200e-01 1.41763055e-01 1.67654126e-03 1.09592487e+02] [-1.41762889e-01 9.89900619e-01 -2.17882165e-04 -7.68199359e+00] [-1.69049687e-03 -2.19899525e-05 9.99998571e-01 -4.63173048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.645769231 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:109.62, Y:-7.68, Z:-0.46 [[ 9.90014781e-01 1.40953619e-01 1.67654633e-03 1.09622526e+02] [-1.40953452e-01 9.90016200e-01 -2.17843111e-04 -7.68488803e+00] [-1.69051381e-03 -2.06470931e-05 9.99998571e-01 -4.60342411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.675769231 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:109.65, Y:-7.69, Z:-0.46 [[ 9.90201666e-01 1.39634700e-01 1.67655130e-03 1.09650759e+02] [-1.39634531e-01 9.90203085e-01 -2.17804906e-04 -7.68872646e+00] [-1.69053939e-03 -1.84336738e-05 9.99998571e-01 -4.57770433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.705769231 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:109.68, Y:-7.69, Z:-0.46 [[ 9.90296660e-01 1.38959395e-01 1.67655869e-03 1.09679655e+02] [-1.38959226e-01 9.90298079e-01 -2.17747992e-04 -7.69373631e+00] [-1.69055098e-03 -1.73381886e-05 9.99998571e-01 -4.55224980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.735769231 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:109.71, Y:-7.70, Z:-0.45 [[ 9.90536935e-01 1.37236182e-01 1.67656362e-03 1.09707730e+02] [-1.37236010e-01 9.90538354e-01 -2.17710008e-04 -7.69844335e+00] [-1.69057826e-03 -1.44350975e-05 9.99998571e-01 -4.53242511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76576923100001 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:109.74, Y:-7.70, Z:-0.45 [[ 9.90632024e-01 1.36548091e-01 1.67657098e-03 1.09736900e+02] [-1.36547919e-01 9.90633443e-01 -2.17653304e-04 -7.70215365e+00] [-1.69058743e-03 -1.33179445e-05 9.99998571e-01 -4.53539411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79576923100001 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:109.77, Y:-7.70, Z:-0.45 [[ 9.90552546e-01 1.37123459e-01 1.67657583e-03 1.09766805e+02] [-1.37123287e-01 9.90553965e-01 -2.17615922e-04 -7.70467876e+00] [-1.69057909e-03 -1.43375836e-05 9.99998571e-01 -4.48934704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82576923100001 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:109.80, Y:-7.71, Z:-0.44 [[ 9.90394545e-01 1.38260022e-01 1.67658090e-03 1.09795030e+02] [-1.38259852e-01 9.90395964e-01 -2.17576915e-04 -7.70762038e+00] [-1.69056114e-03 -1.63168362e-05 9.99998571e-01 -4.44745423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85576923100001 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:109.82, Y:-7.71, Z:-0.44 [[ 9.90129594e-01 1.40144841e-01 1.67658661e-03 1.09823319e+02] [-1.40144674e-01 9.90131013e-01 -2.17532839e-04 -7.71057691e+00] [-1.69052651e-03 -1.95789825e-05 9.99998571e-01 -4.42208041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88576923100001 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:109.85, Y:-7.71, Z:-0.44 [[ 9.89444170e-01 1.44904880e-01 1.67659400e-03 1.09851968e+02] [-1.44904719e-01 9.89445590e-01 -2.17475893e-04 -7.71136068e+00] [-1.69041186e-03 -2.77661288e-05 9.99998571e-01 -4.43653287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91576923100001 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:109.88, Y:-7.71, Z:-0.45 [[ 9.89032680e-01 1.47687329e-01 1.67660427e-03 1.09880732e+02] [-1.47687173e-01 9.89034100e-01 -2.17396694e-04 -7.71355618e+00] [-1.69032553e-03 -3.26005099e-05 9.99998571e-01 -4.46932788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94576923100001 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:109.91, Y:-7.71, Z:-0.45 [[ 9.88433674e-01 1.51644519e-01 1.67661452e-03 1.09908454e+02] [-1.51644369e-01 9.88435096e-01 -2.17317594e-04 -7.71338502e+00] [-1.69017966e-03 -3.94451231e-05 9.99998571e-01 -4.53543422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.975769231 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:109.94, Y:-7.72, Z:-0.45 [[ 9.88284923e-01 1.52610940e-01 1.67662790e-03 1.09937229e+02] [-1.52610791e-01 9.88286345e-01 -2.17214321e-04 -7.71502007e+00] [-1.69013774e-03 -4.12018724e-05 9.99998571e-01 -4.53277001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.005769231 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:109.97, Y:-7.72, Z:-0.45 [[ 9.88177846e-01 1.53302752e-01 1.67663773e-03 1.09966644e+02] [-1.53302604e-01 9.88179267e-01 -2.17138454e-04 -7.71621583e+00] [-1.69010656e-03 -4.24615205e-05 9.99998571e-01 -4.52639939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.035769231 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:109.99, Y:-7.72, Z:-0.45 [[ 9.88040983e-01 1.54182375e-01 1.67664557e-03 1.09994910e+02] [-1.54182228e-01 9.88042405e-01 -2.17077912e-04 -7.71731820e+00] [-1.69006651e-03 -4.40270765e-05 9.99998571e-01 -4.53313803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.065769231 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:110.02, Y:-7.71, Z:-0.45 [[ 9.87737994e-01 1.56111642e-01 1.67665854e-03 1.10024691e+02] [-1.56111499e-01 9.87739415e-01 -2.16977645e-04 -7.71487659e+00] [-1.68997447e-03 -4.74286139e-05 9.99998571e-01 -4.54696973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.095769231 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:110.05, Y:-7.71, Z:-0.46 [[ 9.87678092e-01 1.56490178e-01 1.67666882e-03 1.10052528e+02] [-1.56490035e-01 9.87679514e-01 -2.16898212e-04 -7.71493210e+00] [-1.68995388e-03 -4.81563503e-05 9.99998571e-01 -4.57632450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.125769231 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:110.08, Y:-7.71, Z:-0.46 [[ 9.87841103e-01 1.55457853e-01 1.67668160e-03 1.10081480e+02] [-1.55457709e-01 9.87842525e-01 -2.16799328e-04 -7.71287222e+00] [-1.69000055e-03 -4.64897932e-05 9.99998571e-01 -4.58624710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15576923100001 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:110.11, Y:-7.71, Z:-0.46 [[ 9.88056806e-01 1.54080943e-01 1.67669168e-03 1.10109488e+02] [-1.54080797e-01 9.88058228e-01 -2.16721375e-04 -7.71420321e+00] [-1.69006164e-03 -4.42129601e-05 9.99998571e-01 -4.59186030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18576923100001 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:110.14, Y:-7.72, Z:-0.46 [[ 9.88383494e-01 1.51971236e-01 1.67670418e-03 1.10138000e+02] [-1.51971087e-01 9.88384916e-01 -2.16624609e-04 -7.71582519e+00] [-1.69014983e-03 -4.07023698e-05 9.99998571e-01 -4.56800010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21576923100001 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:110.17, Y:-7.72, Z:-0.46 [[ 9.89202704e-01 1.46544188e-01 1.67671443e-03 1.10167228e+02] [-1.46544031e-01 9.89204125e-01 -2.16545290e-04 -7.71663803e+00] [-1.69034628e-03 -3.15053050e-05 9.99998571e-01 -4.59567045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24576923100001 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:110.20, Y:-7.72, Z:-0.46 [[ 9.89629000e-01 1.43637152e-01 1.67672462e-03 1.10196302e+02] [-1.43636991e-01 9.89630420e-01 -2.16466349e-04 -7.71906723e+00] [-1.69043030e-03 -2.66183032e-05 9.99998571e-01 -4.60134908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27576923100001 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:110.23, Y:-7.72, Z:-0.46 [[ 9.89635903e-01 1.43589579e-01 1.67673500e-03 1.10225401e+02] [-1.43589418e-01 9.89637324e-01 -2.16385893e-04 -7.72273154e+00] [-1.69043030e-03 -2.66181542e-05 9.99998571e-01 -4.60184491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30576923100001 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:110.25, Y:-7.73, Z:-0.46 [[ 9.90073413e-01 1.40541189e-01 1.67674540e-03 1.10254358e+02] [-1.40541024e-01 9.90074832e-01 -2.16305289e-04 -7.72560119e+00] [-1.69050322e-03 -2.14933994e-05 9.99998571e-01 -4.59085627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.335769231 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:110.28, Y:-7.73, Z:-0.46 [[ 9.90919561e-01 1.34445575e-01 1.67675608e-03 1.10282172e+02] [-1.34445402e-01 9.90920979e-01 -2.16222480e-04 -7.72957529e+00] [-1.69060293e-03 -1.11730597e-05 9.99998571e-01 -4.57204123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.365769231 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:110.31, Y:-7.73, Z:-0.45 [[ 9.91343917e-01 1.31279955e-01 1.67676935e-03 1.10310775e+02] [-1.31279778e-01 9.91345335e-01 -2.16119477e-04 -7.73432632e+00] [-1.69062963e-03 -5.87717825e-06 9.99998571e-01 -4.54240378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.395769231 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:110.34, Y:-7.74, Z:-0.45 [[ 9.91701240e-01 1.28552868e-01 1.67677967e-03 1.10339010e+02] [-1.28552686e-01 9.91702657e-01 -2.16039409e-04 -7.73936425e+00] [-1.69063934e-03 -1.30798068e-06 9.99998571e-01 -4.53330695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.425769231 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:110.37, Y:-7.75, Z:-0.46 [[ 9.92161865e-01 1.24948081e-01 1.67678995e-03 1.10367313e+02] [-1.24947894e-01 9.92163281e-01 -2.15959604e-04 -7.74761199e+00] [-1.69063315e-03 4.75550978e-06 9.99998571e-01 -4.57486785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.455769231 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:110.39, Y:-7.75, Z:-0.46 [[ 9.92321304e-01 1.23675453e-01 1.67679503e-03 1.10394878e+02] [-1.23675265e-01 9.92322721e-01 -2.15920108e-04 -7.75331680e+00] [-1.69062583e-03 6.88405394e-06 9.99998571e-01 -4.60992329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.485769231 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:110.42, Y:-7.76, Z:-0.46 [[ 9.92314583e-01 1.23729369e-01 1.67680759e-03 1.10423542e+02] [-1.23729181e-01 9.92316000e-01 -2.15822569e-04 -7.76106535e+00] [-1.69062659e-03 6.69385301e-06 9.99998571e-01 -4.56281322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51576923100001 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:110.45, Y:-7.77, Z:-0.45 [[ 9.92123063e-01 1.25255805e-01 1.67681013e-03 1.10450613e+02] [-1.25255620e-01 9.92124480e-01 -2.15802836e-04 -7.76637492e+00] [-1.69063493e-03 4.07307959e-06 9.99998571e-01 -4.54238380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54576923100001 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:110.48, Y:-7.77, Z:-0.45 [[ 9.91813536e-01 1.27683584e-01 1.67682283e-03 1.10478855e+02] [-1.27683402e-01 9.91814954e-01 -2.15704122e-04 -7.77188469e+00] [-1.69063983e-03 -1.64175220e-07 9.99998571e-01 -4.53056483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57576923100001 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:110.51, Y:-7.78, Z:-0.45 [[ 9.91363623e-01 1.31131063e-01 1.67683288e-03 1.10506023e+02] [-1.31130886e-01 9.91365041e-01 -2.15625970e-04 -7.77643598e+00] [-1.69062875e-03 -6.12083822e-06 9.99998571e-01 -4.53292378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60576923100001 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:110.54, Y:-7.78, Z:-0.45 [[ 9.90253496e-01 1.39266661e-01 1.67684533e-03 1.10535105e+02] [-1.39266496e-01 9.90254915e-01 -2.15529058e-04 -7.77949140e+00] [-1.69052034e-03 -2.00999699e-05 9.99998571e-01 -4.52414760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63576923100001 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:110.56, Y:-7.78, Z:-0.45 [[ 9.89766588e-01 1.42685981e-01 1.67685522e-03 1.10563748e+02] [-1.42685820e-01 9.89768008e-01 -2.15452122e-04 -7.78159525e+00] [-1.69043965e-03 -2.60161503e-05 9.99998571e-01 -4.50464025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66576923100001 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:110.59, Y:-7.78, Z:-0.45 [[ 9.89347286e-01 1.45564884e-01 1.67686504e-03 1.10592265e+02] [-1.45564728e-01 9.89348707e-01 -2.15375670e-04 -7.78453519e+00] [-1.69035539e-03 -3.10110675e-05 9.99998571e-01 -4.47693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69576923100001 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:110.62, Y:-7.79, Z:-0.45 [[ 9.88948552e-01 1.48249617e-01 1.67687541e-03 1.10620270e+02] [-1.48249465e-01 9.88949973e-01 -2.15294855e-04 -7.78841360e+00] [-1.69026327e-03 -3.56803471e-05 9.99998571e-01 -4.49881348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.725769231 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:110.65, Y:-7.79, Z:-0.45 [[ 9.88978633e-01 1.48048816e-01 1.67688831e-03 1.10648858e+02] [-1.48048663e-01 9.88980054e-01 -2.15194363e-04 -7.79189781e+00] [-1.69026836e-03 -3.54384455e-05 9.99998571e-01 -4.53246806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.755769231 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:110.68, Y:-7.79, Z:-0.46 [[ 9.89228994e-01 1.46366614e-01 1.67689554e-03 1.10677040e+02] [-1.46366460e-01 9.89230415e-01 -2.15137961e-04 -7.79488915e+00] [-1.69032509e-03 -3.26205551e-05 9.99998571e-01 -4.58583212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.785769231 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:110.71, Y:-7.80, Z:-0.46 [[ 9.89298881e-01 1.45893498e-01 1.67690519e-03 1.10705576e+02] [-1.45893343e-01 9.89300301e-01 -2.15062752e-04 -7.79795840e+00] [-1.69033907e-03 -3.18879634e-05 9.99998571e-01 -4.58501525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.815769231 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:110.73, Y:-7.80, Z:-0.46 [[ 9.89205572e-01 1.46524822e-01 1.67691514e-03 1.10733634e+02] [-1.46524668e-01 9.89206993e-01 -2.14985155e-04 -7.79794088e+00] [-1.69031684e-03 -3.30449212e-05 9.99998571e-01 -4.57905620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.845769231 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:110.76, Y:-7.80, Z:-0.46 [[ 9.89155422e-01 1.46862995e-01 1.67692753e-03 1.10762272e+02] [-1.46862841e-01 9.89156843e-01 -2.14888468e-04 -7.79896096e+00] [-1.69030350e-03 -3.37202490e-05 9.99998571e-01 -4.58030844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.875769231 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:110.79, Y:-7.80, Z:-0.46 [[ 9.89083831e-01 1.47344369e-01 1.67693731e-03 1.10790472e+02] [-1.47344216e-01 9.89085252e-01 -2.14812063e-04 -7.79952247e+00] [-1.69028531e-03 -3.46198753e-05 9.99998571e-01 -4.58018562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90576923100001 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:110.82, Y:-7.80, Z:-0.46 [[ 9.88838218e-01 1.48983779e-01 1.67695049e-03 1.10815098e+02] [-1.48983629e-01 9.88839639e-01 -2.14709180e-04 -7.80013534e+00] [-1.69022330e-03 -3.75255266e-05 9.99998571e-01 -4.59020915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93576923100001 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:110.85, Y:-7.80, Z:-0.46 [[ 9.89052648e-01 1.47553532e-01 1.67786679e-03 1.10846397e+02] [-1.47553393e-01 9.89054070e-01 -2.07549660e-04 -7.79732899e+00] [-1.69012567e-03 -4.22973974e-05 9.99998571e-01 -4.62087086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96576923100001 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:110.88, Y:-7.80, Z:-0.46 [[ 9.89258742e-01 1.46165417e-01 1.67694251e-03 1.10875620e+02] [-1.46165263e-01 9.89260163e-01 -2.14766690e-04 -7.79822913e+00] [-1.69032388e-03 -3.26509166e-05 9.99998571e-01 -4.63585254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99576923100001 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:110.90, Y:-7.80, Z:-0.47 [[ 9.90027053e-01 1.40867390e-01 1.67695257e-03 1.10904001e+02] [-1.40867228e-01 9.90028473e-01 -2.14688097e-04 -7.79678059e+00] [-1.69047334e-03 -2.36806359e-05 9.99998571e-01 -4.66035641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02576923100001 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:110.93, Y:-7.80, Z:-0.47 [[ 9.90529478e-01 1.37289990e-01 1.67696590e-03 1.10932762e+02] [-1.37289824e-01 9.90530897e-01 -2.14583929e-04 -7.79733754e+00] [-1.69054676e-03 -1.76786456e-05 9.99998571e-01 -4.65092164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05576923100001 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:110.96, Y:-7.80, Z:-0.46 [[ 9.91014126e-01 1.33746736e-01 1.67697567e-03 1.10960505e+02] [-1.33746565e-01 9.91015545e-01 -2.14507539e-04 -7.79756670e+00] [-1.69059864e-03 -1.17097339e-05 9.99998571e-01 -4.64338415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.085769231 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:110.99, Y:-7.80, Z:-0.47 [[ 9.91418248e-01 1.30717427e-01 1.67698889e-03 1.10988095e+02] [-1.30717251e-01 9.91419666e-01 -2.14404160e-04 -7.79857249e+00] [-1.69062612e-03 -6.64718097e-06 9.99998571e-01 -4.66160682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.115769231 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:111.02, Y:-7.80, Z:-0.47 [[ 9.92058348e-01 1.25767330e-01 1.67700099e-03 1.11016435e+02] [-1.25767148e-01 9.92059766e-01 -2.14309470e-04 -7.79749611e+00] [-1.69063834e-03 1.69586830e-06 9.99998571e-01 -4.68920332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.145769231 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:111.04, Y:-7.80, Z:-0.47 [[ 9.92244508e-01 1.24290080e-01 1.67701301e-03 1.11044351e+02] [-1.24289895e-01 9.92245925e-01 -2.14215374e-04 -7.79830485e+00] [-1.69063417e-03 4.11825692e-06 9.99998571e-01 -4.68669543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.175769231 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:111.07, Y:-7.80, Z:-0.47 [[ 9.92408047e-01 1.22977459e-01 1.67702490e-03 1.11073749e+02] [-1.22977273e-01 9.92409464e-01 -2.14122210e-04 -7.79941809e+00] [-1.69062759e-03 6.26065610e-06 9.99998571e-01 -4.67044718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.205769231 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:111.10, Y:-7.80, Z:-0.46 [[ 9.92779701e-01 1.19940203e-01 1.67703440e-03 1.11102022e+02] [-1.19940013e-01 9.92781118e-01 -2.14047761e-04 -7.79965072e+00] [-1.69060102e-03 1.13587444e-05 9.99998571e-01 -4.63315624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.235769231 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:111.13, Y:-7.80, Z:-0.46 [[ 9.92932904e-01 1.18665222e-01 1.67704617e-03 1.11130641e+02] [-1.18665030e-01 9.92934321e-01 -2.13955559e-04 -7.80268407e+00] [-1.69058578e-03 1.34367814e-05 9.99998571e-01 -4.59982022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26576923100001 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:111.16, Y:-7.81, Z:-0.46 [[ 9.93266061e-01 1.15843510e-01 1.67705626e-03 1.11158867e+02] [-1.15843314e-01 9.93267477e-01 -2.13876394e-04 -7.80522109e+00] [-1.69054164e-03 1.81604082e-05 9.99998571e-01 -4.60878889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29576923100001 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:111.19, Y:-7.81, Z:-0.46 [[ 9.93430772e-01 1.14422417e-01 1.67706983e-03 1.11187720e+02] [-1.14422219e-01 9.93432187e-01 -2.13769917e-04 -7.80872324e+00] [-1.69051522e-03 2.04715611e-05 9.99998571e-01 -4.59189928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32576923100001 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:111.22, Y:-7.81, Z:-0.46 [[ 9.93592201e-01 1.13012060e-01 1.67708029e-03 1.11215494e+02] [-1.13011860e-01 9.93593616e-01 -2.13687884e-04 -7.81263520e+00] [-1.69048557e-03 2.27886524e-05 9.99998571e-01 -4.57495480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35576923100001 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:111.24, Y:-7.82, Z:-0.46 [[ 9.93776130e-01 1.11383081e-01 1.67709323e-03 1.11243156e+02] [-1.11382879e-01 9.93777545e-01 -2.13586256e-04 -7.81619751e+00] [-1.69044749e-03 2.54574505e-05 9.99998571e-01 -4.55357345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38576923100001 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:111.27, Y:-7.82, Z:-0.46 [[ 9.93819628e-01 1.10994299e-01 1.67710609e-03 1.11271659e+02] [-1.10994097e-01 9.93821043e-01 -2.13485196e-04 -7.81967388e+00] [-1.69043897e-03 2.60169011e-05 9.99998571e-01 -4.55077456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41576923100001 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:111.30, Y:-7.82, Z:-0.45 [[ 9.93902402e-01 1.10250631e-01 1.67711577e-03 1.11300194e+02] [-1.10250428e-01 9.93903817e-01 -2.13409135e-04 -7.82365908e+00] [-1.69042026e-03 2.72051198e-05 9.99998571e-01 -4.53659137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44576923100001 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:111.33, Y:-7.83, Z:-0.45 [[ 9.94204603e-01 1.07491369e-01 1.67712598e-03 1.11327487e+02] [-1.07491162e-01 9.94206017e-01 -2.13328899e-04 -7.82995452e+00] [-1.69033976e-03 3.18163523e-05 9.99998571e-01 -4.53568430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.475769231 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:111.36, Y:-7.83, Z:-0.45 [[ 9.94368341e-01 1.05965979e-01 1.67713871e-03 1.11355613e+02] [-1.05965770e-01 9.94369755e-01 -2.13228787e-04 -7.83497575e+00] [-1.69029100e-03 3.43086599e-05 9.99998571e-01 -4.54245222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.505769231 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:111.38, Y:-7.84, Z:-0.46 [[ 9.94496703e-01 1.04754449e-01 1.67714880e-03 1.11384305e+02] [-1.04754238e-01 9.94498117e-01 -2.13149348e-04 -7.84026349e+00] [-1.69024967e-03 3.62878780e-05 9.99998571e-01 -4.55989517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.535769231 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:111.41, Y:-7.85, Z:-0.46 [[ 9.94646476e-01 1.03322673e-01 1.67715887e-03 1.11412576e+02] [-1.03322461e-01 9.94647889e-01 -2.13070128e-04 -7.85064556e+00] [-1.69019750e-03 3.86412709e-05 9.99998571e-01 -4.59790511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.565769231 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:111.44, Y:-7.86, Z:-0.46 [[ 9.94704364e-01 1.02763886e-01 1.67716643e-03 1.11439497e+02] [-1.02763673e-01 9.94705777e-01 -2.13010611e-04 -7.85772576e+00] [-1.69017693e-03 3.95308020e-05 9.99998571e-01 -4.61073795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.595769231 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:111.47, Y:-7.87, Z:-0.46 [[ 9.94580266e-01 1.03958080e-01 1.67718009e-03 1.11467633e+02] [-1.03957869e-01 9.94581679e-01 -2.12902976e-04 -7.86628733e+00] [-1.69022557e-03 3.73930304e-05 9.99998571e-01 -4.61862340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.625769231 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:111.50, Y:-7.87, Z:-0.46 [[ 9.94287939e-01 1.06717765e-01 1.67719002e-03 1.11495234e+02] [-1.06717558e-01 9.94289353e-01 -2.12824743e-04 -7.87165056e+00] [-1.69032436e-03 3.26234521e-05 9.99998571e-01 -4.61056770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65576923100001 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:111.52, Y:-7.88, Z:-0.46 [[ 9.93830282e-01 1.10898859e-01 1.67720237e-03 1.11523401e+02] [-1.10898658e-01 9.93831697e-01 -2.12727380e-04 -7.87688819e+00] [-1.69044810e-03 2.54154203e-05 9.99998571e-01 -4.55681954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68576923100001 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:111.55, Y:-7.88, Z:-0.45 [[ 9.93225717e-01 1.16188908e-01 1.67721016e-03 1.11550816e+02] [-1.16188715e-01 9.93227133e-01 -2.12665878e-04 -7.88167243e+00] [-1.69056006e-03 1.63523260e-05 9.99998571e-01 -4.54606128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71576923100001 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:111.58, Y:-7.89, Z:-0.45 [[ 9.91912068e-01 1.26915862e-01 1.67722316e-03 1.11579849e+02] [-1.26915684e-01 9.91913486e-01 -2.12563329e-04 -7.88522469e+00] [-1.69063793e-03 -2.02179379e-06 9.99998571e-01 -4.54816976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74576923100001 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:111.61, Y:-7.89, Z:-0.46 [[ 9.91293361e-01 1.31661152e-01 1.67723087e-03 1.11608028e+02] [-1.31660981e-01 9.91294780e-01 -2.12502490e-04 -7.88720439e+00] [-1.69060853e-03 -1.01735534e-05 9.99998571e-01 -4.57330510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77576923100001 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:111.64, Y:-7.89, Z:-0.46 [[ 9.90793032e-01 1.35374865e-01 1.67724372e-03 1.11636299e+02] [-1.35374700e-01 9.90794452e-01 -2.12401048e-04 -7.88895947e+00] [-1.69055753e-03 -1.66108855e-05 9.99998571e-01 -4.61129154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80576923100001 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:111.67, Y:-7.89, Z:-0.46 [[ 9.90286388e-01 1.39032572e-01 1.67725736e-03 1.11665183e+02] [-1.39032412e-01 9.90287808e-01 -2.12293222e-04 -7.88946883e+00] [-1.69048319e-03 -2.29620484e-05 9.99998571e-01 -4.63676691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.835769231 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:111.69, Y:-7.89, Z:-0.47 [[ 9.90428402e-01 1.38017272e-01 1.67726745e-03 1.11693339e+02] [-1.38017110e-01 9.90429822e-01 -2.12213494e-04 -7.89198951e+00] [-1.69050483e-03 -2.13093346e-05 9.99998571e-01 -4.65022827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.865769231 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:111.72, Y:-7.90, Z:-0.46 [[ 9.90755111e-01 1.35652120e-01 1.67727995e-03 1.11722088e+02] [-1.35651955e-01 9.90756530e-01 -2.12114691e-04 -7.89515536e+00] [-1.69054987e-03 -1.73725894e-05 9.99998571e-01 -4.63587203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.895769231 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:111.75, Y:-7.90, Z:-0.46 [[ 9.91700933e-01 1.28555223e-01 1.67729005e-03 1.11750752e+02] [-1.28555048e-01 9.91702352e-01 -2.12034739e-04 -7.89831489e+00] [-1.69063066e-03 -5.34905472e-06 9.99998571e-01 -4.64642283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.925769231 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:111.78, Y:-7.90, Z:-0.46 [[ 9.92169528e-01 1.24887210e-01 1.67730016e-03 1.11778091e+02] [-1.24887030e-01 9.92170945e-01 -2.11954787e-04 -7.90174791e+00] [-1.69063892e-03 8.22045782e-07 9.99998571e-01 -4.64438032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.955769231 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:111.81, Y:-7.91, Z:-0.47 [[ 9.92880437e-01 1.19103420e-01 1.67731377e-03 1.11805747e+02] [-1.19103232e-01 9.92881854e-01 -2.11846957e-04 -7.90597817e+00] [-1.69060611e-03 1.05652075e-05 9.99998571e-01 -4.65616627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.985769231 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:111.83, Y:-7.91, Z:-0.46 [[ 9.93158613e-01 1.16761111e-01 1.67732624e-03 1.11834701e+02] [-1.16760920e-01 9.93160029e-01 -2.11748247e-04 -7.91032962e+00] [-1.69057733e-03 1.44534413e-05 9.99998571e-01 -4.62018360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01576923100001 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:111.86, Y:-7.92, Z:-0.46 [[ 9.93376387e-01 1.14893606e-01 1.67733627e-03 1.11862936e+02] [-1.14893412e-01 9.93377803e-01 -2.11668732e-04 -7.91503641e+00] [-1.69054800e-03 1.75518334e-05 9.99998571e-01 -4.60147903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04576923100001 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:111.89, Y:-7.92, Z:-0.46 [[ 9.93793114e-01 1.11231441e-01 1.67734632e-03 1.11890521e+02] [-1.11231243e-01 9.93794529e-01 -2.11589073e-04 -7.91985829e+00] [-1.69047295e-03 2.37024479e-05 9.99998571e-01 -4.57838198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07576923100001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:111.92, Y:-7.92, Z:-0.46 [[ 9.94059066e-01 1.08829042e-01 1.67735880e-03 1.11918552e+02] [-1.08828840e-01 9.94060481e-01 -2.11490094e-04 -7.92499497e+00] [-1.69041236e-03 2.76886331e-05 9.99998571e-01 -4.59217890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10576923100001 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:111.95, Y:-7.93, Z:-0.46 [[ 9.94402213e-01 1.05647645e-01 1.67736873e-03 1.11946711e+02] [-1.05647438e-01 9.94403627e-01 -2.11411264e-04 -7.93087302e+00] [-1.69031666e-03 3.30181189e-05 9.99998571e-01 -4.60299520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13576923100001 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:111.98, Y:-7.94, Z:-0.46 [[ 9.94757715e-01 1.02246149e-01 1.67737613e-03 1.11975432e+02] [-1.02245938e-01 9.94759128e-01 -2.11352545e-04 -7.93735845e+00] [-1.69019520e-03 3.87396791e-05 9.99998571e-01 -4.60497785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16576923100001 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:112.01, Y:-7.94, Z:-0.46 [[ 9.94760136e-01 1.02222592e-01 1.67738115e-03 1.12005364e+02] [-1.02222381e-01 9.94761549e-01 -2.11312752e-04 -7.94108499e+00] [-1.69019521e-03 3.87396065e-05 9.99998571e-01 -4.60548781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:112.03, Y:-7.95, Z:-0.46 [[ 9.95411628e-01 9.56706671e-02 1.67738615e-03 1.12033211e+02] [-9.56704468e-02 9.95413040e-01 -2.11273030e-04 -7.95169255e+00] [-1.68990468e-03 4.98273487e-05 9.99998571e-01 -4.57408840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.225769231 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:112.06, Y:-7.96, Z:-0.46 [[ 9.95652621e-01 9.31291795e-02 1.67739361e-03 1.12061713e+02] [-9.31289557e-02 9.95654033e-01 -2.11213766e-04 -7.95827970e+00] [-1.68977388e-03 5.40816245e-05 9.99998571e-01 -4.55500868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.255769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:112.09, Y:-7.97, Z:-0.46 [[ 9.95905908e-01 9.03803545e-02 1.67739198e-03 1.12090039e+02] [-9.03801268e-02 9.95907319e-01 -2.11226686e-04 -7.96834458e+00] [-1.68961770e-03 5.87590042e-05 9.99998571e-01 -4.55250860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.285769231 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:112.12, Y:-7.98, Z:-0.46 [[ 9.95976630e-01 8.95976509e-02 1.67739433e-03 1.12119702e+02] [-8.95974221e-02 9.95978041e-01 -2.11208065e-04 -7.97559198e+00] [-1.68957166e-03 6.00680893e-05 9.99998571e-01 -4.57848445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.315769231 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:112.15, Y:-7.98, Z:-0.46 [[ 9.96040077e-01 8.88895424e-02 1.67739433e-03 1.12149093e+02] [-8.88893126e-02 9.96041488e-01 -2.11208065e-04 -7.98292412e+00] [-1.68952853e-03 6.12692688e-05 9.99998571e-01 -4.59892879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.345769231 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:112.18, Y:-7.99, Z:-0.46 [[ 9.96005899e-01 8.92716944e-02 1.67739433e-03 1.12178440e+02] [-8.92714651e-02 9.96007310e-01 -2.11208065e-04 -7.99181186e+00] [-1.68955192e-03 6.06210296e-05 9.99998571e-01 -4.60756579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.375769231 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:112.21, Y:-8.00, Z:-0.45 [[ 9.95838634e-01 9.11186132e-02 1.67739190e-03 1.12208355e+02] [-9.11183865e-02 9.95840045e-01 -2.11227373e-04 -7.99696422e+00] [-1.68966077e-03 5.75071349e-05 9.99998571e-01 -4.52947038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:112.24, Y:-8.00, Z:-0.46 [[ 9.95559463e-01 9.41198247e-02 1.67739190e-03 1.12238843e+02] [-9.41196023e-02 9.95560875e-01 -2.11227373e-04 -8.00119888e+00] [-1.68982643e-03 5.24139515e-05 9.99998571e-01 -4.56703605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43576923100001 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:112.27, Y:-8.01, Z:-0.46 [[ 9.94749767e-01 1.02323449e-01 1.67739190e-03 1.12269187e+02] [-1.02323238e-01 9.94751180e-01 -2.11227373e-04 -8.00739058e+00] [-1.69020108e-03 3.84822090e-05 9.99998571e-01 -4.55629481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46576923100001 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:112.30, Y:-8.01, Z:-0.46 [[ 9.94299331e-01 1.06611573e-01 1.67739190e-03 1.12298374e+02] [-1.06611368e-01 9.94300745e-01 -2.11227373e-04 -8.01134063e+00] [-1.69035130e-03 3.11941902e-05 9.99998571e-01 -4.57791114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49576923100001 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:112.33, Y:-8.01, Z:-0.46 [[ 9.93576815e-01 1.13147241e-01 1.67739437e-03 1.12327746e+02] [-1.13147046e-01 9.93578231e-01 -2.11207706e-04 -8.01332316e+00] [-1.69052010e-03 2.00588627e-05 9.99998571e-01 -4.58958706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52576923100001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:112.36, Y:-8.02, Z:-0.46 [[ 9.93284598e-01 1.15684455e-01 1.67739949e-03 1.12356698e+02] [-1.15684263e-01 9.93286015e-01 -2.11167077e-04 -8.01650798e+00] [-1.69056620e-03 1.57002820e-05 9.99998571e-01 -4.61916792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55576923100001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:112.39, Y:-8.02, Z:-0.46 [[ 9.93093018e-01 1.17317702e-01 1.67740716e-03 1.12386213e+02] [-1.17317513e-01 9.93094435e-01 -2.11106147e-04 -8.02060307e+00] [-1.69059020e-03 1.28588052e-05 9.99998571e-01 -4.62526798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.585769231 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:112.42, Y:-8.02, Z:-0.46 [[ 9.92964644e-01 1.18399329e-01 1.67741202e-03 1.12415233e+02] [-1.18399142e-01 9.92966061e-01 -2.11067529e-04 -8.02492394e+00] [-1.69060346e-03 1.09784514e-05 9.99998571e-01 -4.61735651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.615769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:112.44, Y:-8.03, Z:-0.46 [[ 9.92746281e-01 1.20216505e-01 1.67741687e-03 1.12444971e+02] [-1.20216320e-01 9.92747698e-01 -2.11028980e-04 -8.02827073e+00] [-1.69062090e-03 7.84535172e-06 9.99998571e-01 -4.59116603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.645769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:112.47, Y:-8.03, Z:-0.46 [[ 9.92610469e-01 1.21332778e-01 1.67741548e-03 1.12473623e+02] [-1.21332594e-01 9.92611886e-01 -2.11040009e-04 -8.03097549e+00] [-1.69062861e-03 5.95535112e-06 9.99998571e-01 -4.58747328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.675769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:112.50, Y:-8.04, Z:-0.46 [[ 9.92282116e-01 1.23989466e-01 1.67742263e-03 1.12501852e+02] [-1.23989286e-01 9.92283534e-01 -2.10983130e-04 -8.03527066e+00] [-1.69063854e-03 1.37235159e-06 9.99998571e-01 -4.57485952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.705769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:112.53, Y:-8.04, Z:-0.46 [[ 9.92076467e-01 1.25624322e-01 1.67743212e-03 1.12529855e+02] [-1.25624145e-01 9.92077885e-01 -2.10907664e-04 -8.03999064e+00] [-1.69063844e-03 -1.48944563e-06 9.99998571e-01 -4.56740899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.735769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:112.56, Y:-8.04, Z:-0.46 [[ 9.91754567e-01 1.28140805e-01 1.67744164e-03 1.12557221e+02] [-1.28140632e-01 9.91755985e-01 -2.10831896e-04 -8.04495594e+00] [-1.69062896e-03 -5.85493650e-06 9.99998571e-01 -4.55922855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76576923100001 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:112.59, Y:-8.05, Z:-0.45 [[ 9.91673033e-01 1.28770267e-01 1.67745351e-03 1.12586735e+02] [-1.28770095e-01 9.91674452e-01 -2.10737476e-04 -8.04914463e+00] [-1.69062451e-03 -7.02317513e-06 9.99998571e-01 -4.54924488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79576923100001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:112.62, Y:-8.05, Z:-0.46 [[ 9.91647281e-01 1.28968431e-01 1.67745842e-03 1.12615231e+02] [-1.28968259e-01 9.91648700e-01 -2.10698330e-04 -8.05297748e+00] [-1.69062290e-03 -7.40046646e-06 9.99998571e-01 -4.56710745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82576923100001 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:112.64, Y:-8.06, Z:-0.46 [[ 9.91632873e-01 1.29079163e-01 1.67746577e-03 1.12644267e+02] [-1.29078991e-01 9.91634292e-01 -2.10639833e-04 -8.05712059e+00] [-1.69062179e-03 -7.64820690e-06 9.99998571e-01 -4.58132262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85576923100001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:112.67, Y:-8.06, Z:-0.46 [[ 9.91762203e-01 1.28081690e-01 1.67747041e-03 1.12672598e+02] [-1.28081517e-01 9.91763621e-01 -2.10602831e-04 -8.06204240e+00] [-1.69062850e-03 -5.98502819e-06 9.99998571e-01 -4.61244061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:112.70, Y:-8.07, Z:-0.46 [[ 9.91907194e-01 1.26953943e-01 1.67747733e-03 1.12702431e+02] [-1.26953769e-01 9.91908613e-01 -2.10547757e-04 -8.06596190e+00] [-1.69063408e-03 -4.11823341e-06 9.99998571e-01 -4.61269433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:112.73, Y:-8.07, Z:-0.46 [[ 9.92080400e-01 1.25593257e-01 1.67748192e-03 1.12731313e+02] [-1.25593081e-01 9.92081818e-01 -2.10511156e-04 -8.07006118e+00] [-1.69063809e-03 -1.83613033e-06 9.99998571e-01 -4.60364437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94576923100001 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:112.76, Y:-8.08, Z:-0.46 [[ 9.92496313e-01 1.22263055e-01 1.67748878e-03 1.12760000e+02] [-1.22262874e-01 9.92497731e-01 -2.10456510e-04 -8.07687210e+00] [-1.69063486e-03 3.78271196e-06 9.99998571e-01 -4.56102489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.975769231 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:112.79, Y:-8.08, Z:-0.45 [[ 9.92734706e-01 1.20312053e-01 1.67749105e-03 1.12789893e+02] [-1.20311870e-01 9.92736123e-01 -2.10438379e-04 -8.08264621e+00] [-1.69062424e-03 7.08739809e-06 9.99998571e-01 -4.54148662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.005769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:112.82, Y:-8.09, Z:-0.46 [[ 9.93336213e-01 1.15240422e-01 1.67749105e-03 1.12820443e+02] [-1.15240231e-01 9.93337629e-01 -2.10438379e-04 -8.09181224e+00] [-1.69056599e-03 1.57216065e-05 9.99998571e-01 -4.57038324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.035769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:112.85, Y:-8.10, Z:-0.46 [[ 9.93661715e-01 1.12399211e-01 1.67748601e-03 1.12850117e+02] [-1.12399016e-01 9.93663131e-01 -2.10478566e-04 -8.09883207e+00] [-1.69051362e-03 2.05967172e-05 9.99998571e-01 -4.60181616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.065769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:112.88, Y:-8.11, Z:-0.46 [[ 9.94012932e-01 1.09249609e-01 1.67747327e-03 1.12880571e+02] [-1.09249409e-01 9.94014347e-01 -2.10580014e-04 -8.10600206e+00] [-1.69043828e-03 2.60562936e-05 9.99998571e-01 -4.56489985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.095769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:112.91, Y:-8.12, Z:-0.46 [[ 9.94470266e-01 1.05005124e-01 1.67746836e-03 1.12910983e+02] [-1.05004918e-01 9.94471680e-01 -2.10619127e-04 -8.11714634e+00] [-1.69031087e-03 3.33120307e-05 9.99998571e-01 -4.58156049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.125769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:112.94, Y:-8.12, Z:-0.46 [[ 9.94563332e-01 1.04119957e-01 1.67743175e-03 1.12941197e+02] [-1.04119750e-01 9.94564746e-01 -2.10910327e-04 -8.12467569e+00] [-1.69027445e-03 3.51099038e-05 9.99998571e-01 -4.60161102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:112.97, Y:-8.13, Z:-0.46 [[ 9.94537055e-01 1.04370647e-01 1.67740315e-03 1.12973613e+02] [-1.04370439e-01 9.94538469e-01 -2.11137503e-04 -8.13180060e+00] [-1.69027852e-03 3.49127675e-05 9.99998571e-01 -4.57493950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18576923100001 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:113.00, Y:-8.14, Z:-0.46 [[ 9.94087527e-01 1.08568754e-01 1.67736306e-03 1.13003948e+02] [-1.08568551e-01 9.94088942e-01 -2.11455511e-04 -8.13923654e+00] [-1.69040553e-03 2.80964087e-05 9.99998571e-01 -4.58255028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21576923100001 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:113.04, Y:-8.15, Z:-0.46 [[ 9.93751305e-01 1.11604347e-01 1.67733053e-03 1.13035696e+02] [-1.11604148e-01 9.93752720e-01 -2.11713279e-04 -8.14535908e+00] [-1.69047990e-03 2.31933023e-05 9.99998571e-01 -4.57168676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:113.07, Y:-8.15, Z:-0.46 [[ 9.93417598e-01 1.14536728e-01 1.67729456e-03 1.13067485e+02] [-1.14536534e-01 9.93419014e-01 -2.11997887e-04 -8.15166303e+00] [-1.69053785e-03 1.84909272e-05 9.99998571e-01 -4.61241539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27576923100001 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:113.10, Y:-8.16, Z:-0.46 [[ 9.92754770e-01 1.20146386e-01 1.67725610e-03 1.13099134e+02] [-1.20146199e-01 9.92756187e-01 -2.12301681e-04 -8.15854121e+00] [-1.69061365e-03 9.24756154e-06 9.99998571e-01 -4.62307786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30576923100001 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:113.13, Y:-8.16, Z:-0.46 [[ 9.92356846e-01 1.23389940e-01 1.67722134e-03 1.13130266e+02] [-1.23389757e-01 9.92358263e-01 -2.12575988e-04 -8.16280446e+00] [-1.69063419e-03 3.99930436e-06 9.99998571e-01 -4.63310722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.335769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:113.16, Y:-8.16, Z:-0.46 [[ 9.91498125e-01 1.30110167e-01 1.67718904e-03 1.13161287e+02] [-1.30109993e-01 9.91499543e-01 -2.12830481e-04 -8.16446405e+00] [-1.69062358e-03 -7.19803145e-06 9.99998571e-01 -4.60598603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.365769231 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:113.19, Y:-8.17, Z:-0.46 [[ 9.91034384e-01 1.33596547e-01 1.67718403e-03 1.13192051e+02] [-1.33596378e-01 9.91035803e-01 -2.12869949e-04 -8.16697015e+00] [-1.69058811e-03 -1.31042734e-05 9.99998571e-01 -4.60176879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.395769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:113.22, Y:-8.17, Z:-0.46 [[ 9.90675476e-01 1.36232478e-01 1.67718149e-03 1.13222930e+02] [-1.36232312e-01 9.90676896e-01 -2.12889993e-04 -8.16968287e+00] [-1.69054748e-03 -1.75814170e-05 9.99998571e-01 -4.62098931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.425769231 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:113.25, Y:-8.17, Z:-0.46 [[ 9.90410881e-01 1.38142945e-01 1.67714859e-03 1.13254274e+02] [-1.38142782e-01 9.90412301e-01 -2.13148830e-04 -8.17228895e+00] [-1.69051360e-03 -2.05810516e-05 9.99998571e-01 -4.63604204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.455769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:113.29, Y:-8.17, Z:-0.47 [[ 9.90120399e-01 1.40209779e-01 1.67714340e-03 1.13285221e+02] [-1.40209619e-01 9.90121819e-01 -2.13189646e-04 -8.17060996e+00] [-1.69046755e-03 -2.40682208e-05 9.99998571e-01 -4.65057341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.485769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:113.31, Y:-8.17, Z:-0.46 [[ 9.89991019e-01 1.41120409e-01 1.67714083e-03 1.13314724e+02] [-1.41120250e-01 9.89992439e-01 -2.13209912e-04 -8.17092505e+00] [-1.69044501e-03 -2.56026354e-05 9.99998571e-01 -4.62721953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51576923100001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:113.35, Y:-8.17, Z:-0.45 [[ 9.89987733e-01 1.41143459e-01 1.67713931e-03 1.13345254e+02] [-1.41143301e-01 9.89989153e-01 -2.13221833e-04 -8.17000892e+00] [-1.69044459e-03 -2.56299792e-05 9.99998571e-01 -4.53974720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54576923100001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:113.38, Y:-8.17, Z:-0.45 [[ 9.90216394e-01 1.39530213e-01 1.67713931e-03 1.13375004e+02] [-1.39530052e-01 9.90217814e-01 -2.13221833e-04 -8.17250979e+00] [-1.69048411e-03 -2.28755804e-05 9.99998571e-01 -4.54621067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:113.41, Y:-8.18, Z:-0.46 [[ 9.90548426e-01 1.37153212e-01 1.67714185e-03 1.13405547e+02] [-1.37153047e-01 9.90549845e-01 -2.13201871e-04 -8.17539537e+00] [-1.69053392e-03 -1.88383374e-05 9.99998571e-01 -4.55006489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60576923100001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:113.44, Y:-8.18, Z:-0.46 [[ 9.91232393e-01 1.32119381e-01 1.67714185e-03 1.13436643e+02] [-1.32119209e-01 9.91233812e-01 -2.13201871e-04 -8.17542193e+00] [-1.69060781e-03 -1.02500536e-05 9.99998571e-01 -4.58001342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63576923100001 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:113.47, Y:-8.18, Z:-0.46 [[ 9.91494855e-01 1.30135081e-01 1.67714185e-03 1.13466316e+02] [-1.30134907e-01 9.91496274e-01 -2.13201871e-04 -8.17767517e+00] [-1.69062494e-03 -6.86613984e-06 9.99998571e-01 -4.58607971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66576923100001 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:113.50, Y:-8.18, Z:-0.46 [[ 9.91705189e-01 1.28522394e-01 1.67714435e-03 1.13497070e+02] [-1.28522217e-01 9.91706607e-01 -2.13182183e-04 -8.18149779e+00] [-1.69063382e-03 -4.13643303e-06 9.99998571e-01 -4.57868713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69576923100001 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:113.53, Y:-8.19, Z:-0.45 [[ 9.92004439e-01 1.26191843e-01 1.67714435e-03 1.13526131e+02] [-1.26191663e-01 9.92005856e-01 -2.13182183e-04 -8.18560877e+00] [-1.69063887e-03 -1.63962294e-07 9.99998571e-01 -4.54605777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.725769231 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:113.56, Y:-8.19, Z:-0.45 [[ 9.92016298e-01 1.26098577e-01 1.67714686e-03 1.13556172e+02] [-1.26098397e-01 9.92017716e-01 -2.13162478e-04 -8.18776391e+00] [-1.69063888e-03 -2.48775568e-08 9.99998571e-01 -4.52238100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.755769231 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:113.58, Y:-8.19, Z:-0.45 [[ 9.91517432e-01 1.29962952e-01 1.67714686e-03 1.13584771e+02] [-1.29962777e-01 9.91518851e-01 -2.13162478e-04 -8.18762666e+00] [-1.69062595e-03 -6.61235058e-06 9.99998571e-01 -4.51938665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.785769231 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:113.62, Y:-8.19, Z:-0.45 [[ 9.91155099e-01 1.32697991e-01 1.67715462e-03 1.13615697e+02] [-1.32697821e-01 9.91156518e-01 -2.13101409e-04 -8.19011966e+00] [-1.69060086e-03 -1.13382147e-05 9.99998571e-01 -4.52148524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.815769231 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:113.64, Y:-8.19, Z:-0.45 [[ 9.90762498e-01 1.35598154e-01 1.67715462e-03 1.13644470e+02] [-1.35597987e-01 9.90763918e-01 -2.13101409e-04 -8.19207557e+00] [-1.69056044e-03 -1.62859059e-05 9.99998571e-01 -4.52974000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.845769231 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:113.67, Y:-8.19, Z:-0.45 [[ 9.90208135e-01 1.39588815e-01 1.67716215e-03 1.13673638e+02] [-1.39588654e-01 9.90209555e-01 -2.13042116e-04 -8.18960066e+00] [-1.69048028e-03 -2.31567708e-05 9.99998571e-01 -4.54430679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.875769231 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:113.70, Y:-8.19, Z:-0.45 [[ 9.90108557e-01 1.40293376e-01 1.67717220e-03 1.13701273e+02] [-1.40293217e-01 9.90109978e-01 -2.12962990e-04 -8.18942728e+00] [-1.69046222e-03 -2.44394041e-05 9.99998571e-01 -4.54215905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90576923100001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:113.73, Y:-8.19, Z:-0.45 [[ 9.90081592e-01 1.40483553e-01 1.67718470e-03 1.13730283e+02] [-1.40483394e-01 9.90083012e-01 -2.12864431e-04 -8.19036132e+00] [-1.69045604e-03 -2.48634444e-05 9.99998571e-01 -4.52598327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:113.76, Y:-8.19, Z:-0.45 [[ 9.90074794e-01 1.40531456e-01 1.67719469e-03 1.13758943e+02] [-1.40531297e-01 9.90076214e-01 -2.12785685e-04 -8.19275718e+00] [-1.69045366e-03 -2.50246017e-05 9.99998571e-01 -4.51695252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96576923100001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:113.79, Y:-8.19, Z:-0.45 [[ 9.90255840e-01 1.39249987e-01 1.67720461e-03 1.13786734e+02] [-1.39249827e-01 9.90257260e-01 -2.12707495e-04 -8.19321210e+00] [-1.69048356e-03 -2.29156125e-05 9.99998571e-01 -4.51501201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99576923100001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:113.82, Y:-8.19, Z:-0.45 [[ 9.90428381e-01 1.38017423e-01 1.67721696e-03 1.13815921e+02] [-1.38017261e-01 9.90429801e-01 -2.12610105e-04 -8.19428978e+00] [-1.69050955e-03 -2.09098086e-05 9.99998571e-01 -4.51802319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02576923100001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:113.85, Y:-8.19, Z:-0.45 [[ 9.90523225e-01 1.37335092e-01 1.67722686e-03 1.13845559e+02] [-1.37334929e-01 9.90524645e-01 -2.12531935e-04 -8.19324522e+00] [-1.69052263e-03 -1.98240149e-05 9.99998571e-01 -4.50424408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05576923100001 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:113.87, Y:-8.20, Z:-0.45 [[ 9.90499149e-01 1.37508630e-01 1.67723675e-03 1.13874432e+02] [-1.37508468e-01 9.90500568e-01 -2.12453839e-04 -8.19552512e+00] [-1.69051819e-03 -2.01989092e-05 9.99998571e-01 -4.49959857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.085769231 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:113.90, Y:-8.20, Z:-0.45 [[ 9.90505581e-01 1.37462289e-01 1.67724672e-03 1.13903541e+02] [-1.37462126e-01 9.90507001e-01 -2.12375162e-04 -8.19911897e+00] [-1.69051819e-03 -2.01991165e-05 9.99998571e-01 -4.50009441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.115769231 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:113.93, Y:-8.20, Z:-0.45 [[ 9.90483521e-01 1.37621155e-01 1.67725665e-03 1.13932393e+02] [-1.37620993e-01 9.90484940e-01 -2.12296689e-04 -8.20144635e+00] [-1.69051397e-03 -2.05493527e-05 9.99998571e-01 -4.50627199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.145769231 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:113.96, Y:-8.20, Z:-0.45 [[ 9.90397659e-01 1.38237711e-01 1.67726655e-03 1.13961142e+02] [-1.38237550e-01 9.90399079e-01 -2.12218405e-04 -8.20131991e+00] [-1.69049984e-03 -2.16806074e-05 9.99998571e-01 -4.52148325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.175769231 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:113.99, Y:-8.20, Z:-0.45 [[ 9.90354476e-01 1.38546735e-01 1.67727651e-03 1.13989538e+02] [-1.38546574e-01 9.90355896e-01 -2.12139650e-04 -8.20284209e+00] [-1.69049194e-03 -2.22874631e-05 9.99998571e-01 -4.50898714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.205769231 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:114.02, Y:-8.20, Z:-0.45 [[ 9.90288210e-01 1.39019594e-01 1.67728662e-03 1.14017425e+02] [-1.39019434e-01 9.90289630e-01 -2.12059749e-04 -8.20462098e+00] [-1.69048000e-03 -2.31751675e-05 9.99998571e-01 -4.50280800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.235769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:114.05, Y:-8.21, Z:-0.45 [[ 9.90160661e-01 1.39925168e-01 1.67729916e-03 1.14046064e+02] [-1.39925010e-01 9.90162081e-01 -2.11960498e-04 -8.20578842e+00] [-1.69045663e-03 -2.48211551e-05 9.99998571e-01 -4.47741138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26576923100001 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:114.07, Y:-8.21, Z:-0.45 [[ 9.90091633e-01 1.40412763e-01 1.67730916e-03 1.14074054e+02] [-1.40412605e-01 9.90093054e-01 -2.11881315e-04 -8.20796829e+00] [-1.69044299e-03 -2.57334314e-05 9.99998571e-01 -4.48625929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29576923100001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:114.10, Y:-8.21, Z:-0.45 [[ 9.90205023e-01 1.39610886e-01 1.67732161e-03 1.14101998e+02] [-1.39610727e-01 9.90206443e-01 -2.11782688e-04 -8.20902410e+00] [-1.69046184e-03 -2.44638093e-05 9.99998571e-01 -4.52361722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:114.13, Y:-8.21, Z:-0.45 [[ 9.90307882e-01 1.38879390e-01 1.67733345e-03 1.14131384e+02] [-1.38879230e-01 9.90309302e-01 -2.11688870e-04 -8.21024507e+00] [-1.69047814e-03 -2.33096226e-05 9.99998571e-01 -4.54027806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35576923100001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:114.16, Y:-8.21, Z:-0.45 [[ 9.90412403e-01 1.38132031e-01 1.67734065e-03 1.14160640e+02] [-1.38131871e-01 9.90413823e-01 -2.11631871e-04 -8.21102721e+00] [-1.69049450e-03 -2.20913715e-05 9.99998571e-01 -4.53815766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38576923100001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:114.19, Y:-8.21, Z:-0.45 [[ 9.90535706e-01 1.37245041e-01 1.67735059e-03 1.14189534e+02] [-1.37244880e-01 9.90537126e-01 -2.11553042e-04 -8.21099045e+00] [-1.69051264e-03 -2.06569380e-05 9.99998571e-01 -4.53099452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41576923100001 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:114.22, Y:-8.21, Z:-0.45 [[ 9.90651146e-01 1.36409285e-01 1.67736708e-03 1.14217576e+02] [-1.36409123e-01 9.90652566e-01 -2.11422227e-04 -8.21382830e+00] [-1.69052795e-03 -1.93624994e-05 9.99998571e-01 -4.53581247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44576923100001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:114.25, Y:-8.22, Z:-0.45 [[ 9.90764831e-01 1.35581104e-01 1.67738072e-03 1.14246617e+02] [-1.35580941e-01 9.90766251e-01 -2.11313897e-04 -8.21655237e+00] [-1.69054238e-03 -1.80584789e-05 9.99998571e-01 -4.54345605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.475769231 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:114.28, Y:-8.22, Z:-0.46 [[ 9.91213478e-01 1.32261210e-01 1.67739075e-03 1.14275685e+02] [-1.32261042e-01 9.91214897e-01 -2.11234281e-04 -8.21739514e+00] [-1.69059280e-03 -1.24751824e-05 9.99998571e-01 -4.57686841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.505769231 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:114.30, Y:-8.22, Z:-0.46 [[ 9.91390873e-01 1.30924875e-01 1.67740077e-03 1.14302995e+02] [-1.30924705e-01 9.91392292e-01 -2.11154663e-04 -8.21992769e+00] [-1.69060759e-03 -1.02763959e-05 9.99998571e-01 -4.60540713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.535769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:114.33, Y:-8.22, Z:-0.45 [[ 9.91555706e-01 1.29670611e-01 1.67741324e-03 1.14332109e+02] [-1.29670439e-01 9.91557125e-01 -2.11055591e-04 -8.22294665e+00] [-1.69061876e-03 -8.23753564e-06 9.99998571e-01 -4.53398639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.565769231 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:114.36, Y:-8.23, Z:-0.45 [[ 9.91469942e-01 1.30324748e-01 1.67742309e-03 1.14361021e+02] [-1.30324577e-01 9.91471361e-01 -2.10977273e-04 -8.22603827e+00] [-1.69061251e-03 -9.43183018e-06 9.99998571e-01 -4.53939997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.595769231 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:114.39, Y:-8.23, Z:-0.46 [[ 9.91293854e-01 1.31657439e-01 1.67743289e-03 1.14388322e+02] [-1.31657270e-01 9.91295273e-01 -2.10899307e-04 -8.22829712e+00] [-1.69059776e-03 -1.17830487e-05 9.99998571e-01 -4.55668876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.625769231 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:114.42, Y:-8.23, Z:-0.46 [[ 9.90779360e-01 1.35474894e-01 1.67744599e-03 1.14416961e+02] [-1.35474731e-01 9.90780779e-01 -2.10795054e-04 -8.22852589e+00] [-1.69053868e-03 -1.84001562e-05 9.99998571e-01 -4.61292862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65576923100001 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:114.45, Y:-8.23, Z:-0.46 [[ 9.90434423e-01 1.37974056e-01 1.67745572e-03 1.14445040e+02] [-1.37973897e-01 9.90435843e-01 -2.10717611e-04 -8.23025683e+00] [-1.69048583e-03 -2.27431278e-05 9.99998571e-01 -4.62707111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68576923100001 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:114.47, Y:-8.23, Z:-0.46 [[ 9.90064068e-01 1.40606998e-01 1.67746782e-03 1.14474173e+02] [-1.40606843e-01 9.90065488e-01 -2.10621232e-04 -8.23199531e+00] [-1.69041782e-03 -2.73349409e-05 9.99998571e-01 -4.61077738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71576923100001 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:114.50, Y:-8.23, Z:-0.45 [[ 9.89185616e-01 1.46659480e-01 1.67747746e-03 1.14503503e+02] [-1.46659334e-01 9.89187038e-01 -2.10544444e-04 -8.23093308e+00] [-1.69021730e-03 -3.77501917e-05 9.99998571e-01 -4.54629830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74576923100001 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:114.53, Y:-8.23, Z:-0.45 [[ 9.88773421e-01 1.49413215e-01 1.67748732e-03 1.14531953e+02] [-1.49413073e-01 9.88774843e-01 -2.10465826e-04 -8.23152109e+00] [-1.69010364e-03 -4.25355213e-05 9.99998571e-01 -4.53189473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:114.56, Y:-8.23, Z:-0.45 [[ 9.88475253e-01 1.51373245e-01 1.67749956e-03 1.14561008e+02] [-1.51373106e-01 9.88476676e-01 -2.10368239e-04 -8.23000314e+00] [-1.69001331e-03 -4.59845204e-05 9.99998571e-01 -4.50787545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80576923100001 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:114.59, Y:-8.23, Z:-0.45 [[ 9.88632942e-01 1.50339919e-01 1.67750894e-03 1.14589716e+02] [-1.50339778e-01 9.88634365e-01 -2.10293388e-04 -8.23189481e+00] [-1.69005848e-03 -4.42933518e-05 9.99998571e-01 -4.50839979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.835769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:114.62, Y:-8.23, Z:-0.45 [[ 9.88888575e-01 1.48649156e-01 1.67751832e-03 1.14617363e+02] [-1.48649014e-01 9.88889997e-01 -2.10218600e-04 -8.23424771e+00] [-1.69012990e-03 -4.14786714e-05 9.99998571e-01 -4.50648878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.865769231 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:114.65, Y:-8.24, Z:-0.45 [[ 9.89708187e-01 1.43090499e-01 1.67752999e-03 1.14646161e+02] [-1.43090348e-01 9.89709608e-01 -2.10125433e-04 -8.23558176e+00] [-1.69033450e-03 -3.20754888e-05 9.99998571e-01 -4.48188686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.895769231 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:114.67, Y:-8.24, Z:-0.45 [[ 9.90051190e-01 1.40697643e-01 1.67754031e-03 1.14672748e+02] [-1.40697489e-01 9.90052611e-01 -2.10042944e-04 -8.23790835e+00] [-1.69040572e-03 -2.80724432e-05 9.99998571e-01 -4.49747382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.925769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:114.70, Y:-8.24, Z:-0.45 [[ 9.90539118e-01 1.37220409e-01 1.67755837e-03 1.14699774e+02] [-1.37220250e-01 9.90540539e-01 -2.09898627e-04 -8.24202148e+00] [-1.69049195e-03 -2.22821782e-05 9.99998571e-01 -4.49117910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.955769231 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:114.73, Y:-8.25, Z:-0.45 [[ 9.90712291e-01 1.35964488e-01 1.67757450e-03 1.14727551e+02] [-1.35964327e-01 9.90713711e-01 -2.09769677e-04 -8.24578287e+00] [-1.69051728e-03 -2.02688909e-05 9.99998571e-01 -4.46617572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.985769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:114.75, Y:-8.25, Z:-0.45 [[ 9.90860018e-01 1.34883689e-01 1.67758924e-03 1.14754399e+02] [-1.34883527e-01 9.90861438e-01 -2.09651666e-04 -8.24904721e+00] [-1.69053708e-03 -1.85437007e-05 9.99998571e-01 -4.47153667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:114.78, Y:-8.25, Z:-0.45 [[ 9.91023456e-01 1.33677577e-01 1.67760638e-03 1.14781944e+02] [-1.33677414e-01 9.91024876e-01 -2.09514432e-04 -8.25229485e+00] [-1.69055704e-03 -1.66243660e-05 9.99998571e-01 -4.47519025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:114.81, Y:-8.26, Z:-0.45 [[ 9.91486297e-01 1.30200261e-01 1.67762002e-03 1.14809796e+02] [-1.30200093e-01 9.91487716e-01 -2.09405188e-04 -8.25731804e+00] [-1.69060425e-03 -1.08039084e-05 9.99998571e-01 -4.49870727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.84, Y:-8.26, Z:-0.45 [[ 9.91718101e-01 1.28422713e-01 1.67763377e-03 1.14838182e+02] [-1.28422542e-01 9.91719520e-01 -2.09294986e-04 -8.26199648e+00] [-1.69062039e-03 -7.88436701e-06 9.99998571e-01 -4.49051825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10576923100001 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:114.87, Y:-8.27, Z:-0.45 [[ 9.92089332e-01 1.25522679e-01 1.67764364e-03 1.14865832e+02] [-1.25522504e-01 9.92090750e-01 -2.09215794e-04 -8.26724828e+00] [-1.69063607e-03 -3.02127445e-06 9.99998571e-01 -4.52889548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13576923100001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:114.89, Y:-8.27, Z:-0.45 [[ 9.92238030e-01 1.24341773e-01 1.67765677e-03 1.14894179e+02] [-1.24341597e-01 9.92239449e-01 -2.09110445e-04 -8.27144753e+00] [-1.69063840e-03 -1.11518571e-06 9.99998571e-01 -4.51953061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:114.92, Y:-8.28, Z:-0.45 [[ 9.92357016e-01 1.23388563e-01 1.67766659e-03 1.14921451e+02] [-1.23388386e-01 9.92358434e-01 -2.09031699e-04 -8.27533886e+00] [-1.69063871e-03 4.29501150e-07 9.99998571e-01 -4.53741344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19576923100001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:114.95, Y:-8.28, Z:-0.45 [[ 9.92628855e-01 1.21182270e-01 1.67767879e-03 1.14949485e+02] [-1.21182089e-01 9.92630272e-01 -2.08933700e-04 -8.28131047e+00] [-1.69063382e-03 4.08899841e-06 9.99998571e-01 -4.50415028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.225769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:114.98, Y:-8.29, Z:-0.45 [[ 9.92861788e-01 1.19258778e-01 1.67768852e-03 1.14976910e+02] [-1.19258595e-01 9.92863205e-01 -2.08855514e-04 -8.28672702e+00] [-1.69062306e-03 7.28588318e-06 9.99998571e-01 -4.48772595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.255769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.01, Y:-8.29, Z:-0.45 [[ 9.93115742e-01 1.17125186e-01 1.67770202e-03 1.15005217e+02] [-1.17125001e-01 9.93117159e-01 -2.08747013e-04 -8.29224761e+00] [-1.69060420e-03 1.08090938e-05 9.99998571e-01 -4.48668115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.285769231 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:115.03, Y:-8.30, Z:-0.46 [[ 9.93517479e-01 1.13667073e-01 1.67771184e-03 1.15032120e+02] [-1.13666883e-01 9.93518896e-01 -2.08668096e-04 -8.29953278e+00] [-1.69055711e-03 1.66151255e-05 9.99998571e-01 -4.56345970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.315769231 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:115.06, Y:-8.31, Z:-0.46 [[ 9.93584336e-01 1.13081172e-01 1.67772406e-03 1.15060245e+02] [-1.13080981e-01 9.93585753e-01 -2.08569771e-04 -8.30577535e+00] [-1.69054804e-03 1.75129735e-05 9.99998571e-01 -4.58026013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.345769231 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:115.09, Y:-8.31, Z:-0.46 [[ 9.93523129e-01 1.13617677e-01 1.67773366e-03 1.15087113e+02] [-1.13617487e-01 9.93524546e-01 -2.08492545e-04 -8.31252436e+00] [-1.69055801e-03 1.65222834e-05 9.99998571e-01 -4.58305370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.375769231 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:115.11, Y:-8.32, Z:-0.46 [[ 9.93132935e-01 1.16979309e-01 1.67774559e-03 1.15114097e+02] [-1.16979124e-01 9.93134352e-01 -2.08396487e-04 -8.32172514e+00] [-1.69060486e-03 1.07042055e-05 9.99998571e-01 -4.56357784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40576923100001 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:115.14, Y:-8.33, Z:-0.46 [[ 9.92909209e-01 1.18863316e-01 1.67775863e-03 1.15141319e+02] [-1.18863134e-01 9.92910626e-01 -2.08291504e-04 -8.32676423e+00] [-1.69062259e-03 7.39090483e-06 9.99998571e-01 -4.58020960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43576923100001 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:115.17, Y:-8.34, Z:-0.46 [[ 9.92394660e-01 1.23085436e-01 1.67777033e-03 1.15168946e+02] [-1.23085260e-01 9.92396078e-01 -2.08197204e-04 -8.33501950e+00] [-1.69063874e-03 1.04996036e-07 9.99998571e-01 -4.62411304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46576923100001 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:115.20, Y:-8.34, Z:-0.46 [[ 9.92226749e-01 1.24431759e-01 1.67777965e-03 1.15197719e+02] [-1.24431585e-01 9.92228168e-01 -2.08122044e-04 -8.34132233e+00] [-1.69063722e-03 -2.26452199e-06 9.99998571e-01 -4.63895640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49576923100001 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:115.23, Y:-8.35, Z:-0.46 [[ 9.92104061e-01 1.25406205e-01 1.67778662e-03 1.15225657e+02] [-1.25406032e-01 9.92105480e-01 -2.08065857e-04 -8.34769264e+00] [-1.69063405e-03 -3.98158127e-06 9.99998571e-01 -4.62345873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52576923100001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:115.25, Y:-8.36, Z:-0.45 [[ 9.91889792e-01 1.27089832e-01 1.67779590e-03 1.15253893e+02] [-1.27089662e-01 9.91891211e-01 -2.07990977e-04 -8.35703261e+00] [-1.69062455e-03 -6.92638668e-06 9.99998571e-01 -4.53959272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:115.28, Y:-8.36, Z:-0.45 [[ 9.91658814e-01 1.28879720e-01 1.67780549e-03 1.15281601e+02] [-1.28879553e-01 9.91660233e-01 -2.07913565e-04 -8.36214278e+00] [-1.69060883e-03 -1.00555032e-05 9.99998571e-01 -4.53212623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.585769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.31, Y:-8.37, Z:-0.45 [[ 9.91415537e-01 1.30737976e-01 1.67781747e-03 1.15309590e+02] [-1.30737811e-01 9.91416956e-01 -2.07816879e-04 -8.36620314e+00] [-1.69058625e-03 -1.33213008e-05 9.99998571e-01 -4.53855845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.615769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:115.34, Y:-8.37, Z:-0.46 [[ 9.90928025e-01 1.34383162e-01 1.67782882e-03 1.15338595e+02] [-1.34383003e-01 9.90929445e-01 -2.07725221e-04 -8.37004366e+00] [-1.69052475e-03 -1.96309314e-05 9.99998571e-01 -4.55744775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.645769231 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:115.37, Y:-8.37, Z:-0.45 [[ 9.90730641e-01 1.35830712e-01 1.67783792e-03 1.15367156e+02] [-1.35830556e-01 9.90732061e-01 -2.07651695e-04 -8.37419291e+00] [-1.69049330e-03 -2.21747595e-05 9.99998571e-01 -4.53762411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.675769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:115.39, Y:-8.38, Z:-0.45 [[ 9.90498719e-01 1.37511715e-01 1.67784768e-03 1.15394386e+02] [-1.37511560e-01 9.90500140e-01 -2.07572772e-04 -8.37887332e+00] [-1.69045205e-03 -2.51228876e-05 9.99998571e-01 -4.52104765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.705769231 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:115.42, Y:-8.38, Z:-0.45 [[ 9.90404358e-01 1.38189698e-01 1.67785985e-03 1.15422156e+02] [-1.38189545e-01 9.90405779e-01 -2.07474384e-04 -8.38285512e+00] [-1.69043291e-03 -2.63791541e-05 9.99998571e-01 -4.50017567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.735769231 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:115.45, Y:-8.39, Z:-0.45 [[ 9.90422611e-01 1.38058816e-01 1.67787103e-03 1.15450527e+02] [-1.38058663e-01 9.90424032e-01 -2.07383886e-04 -8.38660394e+00] [-1.69043497e-03 -2.62469410e-05 9.99998571e-01 -4.47191232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76576923100001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:115.48, Y:-8.39, Z:-0.45 [[ 9.90454987e-01 1.37826353e-01 1.67788075e-03 1.15477632e+02] [-1.37826199e-01 9.90456408e-01 -2.07305244e-04 -8.39059541e+00] [-1.69043987e-03 -2.59294135e-05 9.99998571e-01 -4.49565178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79576923100001 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:115.51, Y:-8.40, Z:-0.45 [[ 9.90779899e-01 1.35470945e-01 1.67789284e-03 1.15506387e+02] [-1.35470789e-01 9.90781319e-01 -2.07207374e-04 -8.39569934e+00] [-1.69049546e-03 -2.20085644e-05 9.99998571e-01 -4.49920899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82576923100001 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:115.53, Y:-8.40, Z:-0.45 [[ 9.90987265e-01 1.33945608e-01 1.67790259e-03 1.15533731e+02] [-1.33945449e-01 9.90988685e-01 -2.07128383e-04 -8.39998159e+00] [-1.69052641e-03 -1.94858261e-05 9.99998571e-01 -4.50729639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:115.56, Y:-8.40, Z:-0.45 [[ 9.91315742e-01 1.31492523e-01 1.67791473e-03 1.15561556e+02] [-1.31492361e-01 9.91317162e-01 -2.07029992e-04 -8.40379446e+00] [-1.69056856e-03 -1.54008797e-05 9.99998571e-01 -4.54098374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88576923100001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:115.59, Y:-8.41, Z:-0.45 [[ 9.91376513e-01 1.31033558e-01 1.67792644e-03 1.15589159e+02] [-1.31033395e-01 9.91377933e-01 -2.06935030e-04 -8.40698532e+00] [-1.69057468e-03 -1.47138701e-05 9.99998571e-01 -4.53698085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91576923100001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:115.62, Y:-8.41, Z:-0.45 [[ 9.91377746e-01 1.31024232e-01 1.67793811e-03 1.15617899e+02] [-1.31024069e-01 9.91379166e-01 -2.06840369e-04 -8.41066972e+00] [-1.69057398e-03 -1.47933403e-05 9.99998571e-01 -4.50983034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:115.65, Y:-8.41, Z:-0.45 [[ 9.91221145e-01 1.32203732e-01 1.67794753e-03 1.15646735e+02] [-1.32203571e-01 9.91222565e-01 -2.06763914e-04 -8.41402790e+00] [-1.69055441e-03 -1.68818918e-05 9.99998571e-01 -4.49713257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.975769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:115.68, Y:-8.42, Z:-0.45 [[ 9.91227129e-01 1.32158852e-01 1.67795693e-03 1.15675856e+02] [-1.32158692e-01 9.91228550e-01 -2.06687571e-04 -8.41752053e+00] [-1.69055441e-03 -1.68822655e-05 9.99998571e-01 -4.49762841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.005769231 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:115.70, Y:-8.42, Z:-0.45 [[ 9.91109053e-01 1.33041455e-01 1.67796629e-03 1.15704511e+02] [-1.33041296e-01 9.91110474e-01 -2.06611598e-04 -8.42008838e+00] [-1.69053787e-03 -1.84641829e-05 9.99998571e-01 -4.52588445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.035769231 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:115.73, Y:-8.42, Z:-0.45 [[ 9.91092613e-01 1.33163873e-01 1.67797563e-03 1.15733559e+02] [-1.33163714e-01 9.91094033e-01 -2.06535651e-04 -8.42200938e+00] [-1.69053473e-03 -1.87495107e-05 9.99998571e-01 -4.53410332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.065769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:115.76, Y:-8.42, Z:-0.46 [[ 9.91274248e-01 1.31804970e-01 1.67798539e-03 1.15761492e+02] [-1.31804810e-01 9.91275668e-01 -2.06456370e-04 -8.42218097e+00] [-1.69055806e-03 -1.65116618e-05 9.99998571e-01 -4.56237973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.095769231 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:115.79, Y:-8.43, Z:-0.46 [[ 9.91400517e-01 1.30851824e-01 1.67799752e-03 1.15790415e+02] [-1.30851662e-01 9.91401937e-01 -2.06357764e-04 -8.42501666e+00] [-1.69057228e-03 -1.49855703e-05 9.99998571e-01 -4.55784830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.125769231 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:115.82, Y:-8.43, Z:-0.45 [[ 9.91546947e-01 1.29737567e-01 1.67800677e-03 1.15818744e+02] [-1.29737404e-01 9.91548367e-01 -2.06282490e-04 -8.42770175e+00] [-1.69058746e-03 -1.31614684e-05 9.99998571e-01 -4.53134772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15576923100001 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:115.85, Y:-8.43, Z:-0.45 [[ 9.91934368e-01 1.26741446e-01 1.67801638e-03 1.15846098e+02] [-1.26741278e-01 9.91935787e-01 -2.06204262e-04 -8.42920712e+00] [-1.69061913e-03 -8.13284693e-06 9.99998571e-01 -4.53949020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18576923100001 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:115.88, Y:-8.43, Z:-0.45 [[ 9.92281172e-01 1.23997013e-01 1.67802428e-03 1.15875089e+02] [-1.23996841e-01 9.92282591e-01 -2.06139968e-04 -8.43120793e+00] [-1.69063502e-03 -3.52090151e-06 9.99998571e-01 -4.51944408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21576923100001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:115.90, Y:-8.43, Z:-0.45 [[ 9.92877166e-01 1.19130673e-01 1.67803450e-03 1.15903292e+02] [-1.19130495e-01 9.92878584e-01 -2.06056727e-04 -8.43284102e+00] [-1.69063220e-03 4.68393924e-06 9.99998571e-01 -4.53040878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24576923100001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:115.93, Y:-8.44, Z:-0.45 [[ 9.92969542e-01 1.18358236e-01 1.67804211e-03 1.15931334e+02] [-1.18358057e-01 9.92970960e-01 -2.05994724e-04 -8.43570054e+00] [-1.69062826e-03 5.93668288e-06 9.99998571e-01 -4.51069863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:115.96, Y:-8.44, Z:-0.45 [[ 9.92946661e-01 1.18550041e-01 1.67804103e-03 1.15960190e+02] [-1.18549862e-01 9.92948079e-01 -2.06003524e-04 -8.43867092e+00] [-1.69062935e-03 5.61897728e-06 9.99998571e-01 -4.47608782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30576923100001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:115.99, Y:-8.44, Z:-0.45 [[ 9.92522860e-01 1.22047352e-01 1.67805080e-03 1.15989467e+02] [-1.22047178e-01 9.92524279e-01 -2.05923953e-04 -8.44003920e+00] [-1.69063863e-03 -4.17134318e-07 9.99998571e-01 -4.49461270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.02, Y:-8.44, Z:-0.45 [[ 9.92254477e-01 1.24210458e-01 1.67806058e-03 1.16017312e+02] [-1.24210288e-01 9.92255895e-01 -2.05844187e-04 -8.44232929e+00] [-1.69063351e-03 -4.18257146e-06 9.99998571e-01 -4.52893867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.365769231 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:116.05, Y:-8.45, Z:-0.45 [[ 9.92008246e-01 1.26161895e-01 1.67807342e-03 1.16046034e+02] [-1.26161728e-01 9.92009665e-01 -2.05739468e-04 -8.44517842e+00] [-1.69062153e-03 -7.61339255e-06 9.99998571e-01 -4.53145023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.395769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:116.07, Y:-8.45, Z:-0.45 [[ 9.91707892e-01 1.28501518e-01 1.67808312e-03 1.16074028e+02] [-1.28501354e-01 9.91709312e-01 -2.05660321e-04 -8.44697206e+00] [-1.69059832e-03 -1.16809900e-05 9.99998571e-01 -4.49662218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.425769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:116.10, Y:-8.45, Z:-0.45 [[ 9.91706787e-01 1.28510045e-01 1.67809523e-03 1.16103205e+02] [-1.28509881e-01 9.91708207e-01 -2.05561470e-04 -8.44929938e+00] [-1.69059753e-03 -1.17951142e-05 9.99998571e-01 -4.48720967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.455769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:116.13, Y:-8.45, Z:-0.45 [[ 9.91576046e-01 1.29514974e-01 1.67810462e-03 1.16132254e+02] [-1.29514812e-01 9.91577466e-01 -2.05484766e-04 -8.45087571e+00] [-1.69058408e-03 -1.35856326e-05 9.99998571e-01 -4.51690779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.485769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.16, Y:-8.45, Z:-0.46 [[ 9.91476145e-01 1.30277544e-01 1.67811423e-03 1.16160321e+02] [-1.30277383e-01 9.91477565e-01 -2.05406302e-04 -8.45363944e+00] [-1.69057244e-03 -1.49648816e-05 9.99998571e-01 -4.56229578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.19, Y:-8.46, Z:-0.45 [[ 9.91446122e-01 1.30505825e-01 1.67812618e-03 1.16189026e+02] [-1.30505664e-01 9.91447542e-01 -2.05308566e-04 -8.45664574e+00] [-1.69056805e-03 -1.54525906e-05 9.99998571e-01 -4.52763757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54576923100001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:116.22, Y:-8.46, Z:-0.45 [[ 9.91570710e-01 1.29555825e-01 1.67813612e-03 1.16216942e+02] [-1.29555663e-01 9.91572130e-01 -2.05227298e-04 -8.45802133e+00] [-1.69058140e-03 -1.39146603e-05 9.99998571e-01 -4.52238404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:116.25, Y:-8.46, Z:-0.45 [[ 9.91746927e-01 1.28199909e-01 1.67814850e-03 1.16245185e+02] [-1.28199745e-01 9.91748347e-01 -2.05126046e-04 -8.46083408e+00] [-1.69059814e-03 -1.17050843e-05 9.99998571e-01 -4.50830529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.27, Y:-8.46, Z:-0.45 [[ 9.92196703e-01 1.24671116e-01 1.67815824e-03 1.16272377e+02] [-1.24670948e-01 9.92198122e-01 -2.05046343e-04 -8.46435187e+00] [-1.69062881e-03 -5.77127273e-06 9.99998571e-01 -4.53733783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63576923100001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.30, Y:-8.47, Z:-0.46 [[ 9.92379079e-01 1.23210983e-01 1.67817033e-03 1.16300079e+02] [-1.23210813e-01 9.92380498e-01 -2.04947316e-04 -8.46732401e+00] [-1.69063527e-03 -3.38330199e-06 9.99998571e-01 -4.55538621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.33, Y:-8.47, Z:-0.46 [[ 9.92515818e-01 1.22104607e-01 1.67818227e-03 1.16327856e+02] [-1.22104435e-01 9.92517237e-01 -2.04849550e-04 -8.47039434e+00] [-1.69063790e-03 -1.59707948e-06 9.99998571e-01 -4.56700655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.36, Y:-8.47, Z:-0.45 [[ 9.92653974e-01 1.20976328e-01 1.67819384e-03 1.16355983e+02] [-1.20976155e-01 9.92655392e-01 -2.04754705e-04 -8.47401220e+00] [-1.69063863e-03 2.29134325e-07 9.99998571e-01 -4.53548164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.725769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.38, Y:-8.48, Z:-0.45 [[ 9.92944027e-01 1.18572097e-01 1.67820529e-03 1.16384614e+02] [-1.18571921e-01 9.92945445e-01 -2.04660758e-04 -8.48041594e+00] [-1.69063336e-03 4.22865212e-06 9.99998571e-01 -4.47980105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.755769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.41, Y:-8.49, Z:-0.45 [[ 9.93097121e-01 1.17282954e-01 1.67821490e-03 1.16412224e+02] [-1.17282776e-01 9.93098539e-01 -2.04581965e-04 -8.48521126e+00] [-1.69062674e-03 6.34405775e-06 9.99998571e-01 -4.49769833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.785769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.44, Y:-8.49, Z:-0.45 [[ 9.93182404e-01 1.16558547e-01 1.67822772e-03 1.16440940e+02] [-1.16558368e-01 9.93183822e-01 -2.04476722e-04 -8.48894285e+00] [-1.69062213e-03 7.47119725e-06 9.99998571e-01 -4.52163918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.815769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:116.47, Y:-8.49, Z:-0.45 [[ 9.93165564e-01 1.16701957e-01 1.67823716e-03 1.16469800e+02] [-1.16701779e-01 9.93166981e-01 -2.04399247e-04 -8.49212027e+00] [-1.69062353e-03 7.14903209e-06 9.99998571e-01 -4.51993300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.845769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:116.50, Y:-8.50, Z:-0.45 [[ 9.93116085e-01 1.17122270e-01 1.67824665e-03 1.16497611e+02] [-1.17122092e-01 9.93117503e-01 -2.04321312e-04 -8.49599357e+00] [-1.69062669e-03 6.35502348e-06 9.99998571e-01 -4.51183378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.875769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:116.53, Y:-8.50, Z:-0.45 [[ 9.93251828e-01 1.15965465e-01 1.67825846e-03 1.16526567e+02] [-1.15965285e-01 9.93253246e-01 -2.04224233e-04 -8.50187017e+00] [-1.69061862e-03 8.22637178e-06 9.99998571e-01 -4.48038983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.55, Y:-8.51, Z:-0.45 [[ 9.93429580e-01 1.14432741e-01 1.67826315e-03 1.16554064e+02] [-1.14432560e-01 9.93430998e-01 -2.04185710e-04 -8.50675291e+00] [-1.69060416e-03 1.07961769e-05 9.99998571e-01 -4.48152052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.58, Y:-8.51, Z:-0.45 [[ 9.93637898e-01 1.12609550e-01 1.67827483e-03 1.16582596e+02] [-1.12609366e-01 9.93639315e-01 -2.04089623e-04 -8.51463421e+00] [-1.69058230e-03 1.38017195e-05 9.99998571e-01 -4.49429750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:116.61, Y:-8.52, Z:-0.45 [[ 9.93601813e-01 1.12927505e-01 1.67827966e-03 1.16610307e+02] [-1.12927322e-01 9.93603230e-01 -2.04049891e-04 -8.52047311e+00] [-1.69058694e-03 1.32207144e-05 9.99998571e-01 -4.49755181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:116.64, Y:-8.53, Z:-0.45 [[ 9.93502185e-01 1.13800665e-01 1.67828684e-03 1.16639632e+02] [-1.13800483e-01 9.93503603e-01 -2.03990861e-04 -8.52578002e+00] [-1.69059832e-03 1.16755134e-05 9.99998571e-01 -4.45772465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.67, Y:-8.53, Z:-0.44 [[ 9.93042391e-01 1.17745456e-01 1.67829161e-03 1.16667940e+02] [-1.17745279e-01 9.93043809e-01 -2.03951578e-04 -8.52948625e+00] [-1.69063147e-03 4.92164735e-06 9.99998571e-01 -4.41220126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.70, Y:-8.53, Z:-0.44 [[ 9.92718636e-01 1.20444564e-01 1.67830115e-03 1.16695813e+02] [-1.20444391e-01 9.92720055e-01 -2.03873062e-04 -8.53213363e+00] [-1.69063861e-03 2.46627446e-07 9.99998571e-01 -4.42224751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08576923100001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:116.72, Y:-8.53, Z:-0.44 [[ 9.91937868e-01 1.26714046e-01 1.67831388e-03 1.16724266e+02] [-1.26713882e-01 9.91939288e-01 -2.03768240e-04 -8.53484153e+00] [-1.69060577e-03 -1.05402337e-05 9.99998571e-01 -4.43237187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.115769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.75, Y:-8.54, Z:-0.44 [[ 9.91522836e-01 1.29921704e-01 1.67832332e-03 1.16752604e+02] [-1.29921545e-01 9.91524256e-01 -2.03690418e-04 -8.53771707e+00] [-1.69056209e-03 -1.60866582e-05 9.99998571e-01 -4.41554879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.78, Y:-8.54, Z:-0.44 [[ 9.91096475e-01 1.33135118e-01 1.67833286e-03 1.16781719e+02] [-1.33134964e-01 9.91097896e-01 -2.03611760e-04 -8.54034244e+00] [-1.69050005e-03 -2.16458877e-05 9.99998571e-01 -4.40270138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.175769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:116.81, Y:-8.54, Z:-0.44 [[ 9.90459763e-01 1.37792022e-01 1.67834238e-03 1.16810557e+02] [-1.37791875e-01 9.90461184e-01 -2.03533329e-04 -8.54183681e+00] [-1.69037825e-03 -2.96703695e-05 9.99998571e-01 -4.40916025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.205769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:116.84, Y:-8.54, Z:-0.44 [[ 9.90272032e-01 1.39134779e-01 1.67835187e-03 1.16839314e+02] [-1.39134634e-01 9.90273453e-01 -2.03454967e-04 -8.54317461e+00] [-1.69033497e-03 -3.20411096e-05 9.99998571e-01 -4.43308997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.235769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:116.87, Y:-8.54, Z:-0.45 [[ 9.90344231e-01 1.38619937e-01 1.67836137e-03 1.16868319e+02] [-1.38619791e-01 9.90345653e-01 -2.03376631e-04 -8.54156105e+00] [-1.69034994e-03 -3.12412285e-05 9.99998571e-01 -4.47508117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.90, Y:-8.54, Z:-0.45 [[ 9.90547191e-01 1.37162116e-01 1.67837088e-03 1.16896851e+02] [-1.37161968e-01 9.90548612e-01 -2.03298107e-04 -8.54310488e+00] [-1.69039274e-03 -2.88322843e-05 9.99998571e-01 -4.48252411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:116.93, Y:-8.55, Z:-0.45 [[ 9.90762572e-01 1.35597599e-01 1.67838043e-03 1.16925437e+02] [-1.35597450e-01 9.90763993e-01 -2.03219252e-04 -8.54540804e+00] [-1.69043494e-03 -2.62420769e-05 9.99998571e-01 -4.49110996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32576923100001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.95, Y:-8.55, Z:-0.45 [[ 9.90946585e-01 1.34246221e-01 1.67839000e-03 1.16954134e+02] [-1.34246069e-01 9.90948007e-01 -2.03140183e-04 -8.54790134e+00] [-1.69046802e-03 -2.40161893e-05 9.99998571e-01 -4.49730787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35576923100001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.98, Y:-8.55, Z:-0.45 [[ 9.91163087e-01 1.32638296e-01 1.67839957e-03 1.16981890e+02] [-1.32638143e-01 9.91164508e-01 -2.03061020e-04 -8.54772826e+00] [-1.69050376e-03 -2.13532139e-05 9.99998571e-01 -4.53593272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:117.01, Y:-8.55, Z:-0.45 [[ 9.91323347e-01 1.31435175e-01 1.67841152e-03 1.17011099e+02] [-1.31435020e-01 9.91324767e-01 -2.02962212e-04 -8.54951531e+00] [-1.69052729e-03 -1.94008717e-05 9.99998571e-01 -4.54086624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41576923100001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:117.04, Y:-8.55, Z:-0.45 [[ 9.91750471e-01 1.28172487e-01 1.67842092e-03 1.17040038e+02] [-1.28172327e-01 9.91751891e-01 -2.02884471e-04 -8.55110950e+00] [-1.69058133e-03 -1.39163451e-05 9.99998571e-01 -4.52758975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:117.07, Y:-8.55, Z:-0.45 [[ 9.91942975e-01 1.26674059e-01 1.67843049e-03 1.17068468e+02] [-1.26673897e-01 9.91944395e-01 -2.02805263e-04 -8.55427978e+00] [-1.69059988e-03 -1.14420749e-05 9.99998571e-01 -4.51430048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.475769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.10, Y:-8.56, Z:-0.45 [[ 9.92080956e-01 1.25588854e-01 1.67844003e-03 1.17096103e+02] [-1.25588690e-01 9.92082375e-01 -2.02726312e-04 -8.55671077e+00] [-1.69061093e-03 -9.67217090e-06 9.99998571e-01 -4.50842463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.505769231 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:117.12, Y:-8.56, Z:-0.45 [[ 9.92223773e-01 1.24455482e-01 1.67845294e-03 1.17123396e+02] [-1.24455317e-01 9.92225193e-01 -2.02619365e-04 -8.55858948e+00] [-1.69062038e-03 -7.84864129e-06 9.99998571e-01 -4.49952761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.535769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.15, Y:-8.56, Z:-0.45 [[ 9.92329837e-01 1.23606943e-01 1.67846698e-03 1.17152371e+02] [-1.23606777e-01 9.92331257e-01 -2.02502986e-04 -8.56186980e+00] [-1.69062602e-03 -6.52013873e-06 9.99998571e-01 -4.49532716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.565769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:117.18, Y:-8.57, Z:-0.45 [[ 9.92555450e-01 1.21782022e-01 1.67847652e-03 1.17180760e+02] [-1.21781854e-01 9.92556869e-01 -2.02423825e-04 -8.56609068e+00] [-1.69063499e-03 -3.49111094e-06 9.99998571e-01 -4.50741914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.595769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:117.21, Y:-8.57, Z:-0.45 [[ 9.92605961e-01 1.21369641e-01 1.67848602e-03 1.17207984e+02] [-1.21369473e-01 9.92607380e-01 -2.02345036e-04 -8.56918084e+00] [-1.69063616e-03 -2.86807499e-06 9.99998571e-01 -4.51464965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.625769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:117.24, Y:-8.57, Z:-0.45 [[ 9.92446486e-01 1.22666845e-01 1.67849779e-03 1.17236447e+02] [-1.22666678e-01 9.92447905e-01 -2.02247338e-04 -8.57319019e+00] [-1.69063066e-03 -5.17608944e-06 9.99998571e-01 -4.52213603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.26, Y:-8.58, Z:-0.45 [[ 9.92306180e-01 1.23796716e-01 1.67850738e-03 1.17263904e+02] [-1.23796551e-01 9.92307600e-01 -2.02167762e-04 -8.57769047e+00] [-1.69062333e-03 -7.18110371e-06 9.99998571e-01 -4.52482678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.29, Y:-8.58, Z:-0.45 [[ 9.92150447e-01 1.25038688e-01 1.67851935e-03 1.17291829e+02] [-1.25038525e-01 9.92151867e-01 -2.02068356e-04 -8.58217936e+00] [-1.69061246e-03 -9.39737276e-06 9.99998571e-01 -4.52441156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.32, Y:-8.58, Z:-0.45 [[ 9.91941739e-01 1.26683737e-01 1.67853110e-03 1.17319411e+02] [-1.26683577e-01 9.91943159e-01 -2.01970629e-04 -8.58477328e+00] [-1.69059384e-03 -1.22992269e-05 9.99998571e-01 -4.48948942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74576923100001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:117.35, Y:-8.59, Z:-0.45 [[ 9.91917401e-01 1.26874157e-01 1.67854240e-03 1.17347858e+02] [-1.26873997e-01 9.91918821e-01 -2.01876738e-04 -8.58846593e+00] [-1.69059074e-03 -1.27183338e-05 9.99998571e-01 -4.47226881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77576923100001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:117.38, Y:-8.60, Z:-0.44 [[ 9.91882795e-01 1.27144417e-01 1.67855170e-03 1.17376233e+02] [-1.27144258e-01 9.91884216e-01 -2.01799360e-04 -8.59678943e+00] [-1.69058660e-03 -1.32568971e-05 9.99998571e-01 -4.42759214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80576923100001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:117.40, Y:-8.60, Z:-0.44 [[ 9.91915149e-01 1.26891765e-01 1.67856132e-03 1.17404286e+02] [-1.26891605e-01 9.91916569e-01 -2.01719279e-04 -8.60197663e+00] [-1.69058930e-03 -1.29069321e-05 9.99998571e-01 -4.40489270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83576923100001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:117.43, Y:-8.61, Z:-0.44 [[ 9.91920064e-01 1.26853334e-01 1.67857105e-03 1.17433225e+02] [-1.26853175e-01 9.91921485e-01 -2.01638308e-04 -8.60566544e+00] [-1.69058918e-03 -1.29229833e-05 9.99998571e-01 -4.40268327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.865769231 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:117.46, Y:-8.61, Z:-0.44 [[ 9.91926372e-01 1.26804003e-01 1.67858106e-03 1.17462356e+02] [-1.26803843e-01 9.91927792e-01 -2.01554936e-04 -8.60907371e+00] [-1.69058918e-03 -1.29228730e-05 9.99998571e-01 -4.40317912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.895769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:117.49, Y:-8.61, Z:-0.44 [[ 9.91905443e-01 1.26967609e-01 1.67859108e-03 1.17490150e+02] [-1.26967450e-01 9.91906864e-01 -2.01471455e-04 -8.61186623e+00] [-1.69058636e-03 -1.32857960e-05 9.99998571e-01 -4.43325350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.925769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:117.52, Y:-8.62, Z:-0.45 [[ 9.91707664e-01 1.28503274e-01 1.67860353e-03 1.17518172e+02] [-1.28503118e-01 9.91709084e-01 -2.01367688e-04 -8.61566515e+00] [-1.69056278e-03 -1.60079067e-05 9.99998571e-01 -4.45469265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:-8.62, Z:-0.45 [[ 9.91318424e-01 1.31472297e-01 1.67861458e-03 1.17546301e+02] [-1.31472145e-01 9.91319845e-01 -2.01275502e-04 -8.61802349e+00] [-1.69050610e-03 -2.11629462e-05 9.99998571e-01 -4.45982949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.985769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.57, Y:-8.62, Z:-0.45 [[ 9.91134065e-01 1.32854987e-01 1.67862553e-03 1.17574805e+02] [-1.32854837e-01 9.91135486e-01 -2.01184188e-04 -8.61965020e+00] [-1.69047365e-03 -2.36130185e-05 9.99998571e-01 -4.47312146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01576923100001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.60, Y:-8.62, Z:-0.44 [[ 9.91116642e-01 1.32984900e-01 1.67863417e-03 1.17603322e+02] [-1.32984750e-01 9.91118064e-01 -2.01112034e-04 -8.62166533e+00] [-1.69046951e-03 -2.39072609e-05 9.99998571e-01 -4.44645027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04576923100001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:117.63, Y:-8.63, Z:-0.44 [[ 9.91282056e-01 1.31746225e-01 1.67864368e-03 1.17631048e+02] [-1.31746073e-01 9.91283477e-01 -2.01032646e-04 -8.62500992e+00] [-1.69049703e-03 -2.18746584e-05 9.99998571e-01 -4.44703822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07576923100001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:117.66, Y:-8.63, Z:-0.44 [[ 9.92030250e-01 1.25988749e-01 1.67865555e-03 1.17659353e+02] [-1.25988590e-01 9.92031670e-01 -2.00933501e-04 -8.63006934e+00] [-1.69059483e-03 -1.21593338e-05 9.99998571e-01 -4.38529141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10576923100001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:117.69, Y:-8.63, Z:-0.44 [[ 9.92531025e-01 1.21980930e-01 1.67866536e-03 1.17687054e+02] [-1.21980765e-01 9.92532444e-01 -2.00851443e-04 -8.63344983e+00] [-1.69062988e-03 -5.41359655e-06 9.99998571e-01 -4.40363124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:117.72, Y:-8.64, Z:-0.44 [[ 9.93480423e-01 1.13990487e-01 1.67867760e-03 1.17715631e+02] [-1.13990311e-01 9.93481841e-01 -2.00749158e-04 -8.63690854e+00] [-1.69061920e-03 8.08737737e-06 9.99998571e-01 -4.42921750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:117.74, Y:-8.64, Z:-0.45 [[ 9.93771904e-01 1.11420752e-01 1.67868736e-03 1.17744344e+02] [-1.11420572e-01 9.93773322e-01 -2.00667509e-04 -8.64145440e+00] [-1.69059324e-03 1.23774270e-05 9.99998571e-01 -4.45433309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.77, Y:-8.65, Z:-0.45 [[ 9.93968049e-01 1.09657189e-01 1.67869462e-03 1.17773197e+02] [-1.09657007e-01 9.93969467e-01 -2.00606740e-04 -8.64548070e+00] [-1.69056917e-03 1.53160624e-05 9.99998571e-01 -4.45709994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.225769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.80, Y:-8.65, Z:-0.45 [[ 9.94254727e-01 1.07026726e-01 1.67870371e-03 1.17802463e+02] [-1.07026540e-01 9.94256144e-01 -2.00530607e-04 -8.64890371e+00] [-1.69052361e-03 1.97126530e-05 9.99998571e-01 -4.45307199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.255769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.83, Y:-8.65, Z:-0.45 [[ 9.94383939e-01 1.05819484e-01 1.67870845e-03 1.17831512e+02] [-1.05819297e-01 9.94385356e-01 -2.00490948e-04 -8.65292523e+00] [-1.69049895e-03 2.17252313e-05 9.99998571e-01 -4.45972615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.285769231 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:117.86, Y:-8.66, Z:-0.45 [[ 9.94611260e-01 1.03661102e-01 1.67871319e-03 1.17860304e+02] [-1.03660911e-01 9.94612676e-01 -2.00451278e-04 -8.66137788e+00] [-1.69044841e-03 2.53541591e-05 9.99998571e-01 -4.47853199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.315769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:117.89, Y:-8.67, Z:-0.45 [[ 9.94682278e-01 1.02977410e-01 1.67871788e-03 1.17889755e+02] [-1.02977219e-01 9.94683695e-01 -2.00411928e-04 -8.66858865e+00] [-1.69043121e-03 2.64764943e-05 9.99998571e-01 -4.48940345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.345769231 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:117.92, Y:-8.68, Z:-0.45 [[ 9.94681162e-01 1.02988190e-01 1.67872257e-03 1.17918084e+02] [-1.02987999e-01 9.94682578e-01 -2.00372637e-04 -8.67714137e+00] [-1.69043211e-03 2.64186087e-05 9.99998571e-01 -4.51913335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.375769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.95, Y:-8.68, Z:-0.45 [[ 9.94575844e-01 1.04000348e-01 1.67872724e-03 1.17947710e+02] [-1.04000158e-01 9.94577260e-01 -2.00333542e-04 -8.68206837e+00] [-1.69045870e-03 2.46590040e-05 9.99998571e-01 -4.52411599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40576923100001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:117.98, Y:-8.69, Z:-0.45 [[ 9.94382733e-01 1.05830820e-01 1.67873191e-03 1.17975631e+02] [-1.05830632e-01 9.94384150e-01 -2.00294401e-04 -8.68714781e+00] [-1.69050172e-03 2.15080347e-05 9.99998571e-01 -4.52718210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:118.00, Y:-8.69, Z:-0.45 [[ 9.94071579e-01 1.08714665e-01 1.67873887e-03 1.18003762e+02] [-1.08714482e-01 9.94072996e-01 -2.00235999e-04 -8.69242426e+00] [-1.69055757e-03 1.65456894e-05 9.99998571e-01 -4.51102619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.03, Y:-8.70, Z:-0.45 [[ 9.93032964e-01 1.17824932e-01 1.67874575e-03 1.18032201e+02] [-1.17824762e-01 9.93034383e-01 -2.00178382e-04 -8.69649100e+00] [-1.69063825e-03 9.85914117e-07 9.99998571e-01 -4.47475118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49576923100001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:118.06, Y:-8.70, Z:-0.45 [[ 9.92349863e-01 1.23446063e-01 1.67875276e-03 1.18060298e+02] [-1.23445901e-01 9.92351283e-01 -2.00119553e-04 -8.69833121e+00] [-1.69061642e-03 -8.64653536e-06 9.99998571e-01 -4.47880790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.09, Y:-8.70, Z:-0.45 [[ 9.90974308e-01 1.34041422e-01 1.67876445e-03 1.18089179e+02] [-1.34041276e-01 9.90975729e-01 -2.00021464e-04 -8.69735765e+00] [-1.69042598e-03 -2.68075960e-05 9.99998571e-01 -4.48573825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:118.12, Y:-8.70, Z:-0.45 [[ 9.90465950e-01 1.37747534e-01 1.67877352e-03 1.18117074e+02] [-1.37747393e-01 9.90467372e-01 -1.99945303e-04 -8.69828267e+00] [-1.69031237e-03 -3.32076610e-05 9.99998571e-01 -4.49127719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58576923100001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:118.15, Y:-8.70, Z:-0.45 [[ 9.90108891e-01 1.40291006e-01 1.67878477e-03 1.18146251e+02] [-1.40290869e-01 9.90110313e-01 -1.99850757e-04 -8.69939095e+00] [-1.69021938e-03 -3.76441628e-05 9.99998571e-01 -4.48880773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.615769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.17, Y:-8.70, Z:-0.45 [[ 9.89730477e-01 1.42936223e-01 1.67879370e-03 1.18174870e+02] [-1.42936089e-01 9.89731900e-01 -1.99775765e-04 -8.69754785e+00] [-1.69011087e-03 -4.22360425e-05 9.99998571e-01 -4.45486004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.645769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:118.20, Y:-8.70, Z:-0.44 [[ 9.89716147e-01 1.43035417e-01 1.67880478e-03 1.18203555e+02] [-1.43035283e-01 9.89717570e-01 -1.99682606e-04 -8.69818730e+00] [-1.69010427e-03 -4.24992176e-05 9.99998571e-01 -4.43778964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.675769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:118.23, Y:-8.70, Z:-0.44 [[ 9.89895283e-01 1.41790374e-01 1.67881367e-03 1.18232998e+02] [-1.41790239e-01 9.89896706e-01 -1.99607829e-04 -8.69518642e+00] [-1.69015459e-03 -4.04485436e-05 9.99998571e-01 -4.43275346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.705769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:118.26, Y:-8.70, Z:-0.44 [[ 9.89998647e-01 1.41066867e-01 1.67882262e-03 1.18261196e+02] [-1.41066731e-01 9.90000069e-01 -1.99532538e-04 -8.69514584e+00] [-1.69018194e-03 -3.92890757e-05 9.99998571e-01 -4.44060650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.29, Y:-8.70, Z:-0.44 [[ 9.90140402e-01 1.40068434e-01 1.67883378e-03 1.18289884e+02] [-1.40068297e-01 9.90141824e-01 -1.99438556e-04 -8.69550024e+00] [-1.69021859e-03 -3.76792163e-05 9.99998571e-01 -4.44641395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76576923100001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.32, Y:-8.69, Z:-0.44 [[ 9.90611977e-01 1.36693426e-01 1.67884272e-03 1.18318292e+02] [-1.36693284e-01 9.90613399e-01 -1.99363265e-04 -8.69454363e+00] [-1.69033574e-03 -3.19948871e-05 9.99998571e-01 -4.44580412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:118.35, Y:-8.70, Z:-0.44 [[ 9.90960849e-01 1.34140883e-01 1.67885388e-03 1.18347186e+02] [-1.34140738e-01 9.90962271e-01 -1.99269251e-04 -8.69690780e+00] [-1.69041101e-03 -2.77346718e-05 9.99998571e-01 -4.44003596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82576923100001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:118.38, Y:-8.70, Z:-0.44 [[ 9.91777190e-01 1.27965567e-01 1.67886280e-03 1.18376019e+02] [-1.27965414e-01 9.91778611e-01 -1.99194083e-04 -8.69938474e+00] [-1.69055020e-03 -1.72802243e-05 9.99998571e-01 -4.42186634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85576923100001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:118.40, Y:-8.70, Z:-0.44 [[ 9.92165423e-01 1.24919792e-01 1.67887227e-03 1.18404471e+02] [-1.24919634e-01 9.92166844e-01 -1.99114206e-04 -8.70251873e+00] [-1.69059471e-03 -1.21698791e-05 9.99998571e-01 -4.41122492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.43, Y:-8.71, Z:-0.44 [[ 9.92472202e-01 1.22458607e-01 1.67888187e-03 1.18432381e+02] [-1.22458446e-01 9.92473622e-01 -1.99033271e-04 -8.70577045e+00] [-1.69061930e-03 -8.05827531e-06 9.99998571e-01 -4.39848675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:118.46, Y:-8.71, Z:-0.44 [[ 9.92790870e-01 1.19847694e-01 1.67889383e-03 1.18460034e+02] [-1.19847529e-01 9.92792290e-01 -1.98932347e-04 -8.70762724e+00] [-1.69063443e-03 -3.71305931e-06 9.99998571e-01 -4.38019719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.49, Y:-8.71, Z:-0.44 [[ 9.92805226e-01 1.19728710e-01 1.67890564e-03 1.18488722e+02] [-1.19728545e-01 9.92806646e-01 -1.98832584e-04 -8.70978843e+00] [-1.69063465e-03 -3.61089980e-06 9.99998571e-01 -4.37121162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.975769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:118.52, Y:-8.71, Z:-0.44 [[ 9.92619959e-01 1.21255096e-01 1.67891540e-03 1.18516743e+02] [-1.21254934e-01 9.92621379e-01 -1.98750159e-04 -8.71151184e+00] [-1.69062679e-03 -6.29340074e-06 9.99998571e-01 -4.39675729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.005769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.54, Y:-8.71, Z:-0.44 [[ 9.92428235e-01 1.22814408e-01 1.67892749e-03 1.18544943e+02] [-1.22814248e-01 9.92429655e-01 -1.98647983e-04 -8.71445565e+00] [-1.69061426e-03 -9.05234935e-06 9.99998571e-01 -4.39693413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.035769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.57, Y:-8.72, Z:-0.44 [[ 9.92265314e-01 1.24123842e-01 1.67893686e-03 1.18574168e+02] [-1.24123684e-01 9.92266734e-01 -1.98568724e-04 -8.71687641e+00] [-1.69060031e-03 -1.13629712e-05 9.99998571e-01 -4.39276913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.065769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:118.60, Y:-8.72, Z:-0.44 [[ 9.91887242e-01 1.27109721e-01 1.67894623e-03 1.18602912e+02] [-1.27109567e-01 9.91888662e-01 -1.98489514e-04 -8.71718982e+00] [-1.69055767e-03 -1.65309119e-05 9.99998571e-01 -4.41012740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.095769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:118.63, Y:-8.72, Z:-0.44 [[ 9.91658697e-01 1.28880606e-01 1.67895562e-03 1.18631447e+02] [-1.28880455e-01 9.91660118e-01 -1.98409994e-04 -8.71860120e+00] [-1.69052453e-03 -1.96295685e-05 9.99998571e-01 -4.41988117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.125769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:118.66, Y:-8.72, Z:-0.44 [[ 9.91429076e-01 1.30635251e-01 1.67896541e-03 1.18659001e+02] [-1.30635103e-01 9.91430497e-01 -1.98327148e-04 -8.71961543e+00] [-1.69048603e-03 -2.27045176e-05 9.99998571e-01 -4.43641718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.69, Y:-8.72, Z:-0.44 [[ 9.91153825e-01 1.32707481e-01 1.67897871e-03 1.18688502e+02] [-1.32707336e-01 9.91155247e-01 -1.98214521e-04 -8.71743452e+00] [-1.69043310e-03 -2.63517105e-05 9.99998571e-01 -4.39282322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18576923100001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:118.72, Y:-8.72, Z:-0.44 [[ 9.91100665e-01 1.33103921e-01 1.67898826e-03 1.18716622e+02] [-1.33103776e-01 9.91102086e-01 -1.98133581e-04 -8.71740873e+00] [-1.69042112e-03 -2.71093537e-05 9.99998571e-01 -4.39182595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21576923100001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:118.74, Y:-8.72, Z:-0.44 [[ 9.91271765e-01 1.31823631e-01 1.67900013e-03 1.18744767e+02] [-1.31823484e-01 9.91273186e-01 -1.98032927e-04 -8.71699403e+00] [-1.69045323e-03 -2.50271981e-05 9.99998571e-01 -4.42728555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24576923100001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:118.77, Y:-8.72, Z:-0.44 [[ 9.91490573e-01 1.30167677e-01 1.67901185e-03 1.18773243e+02] [-1.30167529e-01 9.91491995e-01 -1.97933457e-04 -8.71883055e+00] [-1.69049135e-03 -2.23036666e-05 9.99998571e-01 -4.44670923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27576923100001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:118.80, Y:-8.72, Z:-0.44 [[ 9.92162208e-01 1.24945324e-01 1.67902088e-03 1.18802124e+02] [-1.24945168e-01 9.92163629e-01 -1.97856841e-04 -8.71722736e+00] [-1.69058474e-03 -1.34794664e-05 9.99998571e-01 -4.44376841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30576923100001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:118.83, Y:-8.72, Z:-0.44 [[ 9.92576967e-01 1.21606516e-01 1.67903025e-03 1.18829898e+02] [-1.21606355e-01 9.92578387e-01 -1.97777340e-04 -8.71874402e+00] [-1.69062015e-03 -7.87151659e-06 9.99998571e-01 -4.43719846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.86, Y:-8.72, Z:-0.44 [[ 9.93016758e-01 1.17961433e-01 1.67904255e-03 1.18858722e+02] [-1.17961268e-01 9.93018177e-01 -1.97672812e-04 -8.72150699e+00] [-1.69063754e-03 -1.76957354e-06 9.99998571e-01 -4.42138834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.365769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:118.89, Y:-8.73, Z:-0.44 [[ 9.93850579e-01 1.10716787e-01 1.67905186e-03 1.18887151e+02] [-1.10716611e-01 9.93851997e-01 -1.97593767e-04 -8.72542681e+00] [-1.69060599e-03 1.04797474e-05 9.99998571e-01 -4.43520415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.395769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.92, Y:-8.73, Z:-0.44 [[ 9.94311151e-01 1.06501246e-01 1.67906118e-03 1.18915869e+02] [-1.06501065e-01 9.94312569e-01 -1.97514524e-04 -8.72877351e+00] [-1.69054718e-03 1.75690902e-05 9.99998571e-01 -4.43278991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.425769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:118.94, Y:-8.73, Z:-0.44 [[ 9.95086016e-01 9.90000092e-02 1.67907048e-03 1.18943057e+02] [-9.89998169e-02 9.95087432e-01 -1.97435428e-04 -8.73383354e+00] [-1.69036804e-03 3.02375636e-05 9.99998571e-01 -4.41358102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.455769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:118.97, Y:-8.74, Z:-0.44 [[ 9.95392579e-01 9.58686315e-02 1.67908200e-03 1.18971371e+02] [-9.58684349e-02 9.95393994e-01 -1.97337374e-04 -8.73947943e+00] [-1.69026661e-03 3.54571942e-05 9.99998571e-01 -4.39703483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.485769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:119.00, Y:-8.75, Z:-0.44 [[ 9.95714820e-01 9.24617687e-02 1.67909111e-03 1.18999193e+02] [-9.24615675e-02 9.95716234e-01 -1.97259834e-04 -8.74636664e+00] [-1.69013727e-03 4.11631441e-05 9.99998571e-01 -4.40837271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:119.03, Y:-8.75, Z:-0.44 [[ 9.95772962e-01 9.18334874e-02 1.67910020e-03 1.19027494e+02] [-9.18332853e-02 9.95774376e-01 -1.97182472e-04 -8.75035535e+00] [-1.69011291e-03 4.21516869e-05 9.99998571e-01 -4.42754218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54576923100001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:119.06, Y:-8.75, Z:-0.44 [[ 9.95773800e-01 9.18243914e-02 1.67910945e-03 1.19056460e+02] [-9.18241895e-02 9.95775215e-01 -1.97103680e-04 -8.75497718e+00] [-1.69011450e-03 4.20878168e-05 9.99998571e-01 -4.44209038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57576923100001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.08, Y:-8.76, Z:-0.44 [[ 9.95692158e-01 9.27054841e-02 1.67911641e-03 1.19084961e+02] [-9.27052835e-02 9.95693573e-01 -1.97044362e-04 -8.76244519e+00] [-1.69015251e-03 4.05325636e-05 9.99998571e-01 -4.42343807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60576923100001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:119.11, Y:-8.77, Z:-0.44 [[ 9.95638322e-01 9.32818968e-02 1.67912590e-03 1.19112025e+02] [-9.32816972e-02 9.95639737e-01 -1.96963444e-04 -8.76722028e+00] [-1.69017759e-03 3.94726392e-05 9.99998571e-01 -4.40098360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:119.14, Y:-8.77, Z:-0.44 [[ 9.95495774e-01 9.47910572e-02 1.67913771e-03 1.19140366e+02] [-9.47908599e-02 9.95497189e-01 -1.96862690e-04 -8.77223431e+00] [-1.69023769e-03 3.68090682e-05 9.99998571e-01 -4.37237574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:119.17, Y:-8.78, Z:-0.44 [[ 9.95360578e-01 9.62003170e-02 1.67914693e-03 1.19168241e+02] [-9.62001218e-02 9.95361993e-01 -1.96784037e-04 -8.77729054e+00] [-1.69028972e-03 3.43369337e-05 9.99998571e-01 -4.39232948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69576923100001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:119.20, Y:-8.78, Z:-0.44 [[ 9.95220240e-01 9.76414628e-02 1.67915838e-03 1.19197061e+02] [-9.76412699e-02 9.95221656e-01 -1.96686274e-04 -8.78282128e+00] [-1.69033952e-03 3.17910040e-05 9.99998571e-01 -4.42476552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.725769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:119.22, Y:-8.79, Z:-0.45 [[ 9.94935897e-01 1.00497470e-01 1.67916756e-03 1.19224657e+02] [-1.00497282e-01 9.94937313e-01 -1.96607852e-04 -8.78790587e+00] [-1.69042505e-03 2.68604345e-05 9.99998571e-01 -4.48829916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.755769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:119.25, Y:-8.79, Z:-0.45 [[ 9.94940575e-01 1.00451141e-01 1.67917669e-03 1.19253795e+02] [-1.00450952e-01 9.94941992e-01 -1.96529874e-04 -8.79122512e+00] [-1.69042505e-03 2.68606490e-05 9.99998571e-01 -4.48879498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.785769231 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:119.28, Y:-8.79, Z:-0.45 [[ 9.94747006e-01 1.02350254e-01 1.67918584e-03 1.19282828e+02] [-1.02350069e-01 9.94748423e-01 -1.96451683e-04 -8.79480211e+00] [-1.69047434e-03 2.35549378e-05 9.99998571e-01 -4.47311318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.815769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.31, Y:-8.80, Z:-0.44 [[ 9.94362474e-01 1.06020989e-01 1.67919549e-03 1.19309772e+02] [-1.06020808e-01 9.94363892e-01 -1.96369166e-04 -8.80180074e+00] [-1.69055061e-03 1.72324671e-05 9.99998571e-01 -4.43922203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.845769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.34, Y:-8.81, Z:-0.44 [[ 9.94213278e-01 1.07411075e-01 1.67920744e-03 1.19336894e+02] [-1.07410896e-01 9.94214696e-01 -1.96266849e-04 -8.80799193e+00] [-1.69057395e-03 1.47659301e-05 9.99998571e-01 -4.42115377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.875769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:119.37, Y:-8.81, Z:-0.44 [[ 9.94133348e-01 1.08148354e-01 1.67921862e-03 1.19365191e+02] [-1.08148177e-01 9.94134766e-01 -1.96171177e-04 -8.81317333e+00] [-1.69058520e-03 1.34158763e-05 9.99998571e-01 -4.41909593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.39, Y:-8.82, Z:-0.44 [[ 9.93969414e-01 1.09644805e-01 1.67922778e-03 1.19393926e+02] [-1.09644630e-01 9.93970833e-01 -1.96092731e-04 -8.81691501e+00] [-1.69060399e-03 1.07918678e-05 9.99998571e-01 -4.43344988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93576923100001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.42, Y:-8.82, Z:-0.44 [[ 9.93827894e-01 1.10920230e-01 1.67923692e-03 1.19422661e+02] [-1.10920057e-01 9.93829313e-01 -1.96014468e-04 -8.82070366e+00] [-1.69061684e-03 8.54359037e-06 9.99998571e-01 -4.41390461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:119.45, Y:-8.83, Z:-0.44 [[ 9.93627312e-01 1.12702908e-01 1.67924618e-03 1.19450592e+02] [-1.12702738e-01 9.93628731e-01 -1.95935056e-04 -8.82743095e+00] [-1.69062970e-03 5.43078059e-06 9.99998571e-01 -4.40343173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99576923100001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:119.48, Y:-8.83, Z:-0.44 [[ 9.93629736e-01 1.12681537e-01 1.67925558e-03 1.19478411e+02] [-1.12681367e-01 9.93631155e-01 -1.95854480e-04 -8.83206065e+00] [-1.69062985e-03 5.38602109e-06 9.99998571e-01 -4.40957267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02576923100001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.51, Y:-8.84, Z:-0.44 [[ 9.93729467e-01 1.11798596e-01 1.67926726e-03 1.19506583e+02] [-1.11798425e-01 9.93730886e-01 -1.95754297e-04 -8.83559799e+00] [-1.69062480e-03 6.78737924e-06 9.99998571e-01 -4.36955745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.54, Y:-8.84, Z:-0.44 [[ 9.94030387e-01 1.09090647e-01 1.67927667e-03 1.19535278e+02] [-1.09090472e-01 9.94031806e-01 -1.95673515e-04 -8.84149905e+00] [-1.69060057e-03 1.13123344e-05 9.99998571e-01 -4.43396131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08576923100001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:119.56, Y:-8.85, Z:-0.44 [[ 9.94183882e-01 1.07682813e-01 1.67928616e-03 1.19563053e+02] [-1.07682636e-01 9.94185300e-01 -1.95592035e-04 -8.84706557e+00] [-1.69058352e-03 1.36244876e-05 9.99998571e-01 -4.44955483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.115769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:119.59, Y:-8.86, Z:-0.44 [[ 9.94420632e-01 1.05474100e-01 1.67929325e-03 1.19591957e+02] [-1.05473921e-01 9.94422050e-01 -1.95531205e-04 -8.85598491e+00] [-1.69054971e-03 1.73186224e-05 9.99998571e-01 -4.40480151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.145769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.62, Y:-8.86, Z:-0.44 [[ 9.94533027e-01 1.04408994e-01 1.67929784e-03 1.19621590e+02] [-1.04408812e-01 9.94534445e-01 -1.95491746e-04 -8.86176608e+00] [-1.69053064e-03 1.90895052e-05 9.99998571e-01 -4.36999536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.175769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.65, Y:-8.87, Z:-0.44 [[ 9.94691446e-01 1.02888811e-01 1.67930249e-03 1.19650633e+02] [-1.02888627e-01 9.94692863e-01 -1.95451774e-04 -8.86746223e+00] [-1.69050000e-03 2.16330789e-05 9.99998571e-01 -4.35865324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.205769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.68, Y:-8.88, Z:-0.44 [[ 9.95022426e-01 9.96371007e-02 1.67930714e-03 1.19678530e+02] [-9.96369128e-02 9.95023843e-01 -1.95411848e-04 -8.87662216e+00] [-1.69042091e-03 2.71181927e-05 9.99998571e-01 -4.38876535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:-8.88, Z:-0.44 [[ 9.95047921e-01 9.93821678e-02 1.67931408e-03 1.19707417e+02] [-9.93819796e-02 9.95049337e-01 -1.95352174e-04 -8.88313629e+00] [-1.69041488e-03 2.74912166e-05 9.99998571e-01 -4.39288196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:-8.89, Z:-0.44 [[ 9.94579652e-01 1.03963920e-01 1.67931868e-03 1.19735839e+02] [-1.03963738e-01 9.94581069e-01 -1.95312572e-04 -8.89088767e+00] [-1.69052403e-03 1.96656620e-05 9.99998571e-01 -4.36292031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:-8.90, Z:-0.43 [[ 9.94180031e-01 1.07718360e-01 1.67932558e-03 1.19764682e+02] [-1.07718184e-01 9.94181450e-01 -1.95253276e-04 -8.89540246e+00] [-1.69058670e-03 1.32230065e-05 9.99998571e-01 -4.34945976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:-8.90, Z:-0.44 [[ 9.93736867e-01 1.11732801e-01 1.67933011e-03 1.19792756e+02] [-1.11732630e-01 9.93738286e-01 -1.95214282e-04 -8.89983308e+00] [-1.69062647e-03 6.35565856e-06 9.99998571e-01 -4.36391154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35576923100001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:119.82, Y:-8.90, Z:-0.44 [[ 9.92828315e-01 1.19537090e-01 1.67933691e-03 1.19821722e+02] [-1.19536931e-01 9.92829736e-01 -1.95155792e-04 -8.90466811e+00] [-1.69062398e-03 -6.98658409e-06 9.99998571e-01 -4.42474171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.85, Y:-8.91, Z:-0.44 [[ 9.92463590e-01 1.22528370e-01 1.67934141e-03 1.19850716e+02] [-1.22528215e-01 9.92465011e-01 -1.95117013e-04 -8.90889718e+00] [-1.69059497e-03 -1.21201748e-05 9.99998571e-01 -4.43187807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.88, Y:-8.91, Z:-0.44 [[ 9.92173970e-01 1.24851884e-01 1.67934607e-03 1.19879008e+02] [-1.24851733e-01 9.92175391e-01 -1.95076952e-04 -8.91443109e+00] [-1.69056157e-03 -1.61189921e-05 9.99998571e-01 -4.44029937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:119.91, Y:-8.92, Z:-0.45 [[ 9.92146676e-01 1.25068594e-01 1.67935302e-03 1.19908463e+02] [-1.25068444e-01 9.92148097e-01 -1.95017064e-04 -8.91886819e+00] [-1.69055742e-03 -1.65485374e-05 9.99998571e-01 -4.45251796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.475769231 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:119.94, Y:-8.92, Z:-0.45 [[ 9.92146409e-01 1.25070714e-01 1.67935761e-03 1.19936740e+02] [-1.25070563e-01 9.92147830e-01 -1.94977546e-04 -8.92284414e+00] [-1.69055699e-03 -1.65919305e-05 9.99998571e-01 -4.47034478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.505769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.97, Y:-8.93, Z:-0.45 [[ 9.91956149e-01 1.26570841e-01 1.67936445e-03 1.19966195e+02] [-1.26570692e-01 9.91957571e-01 -1.94918583e-04 -8.92561961e+00] [-1.69052929e-03 -1.92076338e-05 9.99998571e-01 -4.46166518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.535769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:119.99, Y:-8.93, Z:-0.45 [[ 9.91682151e-01 1.28700006e-01 1.67936904e-03 1.19994046e+02] [-1.28699861e-01 9.91683572e-01 -1.94879076e-04 -8.92786695e+00] [-1.69048363e-03 -2.28764599e-05 9.99998571e-01 -4.45618643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.565769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.02, Y:-8.93, Z:-0.44 [[ 9.90874599e-01 1.34776515e-01 1.67938044e-03 1.20023039e+02] [-1.34776378e-01 9.90876021e-01 -1.94780769e-04 -8.92745202e+00] [-1.69030968e-03 -3.33374971e-05 9.99998571e-01 -4.41603251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.595769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:120.05, Y:-8.93, Z:-0.44 [[ 9.90445396e-01 1.37895239e-01 1.67938959e-03 1.20050785e+02] [-1.37895107e-01 9.90446819e-01 -1.94701822e-04 -8.92815038e+00] [-1.69019454e-03 -3.87380838e-05 9.99998571e-01 -4.41952390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.625769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.08, Y:-8.93, Z:-0.44 [[ 9.90073069e-01 1.40543578e-01 1.67940093e-03 1.20078497e+02] [-1.40543450e-01 9.90074493e-01 -1.94603958e-04 -8.92832033e+00] [-1.69008236e-03 -4.33566629e-05 9.99998571e-01 -4.41976467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:-8.93, Z:-0.44 [[ 9.89510516e-01 1.44451092e-01 1.67941182e-03 1.20107365e+02] [-1.44450970e-01 9.89511940e-01 -1.94509938e-04 -8.92542540e+00] [-1.68989522e-03 -5.01230379e-05 9.99998571e-01 -4.41767111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:-8.93, Z:-0.44 [[ 9.89346862e-01 1.45567740e-01 1.67942058e-03 1.20135710e+02] [-1.45567619e-01 9.89348286e-01 -1.94434276e-04 -8.92566655e+00] [-1.68983523e-03 -5.21063150e-05 9.99998571e-01 -4.41896101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.16, Y:-8.93, Z:-0.44 [[ 9.89234786e-01 1.46327436e-01 1.67943146e-03 1.20164857e+02] [-1.46327316e-01 9.89236210e-01 -1.94340286e-04 -8.92533079e+00] [-1.68979173e-03 -5.34985276e-05 9.99998571e-01 -4.42452229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.19, Y:-8.92, Z:-0.44 [[ 9.89123952e-01 1.47074765e-01 1.67944013e-03 1.20193753e+02] [-1.47074647e-01 9.89125377e-01 -1.94265373e-04 -8.92056597e+00] [-1.68974838e-03 -5.48505305e-05 9.99998571e-01 -4.42185666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.22, Y:-8.92, Z:-0.44 [[ 9.89228675e-01 1.46368739e-01 1.67945305e-03 1.20222412e+02] [-1.46368621e-01 9.89230099e-01 -1.94153534e-04 -8.92014168e+00] [-1.68978352e-03 -5.37569834e-05 9.99998571e-01 -4.38219722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.25, Y:-8.92, Z:-0.43 [[ 9.89489994e-01 1.44591603e-01 1.67946212e-03 1.20251070e+02] [-1.44591482e-01 9.89491418e-01 -1.94075104e-04 -8.91803764e+00] [-1.68987498e-03 -5.08005424e-05 9.99998571e-01 -4.32534645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:-8.92, Z:-0.43 [[ 9.89681945e-01 1.43271865e-01 1.67947339e-03 1.20280053e+02] [-1.43271742e-01 9.89683369e-01 -1.93977463e-04 -8.91913203e+00] [-1.68993840e-03 -4.86450865e-05 9.99998571e-01 -4.32161604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:-8.92, Z:-0.43 [[ 9.89934700e-01 1.41514907e-01 1.67948260e-03 1.20308266e+02] [-1.41514782e-01 9.89936124e-01 -1.93897769e-04 -8.92045948e+00] [-1.69001992e-03 -4.57254832e-05 9.99998571e-01 -4.34294713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:-8.92, Z:-0.44 [[ 9.90751585e-01 1.35677840e-01 1.67949497e-03 1.20336681e+02] [-1.35677707e-01 9.90753008e-01 -1.93790503e-04 -8.92149355e+00] [-1.69025777e-03 -3.58717787e-05 9.99998571e-01 -4.38341330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.925769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.36, Y:-8.92, Z:-0.44 [[ 9.91347307e-01 1.31254318e-01 1.67950404e-03 1.20364027e+02] [-1.31254178e-01 9.91348729e-01 -1.93711903e-04 -8.92419777e+00] [-1.69039972e-03 -2.84061490e-05 9.99998571e-01 -4.39486705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.39, Y:-8.93, Z:-0.44 [[ 9.92428052e-01 1.22815884e-01 1.67951534e-03 1.20392769e+02] [-1.22815732e-01 9.92429473e-01 -1.93613885e-04 -8.92663957e+00] [-1.69057938e-03 -1.41230550e-05 9.99998571e-01 -4.38019121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:-8.93, Z:-0.44 [[ 9.92824538e-01 1.19568461e-01 1.67952440e-03 1.20421149e+02] [-1.19568305e-01 9.92825958e-01 -1.93535285e-04 -8.92971234e+00] [-1.69061613e-03 -8.67130547e-06 9.99998571e-01 -4.36684262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.45, Y:-8.93, Z:-0.44 [[ 9.93313814e-01 1.15433294e-01 1.67953343e-03 1.20449587e+02] [-1.15433131e-01 9.93315234e-01 -1.93456846e-04 -8.93161309e+00] [-1.69063750e-03 -1.71044548e-06 9.99998571e-01 -4.36790637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.48, Y:-8.93, Z:-0.44 [[ 9.93428020e-01 1.14446270e-01 1.67954249e-03 1.20478681e+02] [-1.14446107e-01 9.93429439e-01 -1.93378131e-04 -8.93331450e+00] [-1.69063836e-03 -1.09845872e-07 9.99998571e-01 -4.38233467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.51, Y:-8.93, Z:-0.44 [[ 9.93476071e-01 1.14028395e-01 1.67955162e-03 1.20507253e+02] [-1.14028231e-01 9.93477491e-01 -1.93298865e-04 -8.93481603e+00] [-1.69063828e-03 5.21497342e-07 9.99998571e-01 -4.40080906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:-8.94, Z:-0.44 [[ 9.93521657e-01 1.13630521e-01 1.67956069e-03 1.20536151e+02] [-1.13630357e-01 9.93523077e-01 -1.93219982e-04 -8.93665543e+00] [-1.69063799e-03 1.11915516e-06 9.99998571e-01 -4.40216520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.56, Y:-8.94, Z:-0.44 [[ 9.93546313e-01 1.13414740e-01 1.67956992e-03 1.20564002e+02] [-1.13414576e-01 9.93547732e-01 -1.93139757e-04 -8.93926656e+00] [-1.69063778e-03 1.40558452e-06 9.99998571e-01 -4.38642757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-8.94, Z:-0.43 [[ 9.93649936e-01 1.12503257e-01 1.67958278e-03 1.20591737e+02] [-1.12503091e-01 9.93651356e-01 -1.93027856e-04 -8.93960554e+00] [-1.69063597e-03 2.84386248e-06 9.99998571e-01 -4.32187931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:-8.94, Z:-0.43 [[ 9.93768357e-01 1.11452373e-01 1.67959368e-03 1.20620806e+02] [-1.11452206e-01 9.93769776e-01 -1.92932932e-04 -8.94109087e+00] [-1.69063227e-03 4.53622293e-06 9.99998571e-01 -4.31571241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.225769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:-8.94, Z:-0.43 [[ 9.93903834e-01 1.10237686e-01 1.67960232e-03 1.20649875e+02] [-1.10237518e-01 9.93905253e-01 -1.92857652e-04 -8.94326250e+00] [-1.69062575e-03 6.52676838e-06 9.99998571e-01 -4.33483832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.255769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:-8.95, Z:-0.44 [[ 9.94025210e-01 1.09137810e-01 1.67961091e-03 1.20678802e+02] [-1.09137640e-01 9.94026629e-01 -1.92782839e-04 -8.94620650e+00] [-1.69061787e-03 8.32223122e-06 9.99998571e-01 -4.37669309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.285769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:-8.95, Z:-0.44 [[ 9.94185087e-01 1.07671680e-01 1.67961953e-03 1.20707858e+02] [-1.07671508e-01 9.94186506e-01 -1.92707745e-04 -8.95042066e+00] [-1.69060424e-03 1.07399987e-05 9.99998571e-01 -4.43724706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.315769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:-8.95, Z:-0.44 [[ 9.94554008e-01 1.04208946e-01 1.67963401e-03 1.20736544e+02] [-1.04208769e-01 9.94555426e-01 -1.92581457e-04 -8.95471917e+00] [-1.69055783e-03 1.65000673e-05 9.99998571e-01 -4.42726871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.345769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.76, Y:-8.96, Z:-0.44 [[ 9.94753380e-01 1.02288277e-01 1.67964301e-03 1.20763659e+02] [-1.02288098e-01 9.94754798e-01 -1.92502878e-04 -8.95894186e+00] [-1.69052373e-03 1.96854008e-05 9.99998571e-01 -4.41900958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.375769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:-8.96, Z:-0.44 [[ 9.94878994e-01 1.01059222e-01 1.67965418e-03 1.20790951e+02] [-1.01059041e-01 9.94880411e-01 -1.92405347e-04 -8.96402754e+00] [-1.69049938e-03 2.16757961e-05 9.99998571e-01 -4.40670280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.82, Y:-8.97, Z:-0.44 [[ 9.94914974e-01 1.00704386e-01 1.67966605e-03 1.20819716e+02] [-1.00704205e-01 9.94916392e-01 -1.92301712e-04 -8.96898675e+00] [-1.69049291e-03 2.21744189e-05 9.99998571e-01 -4.38531375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:-8.97, Z:-0.44 [[ 9.94840440e-01 1.01438043e-01 1.67967536e-03 1.20846891e+02] [-1.01437863e-01 9.94841858e-01 -1.92220341e-04 -8.97251820e+00] [-1.69050981e-03 2.08458885e-05 9.99998571e-01 -4.40767284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.87, Y:-8.98, Z:-0.44 [[ 9.94796345e-01 1.01869573e-01 1.67968696e-03 1.20874440e+02] [-1.01869394e-01 9.94797763e-01 -1.92118902e-04 -8.97589260e+00] [-1.69051991e-03 2.00104893e-05 9.99998571e-01 -4.44012599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:-8.98, Z:-0.44 [[ 9.94590967e-01 1.03855608e-01 1.67969952e-03 1.20903161e+02] [-1.03855432e-01 9.94592385e-01 -1.92009048e-04 -8.98096449e+00] [-1.69055757e-03 1.65245448e-05 9.99998571e-01 -4.43196963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:-8.98, Z:-0.44 [[ 9.94412210e-01 1.05553475e-01 1.67970849e-03 1.20931571e+02] [-1.05553302e-01 9.94413628e-01 -1.91930601e-04 -8.98497530e+00] [-1.69058395e-03 1.35593563e-05 9.99998571e-01 -4.41635059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:-8.99, Z:-0.44 [[ 9.93897589e-01 1.10293973e-01 1.67971777e-03 1.20958684e+02] [-1.10293806e-01 9.93899009e-01 -1.91849332e-04 -8.98859916e+00] [-1.69062965e-03 5.41612205e-06 9.99998571e-01 -4.40540673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:-8.99, Z:-0.44 [[ 9.93606103e-01 1.12889726e-01 1.67972933e-03 1.20986908e+02] [-1.12889563e-01 9.93607523e-01 -1.91748049e-04 -8.99162941e+00] [-1.69063808e-03 8.98121985e-07 9.99998571e-01 -4.41197825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:-8.99, Z:-0.44 [[ 9.93334999e-01 1.15250846e-01 1.67973848e-03 1.21014547e+02] [-1.15250687e-01 9.93336420e-01 -1.91667817e-04 -8.99385712e+00] [-1.69063529e-03 -3.20066308e-06 9.99998571e-01 -4.42698978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-9.00, Z:-0.44 [[ 9.93079811e-01 1.17429414e-01 1.67974987e-03 1.21043143e+02] [-1.17429258e-01 9.93081232e-01 -1.91567976e-04 -8.99516645e+00] [-1.69062379e-03 -7.00949022e-06 9.99998571e-01 -4.43625319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:-8.99, Z:-0.45 [[ 9.92575924e-01 1.21615025e-01 1.67975886e-03 1.21072704e+02] [-1.21614875e-01 9.92577345e-01 -1.91489127e-04 -8.99379122e+00] [-1.69057854e-03 -1.42161662e-05 9.99998571e-01 -4.45034093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:-9.00, Z:-0.45 [[ 9.92581627e-01 1.21568464e-01 1.67976783e-03 1.21101854e+02] [-1.21568314e-01 9.92583049e-01 -1.91410424e-04 -8.99702030e+00] [-1.69057854e-03 -1.42160734e-05 9.99998571e-01 -4.45083678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:-8.99, Z:-0.45 [[ 9.92181141e-01 1.24794877e-01 1.67977680e-03 1.21129965e+02] [-1.24794732e-01 9.92182563e-01 -1.91331627e-04 -8.99426253e+00] [-1.69052246e-03 -1.97916638e-05 9.99998571e-01 -4.46940176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:-8.99, Z:-0.45 [[ 9.92062860e-01 1.25731696e-01 1.67978796e-03 1.21159207e+02] [-1.25731552e-01 9.92064282e-01 -1.91233653e-04 -8.99408586e+00] [-1.69050176e-03 -2.14865424e-05 9.99998571e-01 -4.46072034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:-8.99, Z:-0.45 [[ 9.91947977e-01 1.26634868e-01 1.67979696e-03 1.21187714e+02] [-1.26634725e-01 9.91949399e-01 -1.91154523e-04 -8.99386711e+00] [-1.69048041e-03 -2.31052842e-05 9.99998571e-01 -4.45537085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:-8.99, Z:-0.44 [[ 9.91941798e-01 1.26683259e-01 1.67980816e-03 1.21216895e+02] [-1.26683117e-01 9.91943220e-01 -1.91056021e-04 -8.99371913e+00] [-1.69047792e-03 -2.32868809e-05 9.99998571e-01 -4.44616913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:-8.99, Z:-0.45 [[ 9.92201695e-01 1.24631351e-01 1.67981717e-03 1.21245616e+02] [-1.24631206e-01 9.92203117e-01 -1.90976819e-04 -8.99035120e+00] [-1.69052153e-03 -1.98701162e-05 9.99998571e-01 -4.45239565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.27, Y:-8.99, Z:-0.44 [[ 9.92512055e-01 1.22135169e-01 1.67983153e-03 1.21274315e+02] [-1.22135021e-01 9.92513476e-01 -1.90850387e-04 -8.99095989e+00] [-1.69056498e-03 -1.57449489e-05 9.99998571e-01 -4.43277176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:-8.99, Z:-0.44 [[ 9.93124388e-01 1.17051821e-01 1.67984060e-03 1.21302672e+02] [-1.17051665e-01 9.93125808e-01 -1.90770515e-04 -8.98885484e+00] [-1.69062309e-03 -7.16928990e-06 9.99998571e-01 -4.40401255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:-8.99, Z:-0.44 [[ 9.93389275e-01 1.14782084e-01 1.67985181e-03 1.21331933e+02] [-1.14781926e-01 9.93390695e-01 -1.90671827e-04 -8.98944423e+00] [-1.69063486e-03 -3.40527732e-06 9.99998571e-01 -4.38068571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.975769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:-8.99, Z:-0.44 [[ 9.93569444e-01 1.13211915e-01 1.67986039e-03 1.21360837e+02] [-1.13211754e-01 9.93570864e-01 -1.90596186e-04 -8.99007133e+00] [-1.69063810e-03 -8.09395219e-07 9.99998571e-01 -4.36671410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.005769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:-8.99, Z:-0.44 [[ 9.93746775e-01 1.11644639e-01 1.67986901e-03 1.21389204e+02] [-1.11644477e-01 9.93748195e-01 -1.90520152e-04 -8.98727316e+00] [-1.69063735e-03 1.78069034e-06 9.99998571e-01 -4.36747541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.035769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:-8.99, Z:-0.44 [[ 9.93825764e-01 1.10939305e-01 1.67987968e-03 1.21417283e+02] [-1.10939142e-01 9.93827183e-01 -1.90426031e-04 -8.98737625e+00] [-1.69063582e-03 2.88588577e-06 9.99998571e-01 -4.36144582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.065769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:-8.99, Z:-0.44 [[ 9.93896512e-01 1.10303674e-01 1.67989300e-03 1.21444407e+02] [-1.10303510e-01 9.93897932e-01 -1.90308490e-04 -8.98824779e+00] [-1.69063390e-03 3.84885082e-06 9.99998571e-01 -4.35692832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:-8.99, Z:-0.44 [[ 9.94162201e-01 1.07882785e-01 1.67990842e-03 1.21472950e+02] [-1.07882618e-01 9.94163621e-01 -1.90172238e-04 -8.98808802e+00] [-1.69062015e-03 7.82913250e-06 9.99998571e-01 -4.35460127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.125769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:-8.99, Z:-0.44 [[ 9.94360117e-01 1.06043086e-01 1.67991734e-03 1.21501585e+02] [-1.06042916e-01 9.94361536e-01 -1.90093435e-04 -8.98671011e+00] [-1.69060328e-03 1.08779963e-05 9.99998571e-01 -4.40794637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-8.99, Z:-0.44 [[ 9.94438433e-01 1.05306125e-01 1.67992617e-03 1.21530090e+02] [-1.05305954e-01 9.94439852e-01 -1.90015326e-04 -8.98824775e+00] [-1.69059531e-03 1.20523146e-05 9.99998571e-01 -4.43582068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-8.99, Z:-0.45 [[ 9.94564366e-01 1.04110037e-01 1.67993518e-03 1.21558141e+02] [-1.04109865e-01 9.94565785e-01 -1.89935616e-04 -8.99103018e+00] [-1.69058026e-03 1.40053708e-05 9.99998571e-01 -4.45645188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.59, Y:-8.99, Z:-0.45 [[ 9.94751693e-01 1.02304676e-01 1.67994809e-03 1.21585679e+02] [-1.02304502e-01 9.94753112e-01 -1.89821381e-04 -8.99351185e+00] [-1.69055321e-03 1.69588876e-05 9.99998571e-01 -4.47048849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.61, Y:-8.99, Z:-0.44 [[ 9.95107349e-01 9.87853270e-02 1.67995907e-03 1.21614911e+02] [-9.87851474e-02 9.95108767e-01 -1.89724203e-04 -8.99416918e+00] [-1.69048396e-03 2.28409447e-05 9.99998571e-01 -4.41556113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.64, Y:-9.00, Z:-0.44 [[ 9.95256374e-01 9.72724445e-02 1.67996795e-03 1.21643260e+02] [-9.72722629e-02 9.95257791e-01 -1.89645512e-04 -8.99649897e+00] [-1.69044847e-03 2.53316203e-05 9.99998571e-01 -4.40637108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.67, Y:-9.00, Z:-0.44 [[ 9.95368162e-01 9.61217951e-02 1.67997682e-03 1.21671090e+02] [-9.61216120e-02 9.95369579e-01 -1.89566912e-04 -8.99980735e+00] [-1.69041933e-03 2.72067892e-05 9.99998571e-01 -4.41441372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-9.00, Z:-0.44 [[ 9.95352367e-01 9.62852134e-02 1.67999026e-03 1.21699045e+02] [-9.62850308e-02 9.95353785e-01 -1.89447731e-04 -9.00222399e+00] [-1.69042568e-03 2.68093336e-05 9.99998571e-01 -4.43477123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:-9.00, Z:-0.44 [[ 9.95300044e-01 9.68245846e-02 1.68000322e-03 1.21726986e+02] [-9.68244030e-02 9.95301461e-01 -1.89332751e-04 -9.00337458e+00] [-1.69044172e-03 2.57775871e-05 9.99998571e-01 -4.43492668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:-9.00, Z:-0.44 [[ 9.95031225e-01 9.95491750e-02 1.68001646e-03 1.21755472e+02] [-9.95489974e-02 9.95032643e-01 -1.89215193e-04 -9.00218693e+00] [-1.69050743e-03 2.10310718e-05 9.99998571e-01 -4.42386574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.425769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:121.78, Y:-9.00, Z:-0.44 [[ 9.94883012e-01 1.01019650e-01 1.68002963e-03 1.21783689e+02] [-1.01019475e-01 9.94884430e-01 -1.89098156e-04 -9.00463418e+00] [-1.69053795e-03 1.84148316e-05 9.99998571e-01 -4.44699137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.455769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.81, Y:-9.01, Z:-0.45 [[ 9.94721133e-01 1.02601385e-01 1.68003838e-03 1.21812738e+02] [-1.02601212e-01 9.94722552e-01 -1.89020409e-04 -9.00601545e+00] [-1.69056582e-03 1.56486214e-05 9.99998571e-01 -4.49530093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.84, Y:-9.01, Z:-0.45 [[ 9.94731502e-01 1.02500813e-01 1.68004704e-03 1.21841787e+02] [-1.02500640e-01 9.94732920e-01 -1.88943410e-04 -9.00796703e+00] [-1.69056495e-03 1.57420650e-05 9.99998571e-01 -4.50621591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.87, Y:-9.01, Z:-0.45 [[ 9.94799753e-01 1.01836283e-01 1.68005575e-03 1.21869618e+02] [-1.01836109e-01 9.94801172e-01 -1.88865894e-04 -9.01005526e+00] [-1.69055483e-03 1.67934033e-05 9.99998571e-01 -4.49397836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54576923100001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.90, Y:-9.01, Z:-0.44 [[ 9.95181300e-01 9.80375298e-02 1.68006663e-03 1.21898624e+02] [-9.80373508e-02 9.95182718e-01 -1.88769104e-04 -9.01267986e+00] [-1.69047973e-03 2.31502015e-05 9.99998571e-01 -4.44163010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:-9.02, Z:-0.44 [[ 9.95430730e-01 9.54716696e-02 1.68007536e-03 1.21925899e+02] [-9.54714870e-02 9.95432147e-01 -1.88691313e-04 -9.01529873e+00] [-1.69041570e-03 2.74298381e-05 9.99998571e-01 -4.43246429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:-9.02, Z:-0.45 [[ 9.95491633e-01 9.48345168e-02 1.68008618e-03 1.21953689e+02] [-9.48343336e-02 9.95493051e-01 -1.88594979e-04 -9.01740625e+00] [-1.69039943e-03 2.84148708e-05 9.99998571e-01 -4.45143336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.98, Y:-9.02, Z:-0.45 [[ 9.95324238e-01 9.65755590e-02 1.68009680e-03 1.21982561e+02] [-9.65753784e-02 9.95325656e-01 -1.88500304e-04 -9.01996760e+00] [-1.69044797e-03 2.53629369e-05 9.99998571e-01 -4.45737710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:-9.02, Z:-0.44 [[ 9.94983623e-01 1.00023837e-01 1.68010546e-03 1.22010799e+02] [-1.00023661e-01 9.94985041e-01 -1.88423104e-04 -9.02199985e+00] [-1.69052660e-03 1.94276039e-05 9.99998571e-01 -4.42365113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.04, Y:-9.02, Z:-0.44 [[ 9.94931525e-01 1.00540729e-01 1.68011966e-03 1.22039598e+02] [-1.00540554e-01 9.94932943e-01 -1.88296383e-04 -9.02354168e+00] [-1.69053785e-03 1.84218458e-05 9.99998571e-01 -4.38164805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.725769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.07, Y:-9.03, Z:-0.44 [[ 9.94976456e-01 1.00095100e-01 1.68012825e-03 1.22066914e+02] [-1.00094925e-01 9.94977874e-01 -1.88219716e-04 -9.02526946e+00] [-1.69053030e-03 1.91018747e-05 9.99998571e-01 -4.36465462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.755769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:-9.03, Z:-0.44 [[ 9.95144071e-01 9.84147077e-02 1.68013893e-03 1.22094685e+02] [-9.84145303e-02 9.95145489e-01 -1.88124324e-04 -9.02903945e+00] [-1.69049688e-03 2.18607224e-05 9.99998571e-01 -4.36908901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.785769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:-9.04, Z:-0.44 [[ 9.95791597e-01 9.16311799e-02 1.68015240e-03 1.22121785e+02] [-9.16309930e-02 9.95793014e-01 -1.88003935e-04 -9.03769293e+00] [-1.69031104e-03 3.32587057e-05 9.99998571e-01 -4.39966781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.815769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:-9.04, Z:-0.44 [[ 9.96110797e-01 8.80934625e-02 1.68016360e-03 1.22149304e+02] [-8.80932708e-02 9.96112213e-01 -1.87903797e-04 -9.04276542e+00] [-1.69018458e-03 3.91618940e-05 9.99998571e-01 -4.39165831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:-9.05, Z:-0.44 [[ 9.96496391e-01 8.36188902e-02 1.68017616e-03 1.22177039e+02] [-8.36186924e-02 9.96497807e-01 -1.87791441e-04 -9.04769070e+00] [-1.68999477e-03 4.66393603e-05 9.99998571e-01 -4.36651466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.875769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:-9.05, Z:-0.44 [[ 9.96542243e-01 8.30706660e-02 1.68018653e-03 1.22204994e+02] [-8.30704675e-02 9.96543658e-01 -1.87698599e-04 -9.05331686e+00] [-1.68997148e-03 4.74757027e-05 9.99998571e-01 -4.37821654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:-9.06, Z:-0.44 [[ 9.96551025e-01 8.29652401e-02 1.68019477e-03 1.22232379e+02] [-8.29650416e-02 9.96552440e-01 -1.87624765e-04 -9.06023279e+00] [-1.68996854e-03 4.75802228e-05 9.99998571e-01 -4.40622360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.26, Y:-9.07, Z:-0.45 [[ 9.96562668e-01 8.28252731e-02 1.68020502e-03 1.22258957e+02] [-8.28250746e-02 9.96564083e-01 -1.87532978e-04 -9.07054358e+00] [-1.68996444e-03 4.77252586e-05 9.99998571e-01 -4.46180940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:-9.08, Z:-0.45 [[ 9.96540670e-01 8.30895337e-02 1.68021536e-03 1.22287394e+02] [-8.30893357e-02 9.96542085e-01 -1.87440239e-04 -9.07564818e+00] [-1.68997964e-03 4.71838426e-05 9.99998571e-01 -4.46975461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:-9.08, Z:-0.45 [[ 9.96444212e-01 8.42384021e-02 1.68022399e-03 1.22314669e+02] [-8.42382058e-02 9.96445628e-01 -1.87362872e-04 -9.08399690e+00] [-1.69003500e-03 4.51575950e-05 9.99998571e-01 -4.49162524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.34, Y:-9.09, Z:-0.45 [[ 9.96390013e-01 8.48770808e-02 1.68023472e-03 1.22342978e+02] [-8.48768856e-02 9.96391429e-01 -1.87266582e-04 -9.09134229e+00] [-1.69006612e-03 4.39774614e-05 9.99998571e-01 -4.46907614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:-9.10, Z:-0.44 [[ 9.96318430e-01 8.57132626e-02 1.68024323e-03 1.22370229e+02] [-8.57130687e-02 9.96319846e-01 -1.87190242e-04 -9.10052842e+00] [-1.69010436e-03 4.24822847e-05 9.99998571e-01 -4.44559813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:-9.10, Z:-0.44 [[ 9.96230824e-01 8.67255608e-02 1.68025381e-03 1.22397957e+02] [-8.67253685e-02 9.96232240e-01 -1.87095199e-04 -9.10496491e+00] [-1.69014895e-03 4.06693732e-05 9.99998571e-01 -4.43680826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:-9.11, Z:-0.44 [[ 9.96125932e-01 8.79221492e-02 1.68026522e-03 1.22426418e+02] [-8.79219588e-02 9.96127348e-01 -1.86992698e-04 -9.11001045e+00] [-1.69019894e-03 3.85360663e-05 9.99998571e-01 -4.41671677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.45, Y:-9.12, Z:-0.44 [[ 9.95877644e-01 9.06912078e-02 1.68027419e-03 1.22453023e+02] [-9.06910214e-02 9.95879061e-01 -1.86912072e-04 -9.11928792e+00] [-1.69030116e-03 3.37557721e-05 9.99998571e-01 -4.42074065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.175769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.48, Y:-9.12, Z:-0.44 [[ 9.95738332e-01 9.22081933e-02 1.68028534e-03 1.22480947e+02] [-9.22080093e-02 9.95739749e-01 -1.86811773e-04 -9.12486723e+00] [-1.69035248e-03 3.10798771e-05 9.99998571e-01 -4.40923697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:-9.13, Z:-0.44 [[ 9.95276235e-01 9.70690108e-02 1.68029431e-03 1.22508187e+02] [-9.70688339e-02 9.95277653e-01 -1.86731021e-04 -9.12948432e+00] [-1.69048517e-03 2.27447384e-05 9.99998571e-01 -4.44011976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:-9.13, Z:-0.45 [[ 9.94970406e-01 1.00155214e-01 1.68030551e-03 1.22535954e+02] [-1.00155042e-01 9.94971825e-01 -1.86630225e-04 -9.13351088e+00] [-1.69054863e-03 1.74004833e-05 9.99998571e-01 -4.45257438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.56, Y:-9.14, Z:-0.44 [[ 9.94653185e-01 1.03258021e-01 1.68031593e-03 1.22564492e+02] [-1.03257853e-01 9.94654604e-01 -1.86536291e-04 -9.13846325e+00] [-1.69059535e-03 1.20330989e-05 9.99998571e-01 -4.44926888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29576923100001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.59, Y:-9.14, Z:-0.44 [[ 9.94384451e-01 1.05814654e-01 1.68032458e-03 1.22593427e+02] [-1.05814490e-01 9.94385870e-01 -1.86458397e-04 -9.14331334e+00] [-1.69062105e-03 7.60864292e-06 9.99998571e-01 -4.44407149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:-9.15, Z:-0.44 [[ 9.94061731e-01 1.08804650e-01 1.68033337e-03 1.22620698e+02] [-1.08804490e-01 9.94063151e-01 -1.86379100e-04 -9.14612391e+00] [-1.69063640e-03 2.44451424e-06 9.99998571e-01 -4.41755770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:-9.15, Z:-0.44 [[ 9.93930232e-01 1.09999414e-01 1.68034434e-03 1.22648030e+02] [-1.09999256e-01 9.93931652e-01 -1.86280212e-04 -9.14880245e+00] [-1.69063814e-03 3.12906377e-07 9.99998571e-01 -4.40271813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.68, Y:-9.15, Z:-0.44 [[ 9.93850747e-01 1.10715259e-01 1.68035477e-03 1.22676827e+02] [-1.10715103e-01 9.93852168e-01 -1.86186008e-04 -9.15292685e+00] [-1.69063787e-03 -9.99547956e-07 9.99998571e-01 -4.39227654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-9.16, Z:-0.44 [[ 9.93754264e-01 1.11577955e-01 1.68036352e-03 1.22705435e+02] [-1.11577800e-01 9.93755684e-01 -1.86107038e-04 -9.15700365e+00] [-1.69063624e-03 -2.54660238e-06 9.99998571e-01 -4.39796513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44576923100001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:-9.16, Z:-0.44 [[ 9.93697525e-01 1.12082139e-01 1.68037225e-03 1.22733706e+02] [-1.12081984e-01 9.93698945e-01 -1.86028160e-04 -9.16025927e+00] [-1.69063457e-03 -3.48373464e-06 9.99998571e-01 -4.39639809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.475769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:-9.16, Z:-0.44 [[ 9.93463625e-01 1.14136770e-01 1.68038117e-03 1.22761195e+02] [-1.14136619e-01 9.93465046e-01 -1.85947575e-04 -9.16217392e+00] [-1.69062341e-03 -7.06087412e-06 9.99998571e-01 -4.40199551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.505769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.79, Y:-9.16, Z:-0.44 [[ 9.92969672e-01 1.18357117e-01 1.68039258e-03 1.22789497e+02] [-1.18356972e-01 9.92971094e-01 -1.85844449e-04 -9.16088306e+00] [-1.69057727e-03 -1.43482747e-05 9.99998571e-01 -4.44017587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.535769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.82, Y:-9.16, Z:-0.45 [[ 9.92637227e-01 1.21113629e-01 1.68040352e-03 1.22817643e+02] [-1.21113489e-01 9.92638649e-01 -1.85745469e-04 -9.16113969e+00] [-1.69052978e-03 -1.91416647e-05 9.99998571e-01 -4.45054746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.565769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:-9.16, Z:-0.44 [[ 9.92190642e-01 1.24719311e-01 1.68041667e-03 1.22846030e+02] [-1.24719176e-01 9.92192064e-01 -1.85626406e-04 -9.16177742e+00] [-1.69044728e-03 -2.54033988e-05 9.99998571e-01 -4.44922720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:-9.16, Z:-0.44 [[ 9.92199450e-01 1.24649220e-01 1.68042978e-03 1.22874364e+02] [-1.24649085e-01 9.92200872e-01 -1.85507630e-04 -9.16476678e+00] [-1.69044728e-03 -2.54034651e-05 9.99998571e-01 -4.44970893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.625769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:-9.17, Z:-0.44 [[ 9.91770989e-01 1.28013600e-01 1.68044288e-03 1.22903376e+02] [-1.28013470e-01 9.91772412e-01 -1.85388920e-04 -9.16538331e+00] [-1.69034919e-03 -3.12559718e-05 9.99998571e-01 -4.44198515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65576923100001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.93, Y:-9.16, Z:-0.44 [[ 9.91249013e-01 1.31994587e-01 1.68045158e-03 1.22931710e+02] [-1.31994462e-01 9.91250436e-01 -1.85310016e-04 -9.16371231e+00] [-1.69020828e-03 -3.81219317e-05 9.99998571e-01 -4.42808179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68576923100001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.96, Y:-9.16, Z:-0.44 [[ 9.91197008e-01 1.32384543e-01 1.68046679e-03 1.22961141e+02] [-1.32384419e-01 9.91198432e-01 -1.85171969e-04 -9.16200657e+00] [-1.69018995e-03 -3.89257169e-05 9.99998571e-01 -4.42065545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71576923100001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:122.99, Y:-9.16, Z:-0.44 [[ 9.91361942e-01 1.31143721e-01 1.68047534e-03 1.22988878e+02] [-1.31143596e-01 9.91363366e-01 -1.85094339e-04 -9.16309869e+00] [-1.69023565e-03 -3.68880950e-05 9.99998571e-01 -4.43123863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74576923100001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.02, Y:-9.16, Z:-0.44 [[ 9.91608001e-01 1.29270060e-01 1.68048812e-03 1.23018032e+02] [-1.29269932e-01 9.91609424e-01 -1.84978197e-04 -9.16464172e+00] [-1.69030000e-03 -3.38107255e-05 9.99998571e-01 -4.44271822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77576923100001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:123.05, Y:-9.16, Z:-0.45 [[ 9.91993788e-01 1.26275495e-01 1.68049666e-03 1.23045960e+02] [-1.26275363e-01 9.91995211e-01 -1.84900613e-04 -9.16392352e+00] [-1.69039306e-03 -2.87850658e-05 9.99998571e-01 -4.45979322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.07, Y:-9.16, Z:-0.45 [[ 9.92075102e-01 1.25635055e-01 1.68050729e-03 1.23073175e+02] [-1.25634922e-01 9.92076525e-01 -1.84803975e-04 -9.16443875e+00] [-1.69040969e-03 -2.77909795e-05 9.99998571e-01 -4.46823295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.10, Y:-9.16, Z:-0.45 [[ 9.92083888e-01 1.25565664e-01 1.68052691e-03 1.23100798e+02] [-1.25565531e-01 9.92085311e-01 -1.84625392e-04 -9.16487283e+00] [-1.69040867e-03 -2.78523767e-05 9.99998571e-01 -4.46073943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.865769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:123.13, Y:-9.16, Z:-0.45 [[ 9.91901457e-01 1.26998718e-01 1.68053994e-03 1.23128843e+02] [-1.26998588e-01 9.91902881e-01 -1.84506715e-04 -9.16390582e+00] [-1.69036452e-03 -3.04137194e-05 9.99998571e-01 -4.45060129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.895769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:123.16, Y:-9.17, Z:-0.44 [[ 9.91813955e-01 1.27680282e-01 1.68055074e-03 1.23157683e+02] [-1.27680153e-01 9.91815378e-01 -1.84408224e-04 -9.16523614e+00] [-1.69034137e-03 -3.16743262e-05 9.99998571e-01 -4.44368954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.925769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:123.19, Y:-9.16, Z:-0.44 [[ 9.91908473e-01 1.26943912e-01 1.68055933e-03 1.23185342e+02] [-1.26943781e-01 9.91909896e-01 -1.84329899e-04 -9.16439111e+00] [-1.69036299e-03 -3.04981682e-05 9.99998571e-01 -4.42904480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.955769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.21, Y:-9.17, Z:-0.44 [[ 9.92065737e-01 1.25708986e-01 1.68056999e-03 1.23212949e+02] [-1.25708854e-01 9.92067160e-01 -1.84232739e-04 -9.16539378e+00] [-1.69039800e-03 -2.84915390e-05 9.99998571e-01 -4.42204667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.985769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:123.24, Y:-9.17, Z:-0.44 [[ 9.92151049e-01 1.25033884e-01 1.68058273e-03 1.23239711e+02] [-1.25033751e-01 9.92152472e-01 -1.84116456e-04 -9.16664117e+00] [-1.69041510e-03 -2.74582274e-05 9.99998571e-01 -4.43385923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.27, Y:-9.17, Z:-0.44 [[ 9.92228747e-01 1.24415791e-01 1.68059749e-03 1.23267274e+02] [-1.24415657e-01 9.92230170e-01 -1.83981617e-04 -9.16709323e+00] [-1.69042975e-03 -2.65407914e-05 9.99998571e-01 -4.44648356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04576923100001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.30, Y:-9.17, Z:-0.44 [[ 9.92367104e-01 1.23307363e-01 1.68061917e-03 1.23295686e+02] [-1.23307229e-01 9.92368527e-01 -1.83783361e-04 -9.16865856e+00] [-1.69045541e-03 -2.48519304e-05 9.99998571e-01 -4.44800207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07576923100001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.32, Y:-9.17, Z:-0.44 [[ 9.92785447e-01 1.19892583e-01 1.68063175e-03 1.23324109e+02] [-1.19892444e-01 9.92786869e-01 -1.83668230e-04 -9.16996322e+00] [-1.69052959e-03 -1.91519026e-05 9.99998571e-01 -4.44195734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10576923100001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:123.35, Y:-9.17, Z:-0.44 [[ 9.93035495e-01 1.17803573e-01 1.68064008e-03 1.23351626e+02] [-1.17803431e-01 9.93036917e-01 -1.83592005e-04 -9.17242534e+00] [-1.69056543e-03 -1.56717906e-05 9.99998571e-01 -4.44227884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13576923100001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:123.38, Y:-9.18, Z:-0.45 [[ 9.93266734e-01 1.15837691e-01 1.68065253e-03 1.23378647e+02] [-1.15837546e-01 9.93268156e-01 -1.83477898e-04 -9.17579475e+00] [-1.69059230e-03 -1.24401731e-05 9.99998571e-01 -4.45523711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16576923100001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.41, Y:-9.18, Z:-0.45 [[ 9.93539969e-01 1.13470282e-01 1.68066694e-03 1.23406280e+02] [-1.13470134e-01 9.93541391e-01 -1.83345837e-04 -9.17919991e+00] [-1.69061647e-03 -8.54408491e-06 9.99998571e-01 -4.46515346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19576923100001 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:123.43, Y:-9.18, Z:-0.44 [[ 9.93959033e-01 1.09738857e-01 1.68067918e-03 1.23433769e+02] [-1.09738704e-01 9.93960454e-01 -1.83233537e-04 -9.18299908e+00] [-1.69063648e-03 -2.30892700e-06 9.99998571e-01 -4.44914056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22576923100002 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:123.46, Y:-9.19, Z:-0.44 [[ 9.94082063e-01 1.08618723e-01 1.68068936e-03 1.23462603e+02] [-1.08618568e-01 9.94083484e-01 -1.83140139e-04 -9.18639866e+00] [-1.69063798e-03 -4.97744596e-07 9.99998571e-01 -4.42964341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.255769231 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:123.49, Y:-9.19, Z:-0.44 [[ 9.94167513e-01 1.07833817e-01 1.68069746e-03 1.23491171e+02] [-1.07833661e-01 9.94168933e-01 -1.83065740e-04 -9.19094278e+00] [-1.69063788e-03 7.62250422e-07 9.99998571e-01 -4.40797127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.285769231 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:123.52, Y:-9.19, Z:-0.44 [[ 9.94231064e-01 1.07246292e-01 1.68070555e-03 1.23517481e+02] [-1.07246136e-01 9.94232484e-01 -1.82991505e-04 -9.19448848e+00] [-1.69063721e-03 1.68666376e-06 9.99998571e-01 -4.40946098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.315769231 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:123.55, Y:-9.20, Z:-0.44 [[ 9.94402494e-01 1.05644952e-01 1.68071961e-03 1.23545384e+02] [-1.05644793e-01 9.94403914e-01 -1.82862205e-04 -9.19963275e+00] [-1.69063263e-03 4.27935601e-06 9.99998571e-01 -4.41299593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.345769231 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:123.57, Y:-9.20, Z:-0.44 [[ 9.94419301e-01 1.05486625e-01 1.68073218e-03 1.23573435e+02] [-1.05486467e-01 9.94420722e-01 -1.82746664e-04 -9.20413306e+00] [-1.69063223e-03 4.43230997e-06 9.99998571e-01 -4.41209853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.375769231 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:123.60, Y:-9.21, Z:-0.44 [[ 9.94449641e-01 1.05200222e-01 1.68074547e-03 1.23600554e+02] [-1.05200063e-01 9.94451061e-01 -1.82624369e-04 -9.20808193e+00] [-1.69063124e-03 4.79620945e-06 9.99998571e-01 -4.41180590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40576923100001 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:123.63, Y:-9.21, Z:-0.44 [[ 9.94538687e-01 1.04355041e-01 1.68075647e-03 1.23627046e+02] [-1.04354882e-01 9.94540107e-01 -1.82523054e-04 -9.21169741e+00] [-1.69062692e-03 6.13109545e-06 9.99998571e-01 -4.40474786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43576923100001 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:123.66, Y:-9.22, Z:-0.44 [[ 9.94690394e-01 1.02898959e-01 1.68077475e-03 1.23655087e+02] [-1.02898797e-01 9.94691814e-01 -1.82354547e-04 -9.21597566e+00] [-1.69061698e-03 8.43661548e-06 9.99998571e-01 -4.40146287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46576923100001 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:123.68, Y:-9.22, Z:-0.44 [[ 9.95204277e-01 9.78040028e-02 1.68078630e-03 1.23683665e+02] [-9.78038345e-02 9.95205696e-01 -1.82248038e-04 -9.22412880e+00] [-1.69055269e-03 1.69866822e-05 9.99998571e-01 -4.40553013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49576923100001 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:123.71, Y:-9.23, Z:-0.44 [[ 9.95519148e-01 9.45452327e-02 1.68079422e-03 1.23711186e+02] [-9.45450599e-02 9.95520567e-01 -1.82174994e-04 -9.22956934e+00] [-1.69048899e-03 2.24479049e-05 9.99998571e-01 -4.43620429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52576923100001 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:123.74, Y:-9.23, Z:-0.45 [[ 9.95842764e-01 9.10733961e-02 1.68080405e-03 1.23739312e+02] [-9.10732184e-02 9.95844182e-01 -1.82084211e-04 -9.23424624e+00] [-1.69040196e-03 2.82510096e-05 9.99998571e-01 -4.45200560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55576923100001 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:123.77, Y:-9.24, Z:-0.45 [[ 9.96202108e-01 8.70547859e-02 1.68081263e-03 1.23766631e+02] [-8.70546027e-02 9.96203525e-01 -1.82005011e-04 -9.24034058e+00] [-1.69027587e-03 3.49913005e-05 9.99998571e-01 -4.49325202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58576923100001 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:123.79, Y:-9.25, Z:-0.45 [[ 9.96313172e-01 8.57743469e-02 1.68082324e-03 1.23794144e+02] [-8.57741620e-02 9.96314589e-01 -1.81906943e-04 -9.24546133e+00] [-1.69023166e-03 3.70650788e-05 9.99998571e-01 -4.50084869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.615769231 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:123.82, Y:-9.25, Z:-0.45 [[ 9.96595209e-01 8.24327894e-02 1.68083319e-03 1.23822693e+02] [-8.24326000e-02 9.96596625e-01 -1.81814997e-04 -9.25200840e+00] [-1.69010020e-03 4.26405057e-05 9.99998571e-01 -4.47682707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.645769231 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:123.85, Y:-9.26, Z:-0.45 [[ 9.96780318e-01 8.01634134e-02 1.68084186e-03 1.23850590e+02] [-8.01632208e-02 9.96781734e-01 -1.81734780e-04 -9.25715547e+00] [-1.69000094e-03 4.64079551e-05 9.99998571e-01 -4.47975951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.675769231 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:123.88, Y:-9.26, Z:-0.45 [[ 9.96989725e-01 7.75155612e-02 1.68085267e-03 1.23878918e+02] [-7.75153650e-02 9.96991141e-01 -1.81634749e-04 -9.26264035e+00] [-1.68987474e-03 5.07960701e-05 9.99998571e-01 -4.46300055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.705769231 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:123.91, Y:-9.27, Z:-0.45 [[ 9.97230612e-01 7.43524062e-02 1.68086051e-03 1.23906376e+02] [-7.43522056e-02 9.97232027e-01 -1.81562146e-04 -9.26816333e+00] [-1.68970752e-03 5.60836440e-05 9.99998571e-01 -4.45433739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.735769231 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:123.93, Y:-9.28, Z:-0.45 [[ 9.97630340e-01 6.87813822e-02 1.68087029e-03 1.23934714e+02] [-6.87811739e-02 9.97631754e-01 -1.81471607e-04 -9.27681279e+00] [-1.68937144e-03 6.54293498e-05 9.99998571e-01 -4.47641653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76576923100001 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:123.96, Y:-9.28, Z:-0.45 [[ 9.97847615e-01 6.55538917e-02 1.68087871e-03 1.23962756e+02] [-6.55536790e-02 9.97849028e-01 -1.81393502e-04 -9.28401618e+00] [-1.68915424e-03 7.08152899e-05 9.99998571e-01 -4.49960845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79576923100001 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:123.99, Y:-9.30, Z:-0.45 [[ 9.98299371e-01 5.82712596e-02 1.68088498e-03 1.23991644e+02] [-5.82710367e-02 9.98300783e-01 -1.81335386e-04 -9.29943219e+00] [-1.68859544e-03 8.30800911e-05 9.99998571e-01 -4.47648983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82576923100001 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:124.02, Y:-9.31, Z:-0.45 [[ 9.98482411e-01 5.50458929e-02 1.68088498e-03 1.24020519e+02] [-5.50456654e-02 9.98483822e-01 -1.81335386e-04 -9.30910091e+00] [-1.68831823e-03 8.85347608e-05 9.99998571e-01 -4.45636663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85576923100001 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:124.05, Y:-9.33, Z:-0.44 [[ 9.98636508e-01 5.21756513e-02 1.68088897e-03 1.24049490e+02] [-5.21754199e-02 9.98637919e-01 -1.81298412e-04 -9.32543711e+00] [-1.68805883e-03 9.33501250e-05 9.99998571e-01 -4.44649637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88576923100001 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:124.08, Y:-9.34, Z:-0.45 [[ 9.98549377e-01 5.38174424e-02 1.68088897e-03 1.24078997e+02] [-5.38172132e-02 9.98550787e-01 -1.81298412e-04 -9.33544689e+00] [-1.68821002e-03 9.05746558e-05 9.99998571e-01 -4.45358695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91576923100001 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:124.11, Y:-9.35, Z:-0.45 [[ 9.98139353e-01 6.09508606e-02 1.68088897e-03 1.24106943e+02] [-6.09506415e-02 9.98140765e-01 -1.81298412e-04 -9.35030224e+00] [-1.68881410e-03 7.85098181e-05 9.99998571e-01 -4.48640073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94576923100001 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:124.14, Y:-9.36, Z:-0.45 [[ 9.97905729e-01 6.46632025e-02 1.68089096e-03 1.24136488e+02] [-6.46629887e-02 9.97907142e-01 -1.81279939e-04 -9.35872877e+00] [-1.68909524e-03 7.22088564e-05 9.99998571e-01 -4.48796546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97576923100002 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:124.16, Y:-9.37, Z:-0.45 [[ 9.97685408e-01 6.79779422e-02 1.68089096e-03 1.24164989e+02] [-6.79777331e-02 9.97686822e-01 -1.81279939e-04 -9.36690401e+00] [-1.68932580e-03 6.65971927e-05 9.99998571e-01 -4.47754251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00576923100002 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:124.19, Y:-9.38, Z:-0.44 [[ 9.97282708e-01 7.36503496e-02 1.68089293e-03 1.24193949e+02] [-7.36501486e-02 9.97284123e-01 -1.81261726e-04 -9.38056704e+00] [-1.68967782e-03 5.69711715e-05 9.99998571e-01 -4.41852572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03576923100002 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:124.22, Y:-9.39, Z:-0.44 [[ 9.97108032e-01 7.59785916e-02 1.68089293e-03 1.24223714e+02] [-7.59783939e-02 9.97109448e-01 -1.81261726e-04 -9.38879822e+00] [-1.68980623e-03 5.30259784e-05 9.99998571e-01 -4.38351719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06576923100002 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:124.25, Y:-9.40, Z:-0.44 [[ 9.96701981e-01 8.11315965e-02 1.68089293e-03 1.24252759e+02] [-8.11314061e-02 9.96703397e-01 -1.81261726e-04 -9.39939113e+00] [-1.69005775e-03 4.42907150e-05 9.99998571e-01 -4.37764683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09576923100002 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:124.28, Y:-9.41, Z:-0.44 [[ 9.96425008e-01 8.44652461e-02 1.68089085e-03 1.24283837e+02] [-8.44650604e-02 9.96426425e-01 -1.81281006e-04 -9.40524658e+00] [-1.69019600e-03 3.86563811e-05 9.99998571e-01 -4.41195899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12576923100002 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:124.31, Y:-9.41, Z:-0.44 [[ 9.96090922e-01 8.83178879e-02 1.68088680e-03 1.24314945e+02] [-8.83177076e-02 9.96092340e-01 -1.81318572e-04 -9.41162484e+00] [-1.69033214e-03 3.21577149e-05 9.99998571e-01 -4.44952022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15576923100002 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:124.35, Y:-9.42, Z:-0.45 [[ 9.95331476e-01 9.65009248e-02 1.68088260e-03 1.24345246e+02] [-9.65007561e-02 9.95332895e-01 -1.81357498e-04 -9.41971461e+00] [-1.69053891e-03 1.83043840e-05 9.99998571e-01 -4.47116101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.185769231 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:124.38, Y:-9.42, Z:-0.45 [[ 9.94882493e-01 1.01024748e-01 1.68088040e-03 1.24375620e+02] [-1.01024586e-01 9.94883913e-01 -1.81377836e-04 -9.42327397e+00] [-1.69060452e-03 1.06393876e-05 9.99998571e-01 -4.47183180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.215769231 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:124.41, Y:-9.43, Z:-0.45 [[ 9.94433767e-01 1.05350164e-01 1.68087017e-03 1.24406149e+02] [-1.05350008e-01 9.94435188e-01 -1.81472569e-04 -9.42612152e+00] [-1.69063461e-03 3.38276343e-06 9.99998571e-01 -4.46365579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.245769231 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:124.44, Y:-9.43, Z:-0.45 [[ 9.93503202e-01 1.13791751e-01 1.68087017e-03 1.24436537e+02] [-1.13791606e-01 9.93504624e-01 -1.81472569e-04 -9.42957521e+00] [-1.69060237e-03 -1.09753396e-05 9.99998571e-01 -4.46577148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.275769231 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:124.47, Y:-9.43, Z:-0.45 [[ 9.93097059e-01 1.17283447e-01 1.68087017e-03 1.24466357e+02] [-1.17283308e-01 9.93098481e-01 -1.81472569e-04 -9.43364352e+00] [-1.69055335e-03 -1.69181405e-05 9.99998571e-01 -4.45783626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.305769231 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:124.50, Y:-9.44, Z:-0.44 [[ 9.92537783e-01 1.21925896e-01 1.68087017e-03 1.24497009e+02] [-1.21925763e-01 9.92539206e-01 -1.81472569e-04 -9.43657650e+00] [-1.69045575e-03 -2.48229978e-05 9.99998571e-01 -4.42368380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.335769231 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:124.53, Y:-9.44, Z:-0.44 [[ 9.92460958e-01 1.22549666e-01 1.68087017e-03 1.24527334e+02] [-1.22549534e-01 9.92462382e-01 -1.81472569e-04 -9.43884902e+00] [-1.69043982e-03 -2.58854176e-05 9.99998571e-01 -4.42647144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.365769231 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:124.56, Y:-9.44, Z:-0.44 [[ 9.92546654e-01 1.21853662e-01 1.68087017e-03 1.24556770e+02] [-1.21853529e-01 9.92548077e-01 -1.81472569e-04 -9.44085225e+00] [-1.69045756e-03 -2.46999727e-05 9.99998571e-01 -4.44411304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.395769231 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:124.59, Y:-9.44, Z:-0.45 [[ 9.92888696e-01 1.19034497e-01 1.68087230e-03 1.24587785e+02] [-1.19034361e-01 9.92890119e-01 -1.81452909e-04 -9.44256800e+00] [-1.69052065e-03 -1.99190170e-05 9.99998571e-01 -4.47662424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.425769231 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:124.62, Y:-9.44, Z:-0.45 [[ 9.93044898e-01 1.17724276e-01 1.68087017e-03 1.24617138e+02] [-1.17724138e-01 9.93046320e-01 -1.81472616e-04 -9.44450531e+00] [-1.69054567e-03 -1.76685364e-05 9.99998571e-01 -4.48084090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.455769231 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:124.65, Y:-9.44, Z:-0.45 [[ 9.93191196e-01 1.16483577e-01 1.68087229e-03 1.24647192e+02] [-1.16483437e-01 9.93192618e-01 -1.81452955e-04 -9.44484589e+00] [-1.69056624e-03 -1.55763046e-05 9.99998571e-01 -4.47105588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.485769231 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.68, Y:-9.45, Z:-0.45 [[ 9.93149751e-01 1.16836413e-01 1.68087440e-03 1.24676871e+02] [-1.16836273e-01 9.93151173e-01 -1.81433405e-04 -9.44671819e+00] [-1.69056041e-03 -1.61965596e-05 9.99998571e-01 -4.46492379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.515769231 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:124.71, Y:-9.45, Z:-0.45 [[ 9.93149751e-01 1.16836413e-01 1.68087861e-03 1.24707691e+02] [-1.16836273e-01 9.93151173e-01 -1.81394389e-04 -9.45004425e+00] [-1.69056004e-03 -1.62358011e-05 9.99998571e-01 -4.46544786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.545769231 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:124.74, Y:-9.45, Z:-0.45 [[ 9.93097703e-01 1.17277990e-01 1.68087861e-03 1.24737357e+02] [-1.17277851e-01 9.93099125e-01 -1.81394389e-04 -9.45196356e+00] [-1.69055265e-03 -1.69874812e-05 9.99998571e-01 -4.47638481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.575769231 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:124.77, Y:-9.45, Z:-0.45 [[ 9.93014499e-01 1.17980420e-01 1.68088070e-03 1.24767617e+02] [-1.17980282e-01 9.93015921e-01 -1.81375005e-04 -9.45392145e+00] [-1.69054000e-03 -1.82027700e-05 9.99998571e-01 -4.50213114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.605769231 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:124.80, Y:-9.46, Z:-0.45 [[ 9.93037373e-01 1.17787734e-01 1.68088070e-03 1.24797424e+02] [-1.17787595e-01 9.93038796e-01 -1.81375005e-04 -9.45661989e+00] [-1.69054350e-03 -1.78747381e-05 9.99998571e-01 -4.50210894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.635769231 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:124.83, Y:-9.46, Z:-0.45 [[ 9.93080224e-01 1.17425908e-01 1.68087830e-03 1.24828010e+02] [-1.17425769e-01 9.93081646e-01 -1.81397262e-04 -9.45982721e+00] [-1.69055013e-03 -1.72363943e-05 9.99998571e-01 -4.48161686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.665769231 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:124.86, Y:-9.46, Z:-0.45 [[ 9.93209180e-01 1.16330128e-01 1.68087830e-03 1.24857129e+02] [-1.16329988e-01 9.93210603e-01 -1.81397262e-04 -9.46469830e+00] [-1.69056812e-03 -1.53711273e-05 9.99998571e-01 -4.45187853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.695769231 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:124.89, Y:-9.47, Z:-0.44 [[ 9.93198112e-01 1.16424586e-01 1.68088035e-03 1.24887597e+02] [-1.16424446e-01 9.93199535e-01 -1.81378269e-04 -9.46999892e+00] [-1.69056647e-03 -1.55510090e-05 9.99998571e-01 -4.43361905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72576923100002 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:124.92, Y:-9.48, Z:-0.44 [[ 9.93083483e-01 1.17398342e-01 1.68088035e-03 1.24916437e+02] [-1.17398203e-01 9.93084905e-01 -1.81378269e-04 -9.47564732e+00] [-1.69055041e-03 -1.72085706e-05 9.99998571e-01 -4.41163910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75576923100002 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:124.95, Y:-9.48, Z:-0.44 [[ 9.92933345e-01 1.18661485e-01 1.68088238e-03 1.24946318e+02] [-1.18661348e-01 9.92934767e-01 -1.81359508e-04 -9.47903032e+00] [-1.69052694e-03 -1.93778653e-05 9.99998571e-01 -4.41944699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78576923100002 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:124.98, Y:-9.48, Z:-0.44 [[ 9.92640075e-01 1.21090281e-01 1.68088668e-03 1.24975751e+02] [-1.21090148e-01 9.92641498e-01 -1.81319581e-04 -9.48193438e+00] [-1.69047391e-03 -2.35537335e-05 9.99998571e-01 -4.43594463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81576923100002 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:125.01, Y:-9.49, Z:-0.44 [[ 9.91746572e-01 1.28202622e-01 1.68089096e-03 1.25005085e+02] [-1.28202499e-01 9.91747995e-01 -1.81279882e-04 -9.48527680e+00] [-1.69026080e-03 -3.57107198e-05 9.99998571e-01 -4.41003653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84576923100002 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:125.03, Y:-9.49, Z:-0.44 [[ 9.91179836e-01 1.32513047e-01 1.68064952e-03 1.25033002e+02] [-1.32512926e-01 9.91181260e-01 -1.83517013e-04 -9.48777473e+00] [-1.69014671e-03 -4.08094224e-05 9.99998571e-01 -4.39629080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87576923100002 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:125.06, Y:-9.48, Z:-0.44 [[ 9.90102256e-01 1.40337794e-01 1.68088525e-03 1.25062738e+02] [-1.40337688e-01 9.90103682e-01 -1.81331832e-04 -9.48483840e+00] [-1.68969839e-03 -5.63544936e-05 9.99998571e-01 -4.40318875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90576923100002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:125.09, Y:-9.48, Z:-0.44 [[ 9.89607014e-01 1.43788501e-01 1.68089340e-03 1.25091550e+02] [-1.43788400e-01 9.89608439e-01 -1.81256320e-04 -9.48376096e+00] [-1.68948886e-03 -6.23204465e-05 9.99998571e-01 -4.41013636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.935769231 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:125.12, Y:-9.48, Z:-0.44 [[ 9.89180054e-01 1.46696949e-01 1.68090185e-03 1.25119633e+02] [-1.46696853e-01 9.89181480e-01 -1.81177844e-04 -9.48278332e+00] [-1.68929522e-03 -6.73655025e-05 9.99998571e-01 -4.41528696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.965769231 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:125.15, Y:-9.48, Z:-0.44 [[ 9.88690573e-01 1.49960413e-01 1.68091320e-03 1.25149153e+02] [-1.49960322e-01 9.88691999e-01 -1.81072516e-04 -9.47944480e+00] [-1.68905914e-03 -7.30455950e-05 9.99998571e-01 -4.40478819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.995769231 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:125.18, Y:-9.48, Z:-0.44 [[ 9.88694279e-01 1.49935976e-01 1.68092156e-03 1.25177516e+02] [-1.49935884e-01 9.88695705e-01 -1.80994849e-04 -9.47883130e+00] [-1.68905757e-03 -7.30818896e-05 9.99998571e-01 -4.41315570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.025769231 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:125.21, Y:-9.48, Z:-0.44 [[ 9.88881763e-01 1.48694429e-01 1.68093194e-03 1.25206762e+02] [-1.48694336e-01 9.88883189e-01 -1.80898466e-04 -9.47772796e+00] [-1.68914393e-03 -7.10578635e-05 9.99998571e-01 -4.43583840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.055769231 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:125.23, Y:-9.47, Z:-0.45 [[ 9.89394629e-01 1.45242701e-01 1.68094018e-03 1.25235000e+02] [-1.45242603e-01 9.89396055e-01 -1.80821829e-04 -9.47257966e+00] [-1.68937863e-03 -6.52399804e-05 9.99998571e-01 -4.47618406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.085769231 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:125.26, Y:-9.47, Z:-0.45 [[ 9.89692433e-01 1.43199379e-01 1.68095046e-03 1.25264215e+02] [-1.43199279e-01 9.89693859e-01 -1.80726174e-04 -9.47263076e+00] [-1.68950623e-03 -6.18475672e-05 9.99998571e-01 -4.47969865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.115769231 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:125.29, Y:-9.47, Z:-0.45 [[ 9.90399396e-01 1.38225219e-01 1.68095868e-03 1.25293381e+02] [-1.38225111e-01 9.90400821e-01 -1.80649720e-04 -9.46842381e+00] [-1.68979320e-03 -5.34353266e-05 9.99998571e-01 -4.46812155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.145769231 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:125.32, Y:-9.47, Z:-0.45 [[ 9.90777446e-01 1.35488845e-01 1.68096685e-03 1.25321335e+02] [-1.35488733e-01 9.90778871e-01 -1.80573677e-04 -9.46750421e+00] [-1.68993216e-03 -4.88437420e-05 9.99998571e-01 -4.46650837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.175769231 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:125.35, Y:-9.47, Z:-0.45 [[ 9.91084965e-01 1.33220741e-01 1.68097704e-03 1.25350196e+02] [-1.33220627e-01 9.91086390e-01 -1.80478789e-04 -9.46752559e+00] [-1.69003698e-03 -4.50710002e-05 9.99998571e-01 -4.45860073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.205769231 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:125.38, Y:-9.47, Z:-0.45 [[ 9.91343378e-01 1.31283974e-01 1.68098348e-03 1.25378041e+02] [-1.31283857e-01 9.91344802e-01 -1.80418752e-04 -9.46825929e+00] [-1.69012033e-03 -4.18290598e-05 9.99998571e-01 -4.48258670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.235769231 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:125.41, Y:-9.47, Z:-0.45 [[ 9.91865145e-01 1.27282004e-01 1.68098977e-03 1.25406845e+02] [-1.27281881e-01 9.91866569e-01 -1.80360131e-04 -9.46850259e+00] [-1.69027415e-03 -3.50666118e-05 9.99998571e-01 -4.49453037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.265769231 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:125.44, Y:-9.47, Z:-0.45 [[ 9.92100083e-01 1.25437629e-01 1.68100078e-03 1.25435333e+02] [-1.25437504e-01 9.92101507e-01 -1.80257495e-04 -9.47016495e+00] [-1.69033448e-03 -3.20270651e-05 9.99998571e-01 -4.49015548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.295769231 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:125.46, Y:-9.47, Z:-0.45 [[ 9.92279709e-01 1.24008686e-01 1.68100937e-03 1.25463683e+02] [-1.24008558e-01 9.92281132e-01 -1.80177343e-04 -9.47112529e+00] [-1.69037743e-03 -2.96732270e-05 9.99998571e-01 -4.45664916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.325769231 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:125.49, Y:-9.47, Z:-0.44 [[ 9.92333387e-01 1.23578407e-01 1.68102010e-03 1.25492073e+02] [-1.23578280e-01 9.92334811e-01 -1.80077182e-04 -9.47383278e+00] [-1.69038841e-03 -2.90409715e-05 9.99998571e-01 -4.43582010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.355769231 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:125.52, Y:-9.48, Z:-0.44 [[ 9.92386793e-01 1.23148798e-01 1.68102856e-03 1.25521026e+02] [-1.23148670e-01 9.92388217e-01 -1.79998131e-04 -9.47628854e+00] [-1.69039949e-03 -2.83886629e-05 9.99998571e-01 -4.42457889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.385769231 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:125.55, Y:-9.48, Z:-0.44 [[ 9.92306048e-01 1.23797744e-01 1.68103732e-03 1.25548793e+02] [-1.23797617e-01 9.92307471e-01 -1.79916263e-04 -9.47558425e+00] [-1.69037912e-03 -2.95764189e-05 9.99998571e-01 -4.43792905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.415769231 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:125.58, Y:-9.48, Z:-0.44 [[ 9.92180755e-01 1.24797932e-01 1.68104824e-03 1.25578138e+02] [-1.24797807e-01 9.92182178e-01 -1.79814207e-04 -9.47631289e+00] [-1.69034655e-03 -3.13829375e-05 9.99998571e-01 -4.44203101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.445769231 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:125.61, Y:-9.48, Z:-0.44 [[ 9.92021887e-01 1.26054549e-01 1.68105661e-03 1.25606145e+02] [-1.26054425e-01 9.92023311e-01 -1.79735933e-04 -9.47739166e+00] [-1.69030387e-03 -3.36026446e-05 9.99998571e-01 -4.44243745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47576923100002 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:125.64, Y:-9.48, Z:-0.44 [[ 9.91718619e-01 1.28418669e-01 1.68106761e-03 1.25635208e+02] [-1.28418549e-01 9.91720043e-01 -1.79632995e-04 -9.47653060e+00] [-1.69021667e-03 -3.77348775e-05 9.99998571e-01 -4.42425585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50576923100002 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:125.66, Y:-9.48, Z:-0.44 [[ 9.91608514e-01 1.29266119e-01 1.68107582e-03 1.25664555e+02] [-1.29266001e-01 9.91609938e-01 -1.79556084e-04 -9.47735485e+00] [-1.69018201e-03 -3.92566073e-05 9.99998571e-01 -4.42546020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53576923100002 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:125.69, Y:-9.48, Z:-0.44 [[ 9.91571111e-01 1.29552714e-01 1.68108423e-03 1.25692873e+02] [-1.29552596e-01 9.91572535e-01 -1.79477318e-04 -9.47791976e+00] [-1.69016873e-03 -3.98243023e-05 9.99998571e-01 -4.44873200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56576923100002 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:125.72, Y:-9.48, Z:-0.45 [[ 9.91523140e-01 1.29919346e-01 1.68109468e-03 1.25722318e+02] [-1.29919228e-01 9.91524564e-01 -1.79379443e-04 -9.47755078e+00] [-1.69015153e-03 -4.05476551e-05 9.99998571e-01 -4.49907329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59576923100002 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:125.75, Y:-9.48, Z:-0.45 [[ 9.91569746e-01 1.29563157e-01 1.68110316e-03 1.25751240e+02] [-1.29563040e-01 9.91571171e-01 -1.79299871e-04 -9.47893591e+00] [-1.69016409e-03 -4.00205078e-05 9.99998571e-01 -4.50951660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62576923100002 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:125.78, Y:-9.48, Z:-0.45 [[ 9.92033540e-01 1.25962813e-01 1.68111164e-03 1.25780036e+02] [-1.25962690e-01 9.92034963e-01 -1.79220388e-04 -9.47826681e+00] [-1.69029662e-03 -3.39647073e-05 9.99998571e-01 -4.49969284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65576923100002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:125.81, Y:-9.48, Z:-0.45 [[ 9.92408607e-01 1.22972887e-01 1.68112008e-03 1.25808705e+02] [-1.22972760e-01 9.92410030e-01 -1.79141147e-04 -9.48086262e+00] [-1.69038993e-03 -2.89507606e-05 9.99998571e-01 -4.48912444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.685769231 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:125.84, Y:-9.49, Z:-0.45 [[ 9.92854176e-01 1.19322077e-01 1.68112880e-03 1.25835896e+02] [-1.19321945e-01 9.92855599e-01 -1.79059303e-04 -9.48521785e+00] [-1.69048387e-03 -2.28157810e-05 9.99998571e-01 -4.51873379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.715769231 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:125.86, Y:-9.49, Z:-0.45 [[ 9.93359155e-01 1.15042438e-01 1.68113963e-03 1.25863708e+02] [-1.15042300e-01 9.93360578e-01 -1.78957496e-04 -9.49048895e+00] [-1.69056555e-03 -1.56331034e-05 9.99998571e-01 -4.54624503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.745769231 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:125.89, Y:-9.50, Z:-0.45 [[ 9.94140580e-01 1.08081828e-01 1.68114954e-03 1.25891669e+02] [-1.08081680e-01 9.94142001e-01 -1.78864413e-04 -9.49742600e+00] [-1.69063336e-03 -3.88509528e-06 9.99998571e-01 -4.54506946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.775769231 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:125.92, Y:-9.50, Z:-0.45 [[ 9.94293504e-01 1.06665843e-01 1.68115761e-03 1.25919942e+02] [-1.06665693e-01 9.94294925e-01 -1.78788473e-04 -9.50251280e+00] [-1.69063711e-03 -1.55362483e-06 9.99998571e-01 -4.50933862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.805769231 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:125.95, Y:-9.51, Z:-0.45 [[ 9.94272673e-01 1.06859839e-01 1.68116592e-03 1.25948423e+02] [-1.06859690e-01 9.94274094e-01 -1.78710328e-04 -9.50808041e+00] [-1.69063668e-03 -1.96207305e-06 9.99998571e-01 -4.47940414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.835769231 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:125.98, Y:-9.51, Z:-0.45 [[ 9.93810446e-01 1.11076423e-01 1.68117458e-03 1.25977276e+02] [-1.11076280e-01 9.93811868e-01 -1.78628856e-04 -9.51383671e+00] [-1.69061270e-03 -9.21539513e-06 9.99998571e-01 -4.49965199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.865769231 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:126.00, Y:-9.52, Z:-0.45 [[ 9.93532484e-01 1.13535794e-01 1.68118323e-03 1.26004881e+02] [-1.13535655e-01 9.93533906e-01 -1.78547365e-04 -9.51740078e+00] [-1.69058406e-03 -1.34816316e-05 9.99998571e-01 -4.53793645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.895769231 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:126.03, Y:-9.52, Z:-0.46 [[ 9.93174370e-01 1.16626944e-01 1.68119402e-03 1.26032736e+02] [-1.16626809e-01 9.93175793e-01 -1.78445778e-04 -9.52403518e+00] [-1.69053278e-03 -1.88445201e-05 9.99998571e-01 -4.55080245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.925769231 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:126.06, Y:-9.53, Z:-0.45 [[ 9.93135227e-01 1.16959801e-01 1.68120241e-03 1.26061096e+02] [-1.16959667e-01 9.93136649e-01 -1.78366675e-04 -9.52941387e+00] [-1.69052546e-03 -1.94906455e-05 9.99998571e-01 -4.52299476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.955769231 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:126.09, Y:-9.54, Z:-0.44 [[ 9.93179492e-01 1.16583316e-01 1.68121094e-03 1.26088522e+02] [-1.16583182e-01 9.93180915e-01 -1.78286226e-04 -9.53556332e+00] [-1.69053182e-03 -1.89306969e-05 9.99998571e-01 -4.44645442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.985769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:126.12, Y:-9.54, Z:-0.44 [[ 9.93259041e-01 1.15903628e-01 1.68122332e-03 1.26116734e+02] [-1.15903493e-01 9.93260464e-01 -1.78169395e-04 -9.53899069e+00] [-1.69054313e-03 -1.78912926e-05 9.99998571e-01 -4.41787511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.015769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:126.14, Y:-9.54, Z:-0.44 [[ 9.93313471e-01 1.15436223e-01 1.68123174e-03 1.26144968e+02] [-1.15436086e-01 9.93314894e-01 -1.78089956e-04 -9.54282291e+00] [-1.69055055e-03 -1.71756595e-05 9.99998571e-01 -4.41184928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.045769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:126.17, Y:-9.55, Z:-0.44 [[ 9.93356248e-01 1.15067537e-01 1.68124013e-03 1.26172037e+02] [-1.15067401e-01 9.93357671e-01 -1.78010709e-04 -9.54706294e+00] [-1.69055603e-03 -1.66278814e-05 9.99998571e-01 -4.43295093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.075769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:126.20, Y:-9.55, Z:-0.45 [[ 9.93457425e-01 1.14190707e-01 1.68125144e-03 1.26200001e+02] [-1.14190569e-01 9.93458848e-01 -1.77903775e-04 -9.55246670e+00] [-1.69056908e-03 -1.52432323e-05 9.99998571e-01 -4.46005467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.105769231 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:126.23, Y:-9.56, Z:-0.45 [[ 9.93545063e-01 1.13425663e-01 1.68125974e-03 1.26228514e+02] [-1.13425524e-01 9.93546485e-01 -1.77825348e-04 -9.55572316e+00] [-1.69057966e-03 -1.40202709e-05 9.99998571e-01 -4.46263162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.135769231 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:126.26, Y:-9.56, Z:-0.45 [[ 9.93638934e-01 1.12600362e-01 1.68126799e-03 1.26256161e+02] [-1.12600223e-01 9.93640357e-01 -1.77747267e-04 -9.55869832e+00] [-1.69059013e-03 -1.26945452e-05 9.99998571e-01 -4.45639634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.165769231 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:126.28, Y:-9.56, Z:-0.45 [[ 9.93644918e-01 1.12547543e-01 1.68127823e-03 1.26284882e+02] [-1.12547403e-01 9.93646341e-01 -1.77650356e-04 -9.56238396e+00] [-1.69059007e-03 -1.27021261e-05 9.99998571e-01 -4.45616079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.195769231 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:126.31, Y:-9.57, Z:-0.45 [[ 9.93608266e-01 1.12870666e-01 1.68128634e-03 1.26313385e+02] [-1.12870527e-01 9.93609688e-01 -1.77573548e-04 -9.56573066e+00] [-1.69058524e-03 -1.33291299e-05 9.99998571e-01 -4.46055260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22576923100002 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:126.34, Y:-9.57, Z:-0.45 [[ 9.93365309e-01 1.14989286e-01 1.68129443e-03 1.26341033e+02] [-1.14989150e-01 9.93366732e-01 -1.77496987e-04 -9.56734988e+00] [-1.69055220e-03 -1.70112686e-05 9.99998571e-01 -4.48479484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25576923100002 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:126.37, Y:-9.57, Z:-0.45 [[ 9.93197505e-01 1.16429759e-01 1.68130509e-03 1.26369871e+02] [-1.16429625e-01 9.93198928e-01 -1.77395939e-04 -9.56915906e+00] [-1.69052458e-03 -1.95645176e-05 9.99998571e-01 -4.49783195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28576923100002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:126.40, Y:-9.57, Z:-0.45 [[ 9.93012116e-01 1.18000471e-01 1.68131310e-03 1.26398902e+02] [-1.18000340e-01 9.93013539e-01 -1.77320012e-04 -9.57173638e+00] [-1.69049051e-03 -2.23145965e-05 9.99998571e-01 -4.50537511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31576923100002 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:126.43, Y:-9.57, Z:-0.45 [[ 9.92629352e-01 1.21178145e-01 1.68132107e-03 1.26427450e+02] [-1.21178019e-01 9.92630775e-01 -1.77244370e-04 -9.57467540e+00] [-1.69040918e-03 -2.78011920e-05 9.99998571e-01 -4.52979219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34576923100002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:126.45, Y:-9.58, Z:-0.45 [[ 9.92580955e-01 1.21573933e-01 1.68132899e-03 1.26454794e+02] [-1.21573807e-01 9.92582378e-01 -1.77169161e-04 -9.57626140e+00] [-1.69039668e-03 -2.85508321e-05 9.99998571e-01 -4.53929673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37576923100002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:126.48, Y:-9.58, Z:-0.45 [[ 9.92768140e-01 1.20035803e-01 1.68133887e-03 1.26483577e+02] [-1.20035675e-01 9.92769563e-01 -1.77075354e-04 -9.57547134e+00] [-1.69043744e-03 -2.60258780e-05 9.99998571e-01 -4.54732494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40576923100002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:126.51, Y:-9.58, Z:-0.45 [[ 9.92773472e-01 1.19991693e-01 1.68134672e-03 1.26512753e+02] [-1.19991565e-01 9.92774895e-01 -1.77000800e-04 -9.57844668e+00] [-1.69043744e-03 -2.60257265e-05 9.99998571e-01 -4.54782077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.435769231 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:126.54, Y:-9.58, Z:-0.45 [[ 9.92922605e-01 1.18751311e-01 1.68135458e-03 1.26540101e+02] [-1.18751181e-01 9.92924028e-01 -1.76926095e-04 -9.58075589e+00] [-1.69046757e-03 -2.39889237e-05 9.99998571e-01 -4.54393028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.465769231 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:126.57, Y:-9.58, Z:-0.45 [[ 9.93070137e-01 1.17511178e-01 1.68136529e-03 1.26568846e+02] [-1.17511047e-01 9.93071560e-01 -1.76824322e-04 -9.58442784e+00] [-1.69049488e-03 -2.19800407e-05 9.99998571e-01 -4.51671131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.495769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:126.60, Y:-9.59, Z:-0.45 [[ 9.93208950e-01 1.16332088e-01 1.68137323e-03 1.26597564e+02] [-1.16331956e-01 9.93210373e-01 -1.76748763e-04 -9.58749639e+00] [-1.69051889e-03 -2.00489825e-05 9.99998571e-01 -4.48533775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.525769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:126.63, Y:-9.59, Z:-0.45 [[ 9.93314612e-01 1.15426399e-01 1.68138113e-03 1.26625858e+02] [-1.15426265e-01 9.93316035e-01 -1.76673552e-04 -9.58714704e+00] [-1.69053563e-03 -1.85831244e-05 9.99998571e-01 -4.46036649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.555769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:126.65, Y:-9.59, Z:-0.45 [[ 9.93260000e-01 1.15895409e-01 1.68139101e-03 1.26654960e+02] [-1.15895276e-01 9.93261423e-01 -1.76579532e-04 -9.58828121e+00] [-1.69052558e-03 -1.94758891e-05 9.99998571e-01 -4.46268078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.585769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:126.68, Y:-9.59, Z:-0.45 [[ 9.93185227e-01 1.16534445e-01 1.68139887e-03 1.26684040e+02] [-1.16534313e-01 9.93186651e-01 -1.76504659e-04 -9.59017417e+00] [-1.69051178e-03 -2.06388421e-05 9.99998571e-01 -4.45139565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.615769231 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:126.71, Y:-9.59, Z:-0.44 [[ 9.93097246e-01 1.17281849e-01 1.68140752e-03 1.26711805e+02] [-1.17281718e-01 9.93098670e-01 -1.76422159e-04 -9.59112124e+00] [-1.69049469e-03 -2.19940028e-05 9.99998571e-01 -4.42901101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.645769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:126.74, Y:-9.59, Z:-0.44 [[ 9.93142680e-01 1.16896494e-01 1.68141828e-03 1.26740919e+02] [-1.16896363e-01 9.93144103e-01 -1.76319545e-04 -9.59242137e+00] [-1.69050179e-03 -2.14412165e-05 9.99998571e-01 -4.40363100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.675769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:126.77, Y:-9.60, Z:-0.44 [[ 9.93290672e-01 1.15632233e-01 1.68142664e-03 1.26769161e+02] [-1.15632101e-01 9.93292095e-01 -1.76239809e-04 -9.59513081e+00] [-1.69052679e-03 -1.93695361e-05 9.99998571e-01 -4.41725787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.705769231 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:126.80, Y:-9.60, Z:-0.44 [[ 9.93431965e-01 1.14411995e-01 1.68143502e-03 1.26797790e+02] [-1.14411861e-01 9.93433387e-01 -1.76159855e-04 -9.59904759e+00] [-1.69054849e-03 -1.73732785e-05 9.99998571e-01 -4.43336517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.735769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:126.83, Y:-9.60, Z:-0.44 [[ 9.93601303e-01 1.12931938e-01 1.68144340e-03 1.26826529e+02] [-1.12931802e-01 9.93602726e-01 -1.76079856e-04 -9.60289010e+00] [-1.69057178e-03 -1.49352577e-05 9.99998571e-01 -4.43860876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.765769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:126.85, Y:-9.61, Z:-0.45 [[ 9.94024813e-01 1.09141397e-01 1.68145176e-03 1.26854769e+02] [-1.09141255e-01 9.94026235e-01 -1.75999974e-04 -9.60665111e+00] [-1.69061604e-03 -8.56741420e-06 9.99998571e-01 -4.45741586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.795769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:126.88, Y:-9.61, Z:-0.45 [[ 9.94221418e-01 1.07335663e-01 1.68146008e-03 1.26882444e+02] [-1.07335519e-01 9.94222840e-01 -1.75920381e-04 -9.61076913e+00] [-1.69062855e-03 -5.57658022e-06 9.99998571e-01 -4.48628387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.825769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:126.91, Y:-9.61, Z:-0.45 [[ 9.94377043e-01 1.05884220e-01 1.68147122e-03 1.26909591e+02] [-1.05884074e-01 9.94378465e-01 -1.75813878e-04 -9.61469499e+00] [-1.69063469e-03 -3.21573915e-06 9.99998571e-01 -4.49819987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.94, Y:-9.62, Z:-0.44 [[ 9.94355622e-01 1.06085197e-01 1.68148106e-03 1.26938558e+02] [-1.06085052e-01 9.94357044e-01 -1.75719717e-04 -9.61809105e+00] [-1.69063380e-03 -3.65211637e-06 9.99998571e-01 -4.42812940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:-9.62, Z:-0.44 [[ 9.94207523e-01 1.07464288e-01 1.68148838e-03 1.26967429e+02] [-1.07464144e-01 9.94208945e-01 -1.75649683e-04 -9.62005944e+00] [-1.69062685e-03 -6.06747277e-06 9.99998571e-01 -4.40522929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.00, Y:-9.62, Z:-0.44 [[ 9.93820602e-01 1.10985514e-01 1.68149570e-03 1.26996096e+02] [-1.10985376e-01 9.93822024e-01 -1.75579538e-04 -9.62303269e+00] [-1.69059425e-03 -1.21268703e-05 9.99998571e-01 -4.41953787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.02, Y:-9.63, Z:-0.45 [[ 9.93721361e-01 1.11870596e-01 1.68150395e-03 1.27023549e+02] [-1.11870459e-01 9.93722783e-01 -1.75500492e-04 -9.62628154e+00] [-1.69058213e-03 -1.37120314e-05 9.99998571e-01 -4.46280144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:127.05, Y:-9.63, Z:-0.45 [[ 9.93749789e-01 1.11617783e-01 1.68151425e-03 1.27052580e+02] [-1.11617646e-01 9.93751212e-01 -1.75401713e-04 -9.62952254e+00] [-1.69058478e-03 -1.33812473e-05 9.99998571e-01 -4.46852976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.08, Y:-9.63, Z:-0.44 [[ 9.93955360e-01 1.09772103e-01 1.68152255e-03 1.27081680e+02] [-1.09771964e-01 9.93956782e-01 -1.75322116e-04 -9.63138766e+00] [-1.69060622e-03 -1.03216756e-05 9.99998571e-01 -4.42562202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:-9.63, Z:-0.44 [[ 9.94061829e-01 1.08803730e-01 1.68153083e-03 1.27110867e+02] [-1.08803590e-01 9.94063252e-01 -1.75242690e-04 -9.63401095e+00] [-1.69061506e-03 -8.75452118e-06 9.99998571e-01 -4.40304943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.14, Y:-9.64, Z:-0.44 [[ 9.94111916e-01 1.08345150e-01 1.68153937e-03 1.27138379e+02] [-1.08345009e-01 9.94113338e-01 -1.75160669e-04 -9.63753011e+00] [-1.69061853e-03 -8.05709037e-06 9.99998571e-01 -4.40961957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:-9.64, Z:-0.45 [[ 9.94299823e-01 1.06606915e-01 1.68155002e-03 1.27166209e+02] [-1.06606771e-01 9.94301245e-01 -1.75058458e-04 -9.64237818e+00] [-1.69062972e-03 -5.20402465e-06 9.99998571e-01 -4.46214441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.20, Y:-9.65, Z:-0.45 [[ 9.94377632e-01 1.05878693e-01 1.68156032e-03 1.27195095e+02] [-1.05878548e-01 9.94379054e-01 -1.74959409e-04 -9.64592366e+00] [-1.69063283e-03 -4.06544283e-06 9.99998571e-01 -4.45802368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:-9.65, Z:-0.45 [[ 9.94431936e-01 1.05367439e-01 1.68156856e-03 1.27223730e+02] [-1.05367293e-01 9.94433358e-01 -1.74880218e-04 -9.65106058e+00] [-1.69063455e-03 -3.27585387e-06 9.99998571e-01 -4.45854364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.185769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.25, Y:-9.66, Z:-0.44 [[ 9.94485522e-01 1.04860477e-01 1.68157678e-03 1.27251275e+02] [-1.04860332e-01 9.94486943e-01 -1.74801098e-04 -9.65623028e+00] [-1.69063588e-03 -2.49353814e-06 9.99998571e-01 -4.44270689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.28, Y:-9.66, Z:-0.44 [[ 9.94537730e-01 1.04364153e-01 1.68158699e-03 1.27279707e+02] [-1.04364007e-01 9.94539151e-01 -1.74702870e-04 -9.66115431e+00] [-1.69063681e-03 -1.74855928e-06 9.99998571e-01 -4.42754058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.245769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.31, Y:-9.67, Z:-0.44 [[ 9.94564539e-01 1.04108358e-01 1.68159512e-03 1.27306870e+02] [-1.04108211e-01 9.94565961e-01 -1.74624545e-04 -9.66510937e+00] [-1.69063714e-03 -1.39247970e-06 9.99998571e-01 -4.42118023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.275769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:127.33, Y:-9.67, Z:-0.45 [[ 9.94487329e-01 1.04843332e-01 1.68160523e-03 1.27334643e+02] [-1.04843187e-01 9.94488751e-01 -1.74527100e-04 -9.67196960e+00] [-1.69063549e-03 -2.73986211e-06 9.99998571e-01 -4.46404040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.305769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:127.36, Y:-9.68, Z:-0.45 [[ 9.94418260e-01 1.05496429e-01 1.68161324e-03 1.27362783e+02] [-1.05496285e-01 9.94419682e-01 -1.74449920e-04 -9.67809318e+00] [-1.69063315e-03 -3.92776357e-06 9.99998571e-01 -4.48147534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.335769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:127.39, Y:-9.68, Z:-0.45 [[ 9.94300697e-01 1.06598758e-01 1.68162113e-03 1.27391084e+02] [-1.06598615e-01 9.94302120e-01 -1.74373852e-04 -9.68314229e+00] [-1.69062749e-03 -5.87844051e-06 9.99998571e-01 -4.48175197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.365769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.42, Y:-9.69, Z:-0.45 [[ 9.93914103e-01 1.10145033e-01 1.68162906e-03 1.27418382e+02] [-1.10144896e-01 9.93915525e-01 -1.74297363e-04 -9.68719772e+00] [-1.69059521e-03 -1.19862510e-05 9.99998571e-01 -4.47464553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.395769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.45, Y:-9.69, Z:-0.45 [[ 9.93735809e-01 1.11742177e-01 1.68163891e-03 1.27446719e+02] [-1.11742042e-01 9.93737232e-01 -1.74202190e-04 -9.69121526e+00] [-1.69057293e-03 -1.47988113e-05 9.99998571e-01 -4.45866812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.425769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.47, Y:-9.70, Z:-0.44 [[ 9.93528521e-01 1.13570462e-01 1.68164711e-03 1.27474996e+02] [-1.13570330e-01 9.93529944e-01 -1.74123045e-04 -9.69856448e+00] [-1.69054199e-03 -1.79890058e-05 9.99998571e-01 -4.43708283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.455769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:127.50, Y:-9.70, Z:-0.44 [[ 9.93490195e-01 1.13905242e-01 1.68165560e-03 1.27503199e+02] [-1.13905111e-01 9.93491618e-01 -1.74040994e-04 -9.70267545e+00] [-1.69053493e-03 -1.86411466e-05 9.99998571e-01 -4.42685910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.485769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.53, Y:-9.71, Z:-0.44 [[ 9.93546649e-01 1.13411765e-01 1.68166027e-03 1.27532242e+02] [-1.13411633e-01 9.93548072e-01 -1.73995917e-04 -9.70579927e+00] [-1.69054350e-03 -1.78467764e-05 9.99998571e-01 -4.41504397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.515769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.56, Y:-9.71, Z:-0.44 [[ 9.93627357e-01 1.12702472e-01 1.68166851e-03 1.27561546e+02] [-1.12702339e-01 9.93628780e-01 -1.73916197e-04 -9.71115184e+00] [-1.69055502e-03 -1.67200841e-05 9.99998571e-01 -4.42150571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:-9.72, Z:-0.44 [[ 9.93682151e-01 1.12218334e-01 1.68167274e-03 1.27589580e+02] [-1.12218200e-01 9.93683574e-01 -1.73875248e-04 -9.71597402e+00] [-1.69056257e-03 -1.59375582e-05 9.99998571e-01 -4.44092509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.575769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:127.62, Y:-9.72, Z:-0.44 [[ 9.93765068e-01 1.11481665e-01 1.68167707e-03 1.27618154e+02] [-1.11481531e-01 9.93766491e-01 -1.73833442e-04 -9.72058619e+00] [-1.69057356e-03 -1.47263308e-05 9.99998571e-01 -4.44875996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.605769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.65, Y:-9.73, Z:-0.44 [[ 9.93940172e-01 1.09909533e-01 1.68168324e-03 1.27647263e+02] [-1.09909396e-01 9.93941595e-01 -1.73773687e-04 -9.72804718e+00] [-1.69059431e-03 -1.21121411e-05 9.99998571e-01 -4.42006871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:-9.73, Z:-0.44 [[ 9.93871367e-01 1.10529983e-01 1.68168733e-03 1.27676745e+02] [-1.10529847e-01 9.93872790e-01 -1.73734104e-04 -9.73356662e+00] [-1.69058611e-03 -1.32072923e-05 9.99998571e-01 -4.38338989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:-9.74, Z:-0.43 [[ 9.93479772e-01 1.13996119e-01 1.68169151e-03 1.27705006e+02] [-1.13995988e-01 9.93481195e-01 -1.73693610e-04 -9.73759957e+00] [-1.69052929e-03 -1.91449979e-05 9.99998571e-01 -4.33566153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-9.74, Z:-0.44 [[ 9.93278172e-01 1.15739553e-01 1.68169772e-03 1.27734988e+02] [-1.15739424e-01 9.93279596e-01 -1.73633490e-04 -9.74044033e+00] [-1.69049229e-03 -2.21723703e-05 9.99998571e-01 -4.35209504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.76, Y:-9.74, Z:-0.44 [[ 9.93120978e-01 1.17080723e-01 1.68170186e-03 1.27764624e+02] [-1.17080597e-01 9.93122401e-01 -1.73593337e-04 -9.74426650e+00] [-1.69046023e-03 -2.44954741e-05 9.99998571e-01 -4.40079058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.79, Y:-9.75, Z:-0.45 [[ 9.93147544e-01 1.16855159e-01 1.68170598e-03 1.27792642e+02] [-1.16855032e-01 9.93148967e-01 -1.73553438e-04 -9.75043643e+00] [-1.69046517e-03 -2.41516359e-05 9.99998571e-01 -4.47380938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:-9.75, Z:-0.45 [[ 9.93349341e-01 1.15127143e-01 1.68171213e-03 1.27823153e+02] [-1.15127014e-01 9.93350764e-01 -1.73493877e-04 -9.75456065e+00] [-1.69050388e-03 -2.12704670e-05 9.99998571e-01 -4.45629022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.85, Y:-9.76, Z:-0.44 [[ 9.93588469e-01 1.13044793e-01 1.68171213e-03 1.27853899e+02] [-1.13044661e-01 9.93589893e-01 -1.73493877e-04 -9.75812294e+00] [-1.69054475e-03 -1.77270609e-05 9.99998571e-01 -4.41769915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:-9.76, Z:-0.44 [[ 9.94025971e-01 1.09130840e-01 1.68171213e-03 1.27883572e+02] [-1.09130703e-01 9.94027394e-01 -1.73493877e-04 -9.76407163e+00] [-1.69060145e-03 -1.10690062e-05 9.99998571e-01 -4.37958812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:-9.77, Z:-0.44 [[ 9.94225672e-01 1.07296252e-01 1.68171618e-03 1.27912420e+02] [-1.07296112e-01 9.94227094e-01 -1.73454549e-04 -9.76953691e+00] [-1.69061882e-03 -7.98864187e-06 9.99998571e-01 -4.39252798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:-9.78, Z:-0.44 [[ 9.94383366e-01 1.05824822e-01 1.68172022e-03 1.27942596e+02] [-1.05824680e-01 9.94384788e-01 -1.73415422e-04 -9.77531062e+00] [-1.69062866e-03 -5.52609316e-06 9.99998571e-01 -4.41582147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:-9.78, Z:-0.44 [[ 9.94283012e-01 1.06763588e-01 1.68172022e-03 1.27971534e+02] [-1.06763448e-01 9.94284434e-01 -1.73415422e-04 -9.77823191e+00] [-1.69062269e-03 -7.12224047e-06 9.99998571e-01 -4.43526576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:-9.78, Z:-0.45 [[ 9.94139000e-01 1.08096344e-01 1.68172224e-03 1.28000521e+02] [-1.08096205e-01 9.94140423e-01 -1.73395798e-04 -9.78205652e+00] [-1.69061151e-03 -9.40826728e-06 9.99998571e-01 -4.45969742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:-9.79, Z:-0.45 [[ 9.94047099e-01 1.08938228e-01 1.68172625e-03 1.28029924e+02] [-1.08938090e-01 9.94048521e-01 -1.73356945e-04 -9.78719536e+00] [-1.69060269e-03 -1.08790780e-05 9.99998571e-01 -4.48526263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.06, Y:-9.79, Z:-0.45 [[ 9.94027022e-01 1.09121269e-01 1.68172380e-03 1.28059437e+02] [-1.09121132e-01 9.94028445e-01 -1.73380664e-04 -9.79426887e+00] [-1.69060081e-03 -1.11665397e-05 9.99998571e-01 -4.49815780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.09, Y:-9.80, Z:-0.45 [[ 9.94026774e-01 1.09123528e-01 1.68172380e-03 1.28090084e+02] [-1.09123391e-01 9.94028197e-01 -1.73380664e-04 -9.79836718e+00] [-1.69060079e-03 -1.11703817e-05 9.99998571e-01 -4.50050410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.12, Y:-9.81, Z:-0.45 [[ 9.94071536e-01 1.08715007e-01 1.68172380e-03 1.28119534e+02] [-1.08714869e-01 9.94072959e-01 -1.73380664e-04 -9.80538238e+00] [-1.69060523e-03 -1.04756002e-05 9.99998571e-01 -4.49985663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.115769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:128.15, Y:-9.81, Z:-0.45 [[ 9.94125625e-01 1.08219282e-01 1.68171387e-03 1.28150275e+02] [-1.08219143e-01 9.94127048e-01 -1.73476934e-04 -9.81144140e+00] [-1.69061079e-03 -9.53576927e-06 9.99998571e-01 -4.48018228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.145769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.18, Y:-9.82, Z:-0.45 [[ 9.94175337e-01 1.07761642e-01 1.68170979e-03 1.28181025e+02] [-1.07761503e-01 9.94176759e-01 -1.73516465e-04 -9.81677517e+00] [-1.69061521e-03 -8.71778463e-06 9.99998571e-01 -4.45803018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.21, Y:-9.82, Z:-0.44 [[ 9.94119175e-01 1.08278519e-01 1.68170571e-03 1.28211631e+02] [-1.08278380e-01 9.94120597e-01 -1.73556006e-04 -9.82169560e+00] [-1.69061067e-03 -9.55701662e-06 9.99998571e-01 -4.43373731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:-9.83, Z:-0.45 [[ 9.94053936e-01 1.08875816e-01 1.68170164e-03 1.28241819e+02] [-1.08875678e-01 9.94055359e-01 -1.73595428e-04 -9.82643636e+00] [-1.69060487e-03 -1.05331874e-05 9.99998571e-01 -4.45055367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.235769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.27, Y:-9.83, Z:-0.45 [[ 9.93954416e-01 1.09780653e-01 1.68169961e-03 1.28272524e+02] [-1.09780516e-01 9.93955838e-01 -1.73615102e-04 -9.83169157e+00] [-1.69059472e-03 -1.20523541e-05 9.99998571e-01 -4.46776482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.30, Y:-9.84, Z:-0.45 [[ 9.93753199e-01 1.11587413e-01 1.68169540e-03 1.28303678e+02] [-1.11587279e-01 9.93754622e-01 -1.73655837e-04 -9.83649935e+00] [-1.69057039e-03 -1.50847701e-05 9.99998571e-01 -4.47327826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:-9.84, Z:-0.44 [[ 9.93655143e-01 1.12457227e-01 1.68166817e-03 1.28335208e+02] [-1.12457094e-01 9.93656566e-01 -1.73919155e-04 -9.83884438e+00] [-1.69055909e-03 -1.62998523e-05 9.99998571e-01 -4.44413947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:-9.84, Z:-0.44 [[ 9.93652527e-01 1.12480340e-01 1.68166413e-03 1.28366868e+02] [-1.12480207e-01 9.93653950e-01 -1.73958229e-04 -9.84216528e+00] [-1.69055908e-03 -1.62998954e-05 9.99998571e-01 -4.44467768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:-9.84, Z:-0.44 [[ 9.93429126e-01 1.14436633e-01 1.68166008e-03 1.28397751e+02] [-1.14436503e-01 9.93430549e-01 -1.73997346e-04 -9.84354905e+00] [-1.69052417e-03 -1.95892673e-05 9.99998571e-01 -4.41571237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-9.85, Z:-0.44 [[ 9.93415406e-01 1.14555674e-01 1.68165595e-03 1.28427580e+02] [-1.14555543e-01 9.93416830e-01 -1.74037242e-04 -9.84620682e+00] [-1.69052228e-03 -1.97517340e-05 9.99998571e-01 -4.42293596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.46, Y:-9.85, Z:-0.44 [[ 9.93475934e-01 1.14029561e-01 1.68165391e-03 1.28459259e+02] [-1.14029429e-01 9.93477357e-01 -1.74057009e-04 -9.84880751e+00] [-1.69053272e-03 -1.88365857e-05 9.99998571e-01 -4.43184607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:-9.85, Z:-0.44 [[ 9.93731071e-01 1.11784308e-01 1.68164979e-03 1.28490253e+02] [-1.11784173e-01 9.93732493e-01 -1.74096728e-04 -9.84851102e+00] [-1.69057133e-03 -1.49765044e-05 9.99998571e-01 -4.43087382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:-9.85, Z:-0.44 [[ 9.93827975e-01 1.10919471e-01 1.68164774e-03 1.28520369e+02] [-1.10919335e-01 9.93829397e-01 -1.74116531e-04 -9.84920409e+00] [-1.69058388e-03 -1.34853706e-05 9.99998571e-01 -4.39886132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.55, Y:-9.85, Z:-0.44 [[ 9.93867038e-01 1.10568903e-01 1.68164571e-03 1.28550967e+02] [-1.10568767e-01 9.93868461e-01 -1.74136128e-04 -9.84991483e+00] [-1.69058868e-03 -1.28693352e-05 9.99998571e-01 -4.35656958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:-9.85, Z:-0.43 [[ 9.93830243e-01 1.10899141e-01 1.68164370e-03 1.28581963e+02] [-1.10899005e-01 9.93831666e-01 -1.74155620e-04 -9.84894220e+00] [-1.69058446e-03 -1.34114908e-05 9.99998571e-01 -4.32243716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:-9.85, Z:-0.43 [[ 9.93807278e-01 1.11104755e-01 1.68164370e-03 1.28612488e+02] [-1.11104620e-01 9.93808700e-01 -1.74155620e-04 -9.84953431e+00] [-1.69058165e-03 -1.37612600e-05 9.99998571e-01 -4.34780133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:-9.85, Z:-0.44 [[ 9.93990622e-01 1.09452339e-01 1.68164370e-03 1.28642550e+02] [-1.09452201e-01 9.93992045e-01 -1.74155620e-04 -9.84653839e+00] [-1.69060220e-03 -1.09505502e-05 9.99998571e-01 -4.40359636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:-9.85, Z:-0.44 [[ 9.94211808e-01 1.07424639e-01 1.68164584e-03 1.28672089e+02] [-1.07424498e-01 9.94213230e-01 -1.74134941e-04 -9.84801525e+00] [-1.69062092e-03 -7.52294589e-06 9.99998571e-01 -4.43354259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.70, Y:-9.85, Z:-0.44 [[ 9.94851284e-01 1.01331609e-01 1.68164795e-03 1.28701965e+02] [-1.01331460e-01 9.94852705e-01 -1.74114486e-04 -9.85123827e+00] [-1.69063532e-03 2.81417863e-06 9.99998571e-01 -4.43645111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:-9.85, Z:-0.44 [[ 9.95179366e-01 9.80571348e-02 1.68164795e-03 1.28732195e+02] [-9.80569805e-02 9.95180787e-01 -1.74114486e-04 -9.85496894e+00] [-1.69061690e-03 8.37782341e-06 9.99998571e-01 -4.43484839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:-9.86, Z:-0.44 [[ 9.95449513e-01 9.52755966e-02 1.68164795e-03 1.28763175e+02] [-9.52754384e-02 9.95450933e-01 -1.74114486e-04 -9.85847531e+00] [-1.69058689e-03 1.31024345e-05 9.99998571e-01 -4.42326602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.745769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.79, Y:-9.86, Z:-0.44 [[ 9.95889818e-01 9.05573981e-02 1.68164370e-03 1.28793427e+02] [-9.05572331e-02 9.95891238e-01 -1.74155604e-04 -9.86331555e+00] [-1.69050530e-03 2.11547920e-05 9.99998571e-01 -4.40421808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:-9.87, Z:-0.44 [[ 9.96102049e-01 8.81922939e-02 1.68164158e-03 1.28823755e+02] [-8.81921255e-02 9.96103468e-01 -1.74176006e-04 -9.86830982e+00] [-1.69044999e-03 2.51895308e-05 9.99998571e-01 -4.39131037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:-9.88, Z:-0.44 [[ 9.96396226e-01 8.48040822e-02 1.68163951e-03 1.28855486e+02] [-8.48039090e-02 9.96397645e-01 -1.74195977e-04 -9.87683209e+00] [-1.69035418e-03 3.09586097e-05 9.99998571e-01 -4.38381075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:-9.88, Z:-0.44 [[ 9.96529116e-01 8.32279540e-02 1.68161092e-03 1.28886242e+02] [-8.32277780e-02 9.96530535e-01 -1.74471618e-04 -9.88281171e+00] [-1.69029754e-03 3.39093071e-05 9.99998571e-01 -4.38599792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.92, Y:-9.89, Z:-0.44 [[ 9.96636272e-01 8.19348166e-02 1.68160676e-03 1.28917261e+02] [-8.19346388e-02 9.96637690e-01 -1.74511661e-04 -9.88950761e+00] [-1.69025126e-03 3.61428086e-05 9.99998571e-01 -4.39395696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.95, Y:-9.90, Z:-0.44 [[ 9.96720847e-01 8.08994743e-02 1.68157977e-03 1.28948161e+02] [-8.08992945e-02 9.96722265e-01 -1.74771380e-04 -9.89591239e+00] [-1.69020691e-03 3.81596612e-05 9.99998571e-01 -4.39570837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:-9.91, Z:-0.44 [[ 9.96726410e-01 8.08309051e-02 1.68157573e-03 1.28978372e+02] [-8.08307252e-02 9.96727828e-01 -1.74810245e-04 -9.90654651e+00] [-1.69020339e-03 3.83150024e-05 9.99998571e-01 -4.42357608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:-9.91, Z:-0.44 [[ 9.96690555e-01 8.12718235e-02 1.68154960e-03 1.29009835e+02] [-8.12716438e-02 9.96691973e-01 -1.75061182e-04 -9.91397141e+00] [-1.69021453e-03 3.78195266e-05 9.99998571e-01 -4.43225841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:-9.92, Z:-0.44 [[ 9.96427576e-01 8.44349308e-02 1.68152091e-03 1.29041244e+02] [-8.44347551e-02 9.96428995e-01 -1.75336357e-04 -9.92427698e+00] [-1.69032070e-03 3.27311748e-05 9.99998571e-01 -4.43185933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:-9.93, Z:-0.44 [[ 9.96224873e-01 8.67938644e-02 1.68149019e-03 1.29072483e+02] [-8.67936915e-02 9.96226292e-01 -1.75630465e-04 -9.93009610e+00] [-1.69038838e-03 2.90246969e-05 9.99998571e-01 -4.43821598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:-9.94, Z:-0.44 [[ 9.95951604e-01 8.98753266e-02 1.68147019e-03 1.29104019e+02] [-8.98751578e-02 9.95953024e-01 -1.75821731e-04 -9.93660399e+00] [-1.69046736e-03 2.39875361e-05 9.99998571e-01 -4.44072254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:-9.95, Z:-0.44 [[ 9.95389978e-01 9.58955933e-02 1.68144232e-03 1.29135532e+02] [-9.58954326e-02 9.95391398e-01 -1.76087899e-04 -9.94544205e+00] [-1.69057927e-03 1.40334918e-05 9.99998571e-01 -4.43101519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:-9.95, Z:-0.44 [[ 9.95085806e-01 9.90020749e-02 1.68143216e-03 1.29166679e+02] [-9.90019185e-02 9.95087227e-01 -1.76184801e-04 -9.95175026e+00] [-1.69061433e-03 8.85398514e-06 9.99998571e-01 -4.43092298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:-9.96, Z:-0.44 [[ 9.94675089e-01 1.03046787e-01 1.68140164e-03 1.29198201e+02] [-1.03046636e-01 9.94676510e-01 -1.76475572e-04 -9.96045669e+00] [-1.69063596e-03 2.27307164e-06 9.99998571e-01 -4.43737575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:-9.97, Z:-0.44 [[ 9.94507056e-01 1.04656046e-01 1.68138189e-03 1.29231218e+02] [-1.04655897e-01 9.94508478e-01 -1.76663560e-04 -9.96653966e+00] [-1.69063746e-03 -2.73372588e-07 9.99998571e-01 -4.43282350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:-9.97, Z:-0.44 [[ 9.94403741e-01 1.05633200e-01 1.68134847e-03 1.29263679e+02] [-1.05633052e-01 9.94405162e-01 -1.76981121e-04 -9.97271459e+00] [-1.69063668e-03 -1.61528026e-06 9.99998571e-01 -4.44570888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-9.98, Z:-0.44 [[ 9.94343296e-01 1.06200670e-01 1.68131509e-03 1.29296305e+02] [-1.06200522e-01 9.94344718e-01 -1.77297587e-04 -9.97911277e+00] [-1.69063590e-03 -2.26187294e-06 9.99998571e-01 -4.44829693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:-9.99, Z:-0.44 [[ 9.94206176e-01 1.07476758e-01 1.68128113e-03 1.29328059e+02] [-1.07476612e-01 9.94207597e-01 -1.77619064e-04 -9.98792442e+00] [-1.69063239e-03 -4.10842920e-06 9.99998571e-01 -4.43386176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:-9.99, Z:-0.44 [[ 9.94051116e-01 1.08901575e-01 1.68124933e-03 1.29360409e+02] [-1.08901430e-01 9.94052537e-01 -1.77919555e-04 -9.99259282e+00] [-1.69062588e-03 -6.22932433e-06 9.99998571e-01 -4.42423771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:-10.00, Z:-0.44 [[ 9.93544340e-01 1.13431999e-01 1.68121553e-03 1.29391735e+02] [-1.13431860e-01 9.93545762e-01 -1.78238399e-04 -9.99593012e+00] [-1.69058250e-03 -1.36156520e-05 9.99998571e-01 -4.41269337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:-10.00, Z:-0.44 [[ 9.93132697e-01 1.16981281e-01 1.68119660e-03 1.29424333e+02] [-1.16981147e-01 9.93134120e-01 -1.78416793e-04 -9.99978352e+00] [-1.69052513e-03 -1.94767550e-05 9.99998571e-01 -4.41035655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:-10.00, Z:-0.44 [[ 9.92693818e-01 1.20648904e-01 1.68116332e-03 1.29456977e+02] [-1.20648774e-01 9.92695241e-01 -1.78729752e-04 -1.00036070e+01] [-1.69044638e-03 -2.54063746e-05 9.99998571e-01 -4.41583467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-10.01, Z:-0.44 [[ 9.92098749e-01 1.25448183e-01 1.68112969e-03 1.29489067e+02] [-1.25448060e-01 9.92100172e-01 -1.79045563e-04 -1.00059047e+01] [-1.69031000e-03 -3.32635795e-05 9.99998571e-01 -4.42340511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.435769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.52, Y:-10.01, Z:-0.44 [[ 9.92004507e-01 1.26191248e-01 1.68109835e-03 1.29520736e+02] [-1.26191125e-01 9.92005931e-01 -1.79339341e-04 -1.00084358e+01] [-1.69029059e-03 -3.42342577e-05 9.99998571e-01 -4.42633035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.55, Y:-10.01, Z:-0.44 [[ 9.91997841e-01 1.26243645e-01 1.68106748e-03 1.29554332e+02] [-1.26243522e-01 9.91999265e-01 -1.79628228e-04 -1.00092880e+01] [-1.69029463e-03 -3.40330645e-05 9.99998571e-01 -4.42694266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:-10.01, Z:-0.44 [[ 9.91965070e-01 1.26500886e-01 1.68103372e-03 1.29587640e+02] [-1.26500762e-01 9.91966494e-01 -1.79943611e-04 -1.00111995e+01] [-1.69029215e-03 -3.41542709e-05 9.99998571e-01 -4.43154292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:-10.01, Z:-0.44 [[ 9.91865904e-01 1.27276089e-01 1.68099919e-03 1.29620238e+02] [-1.27275966e-01 9.91867328e-01 -1.80265622e-04 -1.00108357e+01] [-1.69027168e-03 -3.51514721e-05 9.99998571e-01 -4.42988538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:-10.01, Z:-0.44 [[ 9.91795509e-01 1.27823479e-01 1.68096689e-03 1.29653442e+02] [-1.27823356e-01 9.91796933e-01 -1.80566336e-04 -1.00130481e+01] [-1.69025842e-03 -3.57819482e-05 9.99998571e-01 -4.41170454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:-10.02, Z:-0.44 [[ 9.91807586e-01 1.27729741e-01 1.68093218e-03 1.29685435e+02] [-1.27729617e-01 9.91809010e-01 -1.80888816e-04 -1.00154649e+01] [-1.69026857e-03 -3.52979247e-05 9.99998571e-01 -4.41158290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:-10.02, Z:-0.44 [[ 9.91952614e-01 1.26598520e-01 1.68089990e-03 1.29718007e+02] [-1.26598394e-01 9.91954038e-01 -1.81188297e-04 -1.00164506e+01] [-1.69031362e-03 -3.30690235e-05 9.99998571e-01 -4.42195069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:-10.02, Z:-0.44 [[ 9.92037646e-01 1.25930468e-01 1.68086852e-03 1.29750074e+02] [-1.25930342e-01 9.92039070e-01 -1.81478931e-04 -1.00185142e+01] [-1.69034097e-03 -3.16384158e-05 9.99998571e-01 -4.42220882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:-10.02, Z:-0.44 [[ 9.92394607e-01 1.23085823e-01 1.68083917e-03 1.29781783e+02] [-1.23085691e-01 9.92396030e-01 -1.81750398e-04 -1.00202351e+01] [-1.69042902e-03 -2.65191366e-05 9.99998571e-01 -4.43992739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:-10.02, Z:-0.45 [[ 9.92566039e-01 1.21695658e-01 1.68080973e-03 1.29813958e+02] [-1.21695524e-01 9.92567462e-01 -1.82022220e-04 -1.00237168e+01] [-1.69046836e-03 -2.38779483e-05 9.99998571e-01 -4.45913525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.735769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.85, Y:-10.03, Z:-0.45 [[ 9.92699225e-01 1.20604410e-01 1.68078877e-03 1.29846008e+02] [-1.20604274e-01 9.92700648e-01 -1.82215592e-04 -1.00269157e+01] [-1.69049610e-03 -2.18250317e-05 9.99998571e-01 -4.47395942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.88, Y:-10.03, Z:-0.45 [[ 9.92766666e-01 1.20047996e-01 1.68075919e-03 1.29878146e+02] [-1.20047859e-01 9.92768089e-01 -1.82488007e-04 -1.00296549e+01] [-1.69051141e-03 -2.06035323e-05 9.99998571e-01 -4.47511463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:-10.03, Z:-0.45 [[ 9.92779466e-01 1.19942103e-01 1.68072766e-03 1.29909555e+02] [-1.19941965e-01 9.92780888e-01 -1.82777984e-04 -1.00324520e+01] [-1.69051707e-03 -2.01315488e-05 9.99998571e-01 -4.45578570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:-10.04, Z:-0.45 [[ 9.92773188e-01 1.19994053e-01 1.68070061e-03 1.29941785e+02] [-1.19993915e-01 9.92774610e-01 -1.83026365e-04 -1.00367941e+01] [-1.69051897e-03 -1.99701781e-05 9.99998571e-01 -4.45728983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:-10.04, Z:-0.44 [[ 9.92946256e-01 1.18553394e-01 1.68067129e-03 1.29973228e+02] [-1.18553253e-01 9.92947679e-01 -1.83295198e-04 -1.00420556e+01] [-1.69054892e-03 -1.72467687e-05 9.99998571e-01 -4.44792073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-10.05, Z:-0.44 [[ 9.93059641e-01 1.17599851e-01 1.68064203e-03 1.30005344e+02] [-1.17599709e-01 9.93061063e-01 -1.83563053e-04 -1.00461383e+01] [-1.69056715e-03 -1.53539543e-05 9.99998571e-01 -4.43346864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:-10.05, Z:-0.44 [[ 9.93152869e-01 1.16809911e-01 1.68061063e-03 1.30037167e+02] [-1.16809767e-01 9.93154290e-01 -1.83850103e-04 -1.00503992e+01] [-1.69058117e-03 -1.37204798e-05 9.99998571e-01 -4.43488144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:-10.06, Z:-0.44 [[ 9.93203978e-01 1.16374537e-01 1.68058144e-03 1.30070249e+02] [-1.16374392e-01 9.93205400e-01 -1.84116595e-04 -1.00550299e+01] [-1.69058904e-03 -1.27113075e-05 9.99998571e-01 -4.44559471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.10, Y:-10.06, Z:-0.45 [[ 9.93149264e-01 1.16840551e-01 1.68054573e-03 1.30101718e+02] [-1.16840406e-01 9.93150686e-01 -1.84441982e-04 -1.00588496e+01] [-1.69058544e-03 -1.31772264e-05 9.99998571e-01 -4.45171470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:-10.06, Z:-0.44 [[ 9.92961972e-01 1.18421694e-01 1.68052346e-03 1.30134054e+02] [-1.18421551e-01 9.92963394e-01 -1.84644584e-04 -1.00632156e+01] [-1.69056421e-03 -1.56651448e-05 9.99998571e-01 -4.43131008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:-10.07, Z:-0.44 [[ 9.92915978e-01 1.18806722e-01 1.68049461e-03 1.30167322e+02] [-1.18806579e-01 9.92917400e-01 -1.84906790e-04 -1.00671691e+01] [-1.69056051e-03 -1.60569105e-05 9.99998571e-01 -4.41456002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-10.07, Z:-0.44 [[ 9.92903092e-01 1.18914363e-01 1.68045947e-03 1.30199147e+02] [-1.18914219e-01 9.92904514e-01 -1.85225674e-04 -1.00717011e+01] [-1.69056178e-03 -1.59193812e-05 9.99998571e-01 -4.42962893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-10.08, Z:-0.44 [[ 9.92901612e-01 1.18926722e-01 1.68042657e-03 1.30230721e+02] [-1.18926578e-01 9.92903034e-01 -1.85523671e-04 -1.00762461e+01] [-1.69056436e-03 -1.56406294e-05 9.99998571e-01 -4.44700921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-10.08, Z:-0.44 [[ 9.92886306e-01 1.19054444e-01 1.68039802e-03 1.30261745e+02] [-1.19054300e-01 9.92887727e-01 -1.85781904e-04 -1.00805643e+01] [-1.69056473e-03 -1.55983007e-05 9.99998571e-01 -4.44610349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:-10.09, Z:-0.44 [[ 9.92706192e-01 1.20547054e-01 1.68038207e-03 1.30293056e+02] [-1.20546912e-01 9.92707614e-01 -1.85925992e-04 -1.00856588e+01] [-1.69054091e-03 -1.79949855e-05 9.99998571e-01 -4.41335734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:-10.09, Z:-0.44 [[ 9.92687889e-01 1.20697689e-01 1.68035582e-03 1.30325507e+02] [-1.20697547e-01 9.92689311e-01 -1.86162970e-04 -1.00894192e+01] [-1.69054070e-03 -1.80130998e-05 9.99998571e-01 -4.41390986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:-10.09, Z:-0.44 [[ 9.92504847e-01 1.22193717e-01 1.68032753e-03 1.30357877e+02] [-1.22193576e-01 9.92506270e-01 -1.86417949e-04 -1.00935098e+01] [-1.69051471e-03 -2.03045125e-05 9.99998571e-01 -4.39256062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:-10.10, Z:-0.44 [[ 9.92304706e-01 1.23808510e-01 1.68029306e-03 1.30390211e+02] [-1.23808371e-01 9.92306128e-01 -1.86728140e-04 -1.00964723e+01] [-1.69048363e-03 -2.27431347e-05 9.99998571e-01 -4.38165737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:-10.10, Z:-0.44 [[ 9.91887081e-01 1.27110956e-01 1.68027159e-03 1.30422594e+02] [-1.27110822e-01 9.91888504e-01 -1.86921114e-04 -1.00973504e+01] [-1.69040180e-03 -2.81760653e-05 9.99998571e-01 -4.40110535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:-10.10, Z:-0.44 [[ 9.91630728e-01 1.29095610e-01 1.68024170e-03 1.30454671e+02] [-1.29095478e-01 9.91632151e-01 -1.87189449e-04 -1.00997238e+01] [-1.69034703e-03 -3.12887959e-05 9.99998571e-01 -4.42988978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:-10.10, Z:-0.45 [[ 9.91098577e-01 1.33119450e-01 1.68021188e-03 1.30487238e+02] [-1.33119323e-01 9.91100000e-01 -1.87456732e-04 -1.01013992e+01] [-1.69021213e-03 -3.78805683e-05 9.99998571e-01 -4.46144761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:-10.10, Z:-0.45 [[ 9.91008439e-01 1.33788828e-01 1.68018151e-03 1.30518046e+02] [-1.33788702e-01 9.91009863e-01 -1.87728492e-04 -1.01034873e+01] [-1.69019243e-03 -3.87487847e-05 9.99998571e-01 -4.46951017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:-10.11, Z:-0.45 [[ 9.91041736e-01 1.33541962e-01 1.68016459e-03 1.30548743e+02] [-1.33541835e-01 9.91043159e-01 -1.87879860e-04 -1.01052588e+01] [-1.69020547e-03 -3.81754800e-05 9.99998571e-01 -4.48014944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:-10.10, Z:-0.45 [[ 9.91115276e-01 1.32995063e-01 1.68013671e-03 1.30579369e+02] [-1.32994935e-01 9.91116699e-01 -1.88128806e-04 -1.01040608e+01] [-1.69023176e-03 -3.69923394e-05 9.99998571e-01 -4.49327478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:-10.10, Z:-0.45 [[ 9.91125982e-01 1.32915251e-01 1.68013459e-03 1.30610278e+02] [-1.32915123e-01 9.91127406e-01 -1.88147783e-04 -1.01048882e+01] [-1.69023515e-03 -3.68371394e-05 9.99998571e-01 -4.50303668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:-10.10, Z:-0.45 [[ 9.91227962e-01 1.32152583e-01 1.68013247e-03 1.30640812e+02] [-1.32152454e-01 9.91229385e-01 -1.88166673e-04 -1.01041206e+01] [-1.69026339e-03 -3.55175609e-05 9.99998571e-01 -4.48725450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:-10.11, Z:-0.45 [[ 9.91348243e-01 1.31247245e-01 1.68013247e-03 1.30671347e+02] [-1.31247114e-01 9.91349666e-01 -1.88166673e-04 -1.01063983e+01] [-1.69029512e-03 -3.39738375e-05 9.99998571e-01 -4.45579895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-10.11, Z:-0.44 [[ 9.91486446e-01 1.30199097e-01 1.68013247e-03 1.30702078e+02] [-1.30198965e-01 9.91487869e-01 -1.88166673e-04 -1.01092162e+01] [-1.69033010e-03 -3.21868022e-05 9.99998571e-01 -4.41421220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:-10.11, Z:-0.44 [[ 9.91663856e-01 1.28840883e-01 1.68013247e-03 1.30731887e+02] [-1.28840749e-01 9.91665279e-01 -1.88166673e-04 -1.01122685e+01] [-1.69037260e-03 -2.98714376e-05 9.99998571e-01 -4.37957199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:-10.11, Z:-0.44 [[ 9.92390436e-01 1.23119455e-01 1.68012279e-03 1.30763286e+02] [-1.23119313e-01 9.92391858e-01 -1.88253102e-04 -1.01144582e+01] [-1.69051779e-03 -2.00349849e-05 9.99998571e-01 -4.40973858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:-10.12, Z:-0.45 [[ 9.93103127e-01 1.17232059e-01 1.68011853e-03 1.30794618e+02] [-1.17231908e-01 9.93104549e-01 -1.88291072e-04 -1.01199864e+01] [-1.69060711e-03 -9.97104847e-06 9.99998571e-01 -4.46007519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:-10.13, Z:-0.45 [[ 9.93324139e-01 1.15344405e-01 1.68008790e-03 1.30825037e+02] [-1.15344251e-01 9.93325560e-01 -1.88563982e-04 -1.01256609e+01] [-1.69062406e-03 -6.48332596e-06 9.99998571e-01 -4.46661360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:-10.13, Z:-0.45 [[ 9.93513529e-01 1.13701563e-01 1.68005948e-03 1.30856296e+02] [-1.13701406e-01 9.93514949e-01 -1.88816846e-04 -1.01309997e+01] [-1.69063298e-03 -3.43303454e-06 9.99998571e-01 -4.46869736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:-10.14, Z:-0.45 [[ 9.93573663e-01 1.13174879e-01 1.68005537e-03 1.30887499e+02] [-1.13174722e-01 9.93575084e-01 -1.88853455e-04 -1.01367735e+01] [-1.69063462e-03 -2.49997935e-06 9.99998571e-01 -4.45891866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:-10.14, Z:-0.45 [[ 9.93478788e-01 1.14004719e-01 1.68002864e-03 1.30918678e+02] [-1.14004562e-01 9.93480208e-01 -1.89090977e-04 -1.01419962e+01] [-1.69063246e-03 -3.67305360e-06 9.99998571e-01 -4.46122590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:-10.15, Z:-0.45 [[ 9.93280938e-01 1.15715844e-01 1.68002453e-03 1.30948571e+02] [-1.15715690e-01 9.93282358e-01 -1.89127474e-04 -1.01507665e+01] [-1.69062377e-03 -6.54848239e-06 9.99998571e-01 -4.46361336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:-10.16, Z:-0.45 [[ 9.93150038e-01 1.16833985e-01 1.67999792e-03 1.30979885e+02] [-1.16833832e-01 9.93151459e-01 -1.89363484e-04 -1.01558808e+01] [-1.69061648e-03 -8.21424440e-06 9.99998571e-01 -4.47042158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:-10.16, Z:-0.45 [[ 9.92965229e-01 1.18394393e-01 1.67996859e-03 1.31012221e+02] [-1.18394242e-01 9.92966650e-01 -1.89623358e-04 -1.01604301e+01] [-1.69060313e-03 -1.06092069e-05 9.99998571e-01 -4.48161713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:-10.17, Z:-0.45 [[ 9.92498358e-01 1.22246418e-01 1.67993883e-03 1.31042923e+02] [-1.22246272e-01 9.92499780e-01 -1.89886673e-04 -1.01656615e+01] [-1.69055188e-03 -1.69040478e-05 9.99998571e-01 -4.51578516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:-10.17, Z:-0.45 [[ 9.92247270e-01 1.24267986e-01 1.67991133e-03 1.31074712e+02] [-1.24267842e-01 9.92248692e-01 -1.90129661e-04 -1.01708725e+01] [-1.69051685e-03 -2.01033180e-05 9.99998571e-01 -4.52917425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.935769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:-10.18, Z:-0.45 [[ 9.91708436e-01 1.28497297e-01 1.67988171e-03 1.31106129e+02] [-1.28497159e-01 9.91709859e-01 -1.90390993e-04 -1.01773556e+01] [-1.69041998e-03 -2.70476724e-05 9.99998571e-01 -4.51422770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:-10.18, Z:-0.45 [[ 9.91407022e-01 1.30802500e-01 1.67985032e-03 1.31136812e+02] [-1.30802365e-01 9.91408445e-01 -1.90667541e-04 -1.01809163e+01] [-1.69035759e-03 -3.06992555e-05 9.99998571e-01 -4.50604670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:-10.18, Z:-0.45 [[ 9.91118911e-01 1.32967975e-01 1.67982132e-03 1.31168057e+02] [-1.32967842e-01 9.91120334e-01 -1.90922696e-04 -1.01839194e+01] [-1.69029167e-03 -3.41351217e-05 9.99998571e-01 -4.49399139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:-10.19, Z:-0.45 [[ 9.90724710e-01 1.35873937e-01 1.67981716e-03 1.31200587e+02] [-1.35873809e-01 9.90726133e-01 -1.90959319e-04 -1.01863457e+01] [-1.69018515e-03 -3.90550394e-05 9.99998571e-01 -4.50058100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:-10.19, Z:-0.45 [[ 9.90677019e-01 1.36221229e-01 1.67978612e-03 1.31232981e+02] [-1.36221101e-01 9.90678442e-01 -1.91231938e-04 -1.01892792e+01] [-1.69017775e-03 -3.93732285e-05 9.99998571e-01 -4.50415897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:-10.19, Z:-0.45 [[ 9.91145971e-01 1.32766119e-01 1.67975440e-03 1.31265174e+02] [-1.32765985e-01 9.91147394e-01 -1.91510136e-04 -1.01928105e+01] [-1.69031026e-03 -3.31997490e-05 9.99998571e-01 -4.48172753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:-10.20, Z:-0.45 [[ 9.91640184e-01 1.29022957e-01 1.67972048e-03 1.31297243e+02] [-1.29022817e-01 9.91641607e-01 -1.91807250e-04 -1.01976662e+01] [-1.69042825e-03 -2.65184914e-05 9.99998571e-01 -4.47057104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:-10.20, Z:-0.45 [[ 9.92188926e-01 1.24732971e-01 1.67968693e-03 1.31329906e+02] [-1.24732824e-01 9.92190347e-01 -1.92100566e-04 -1.02031018e+01] [-1.69053043e-03 -1.89120410e-05 9.99998571e-01 -4.46486396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:-10.21, Z:-0.45 [[ 9.93097510e-01 1.17279645e-01 1.67965081e-03 1.31362160e+02] [-1.17279487e-01 9.93098930e-01 -1.92415868e-04 -1.02095430e+01] [-1.69062589e-03 -5.90086654e-06 9.99998571e-01 -4.49065850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:-10.21, Z:-0.45 [[ 9.93343801e-01 1.15174966e-01 1.67961426e-03 1.31395151e+02] [-1.15174804e-01 9.93345221e-01 -1.92734409e-04 -1.02141801e+01] [-1.69063498e-03 -1.99771385e-06 9.99998571e-01 -4.50583910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:-10.22, Z:-0.45 [[ 9.93439235e-01 1.14348879e-01 1.67957765e-03 1.31427564e+02] [-1.14348716e-01 9.93440654e-01 -1.93052890e-04 -1.02185378e+01] [-1.69063610e-03 -2.71232436e-07 9.99998571e-01 -4.50537582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:-10.22, Z:-0.45 [[ 9.93331672e-01 1.15279526e-01 1.67954098e-03 1.31459009e+02] [-1.15279364e-01 9.93333092e-01 -1.93371416e-04 -1.02243133e+01] [-1.69063540e-03 -1.53446297e-06 9.99998571e-01 -4.46653917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.295769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:131.49, Y:-10.23, Z:-0.44 [[ 9.93272216e-01 1.15790695e-01 1.67950676e-03 1.31491782e+02] [-1.15790533e-01 9.93273635e-01 -1.93668132e-04 -1.02303544e+01] [-1.69063476e-03 -2.10580959e-06 9.99998571e-01 -4.44271000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:-10.24, Z:-0.44 [[ 9.93233448e-01 1.16122768e-01 1.67947045e-03 1.31524017e+02] [-1.16122606e-01 9.93234868e-01 -1.93982503e-04 -1.02390394e+01] [-1.69063440e-03 -2.35457603e-06 9.99998571e-01 -4.43518180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:-10.25, Z:-0.44 [[ 9.93256879e-01 1.15922176e-01 1.67943304e-03 1.31555935e+02] [-1.15922013e-01 9.93258299e-01 -1.94305880e-04 -1.02451410e+01] [-1.69063517e-03 -1.68760671e-06 9.99998571e-01 -4.43576961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.385769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:131.59, Y:-10.25, Z:-0.44 [[ 9.93282971e-01 1.15698399e-01 1.67939802e-03 1.31588406e+02] [-1.15698235e-01 9.93284391e-01 -1.94608111e-04 -1.02516188e+01] [-1.69063568e-03 -1.00246472e-06 9.99998571e-01 -4.44799500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.62, Y:-10.26, Z:-0.45 [[ 9.93332068e-01 1.15276117e-01 1.67936189e-03 1.31620303e+02] [-1.15275952e-01 9.93333487e-01 -1.94919401e-04 -1.02612431e+01] [-1.69063595e-03 2.96514778e-08 9.99998571e-01 -4.47827772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.65, Y:-10.27, Z:-0.45 [[ 9.93415506e-01 1.14554846e-01 1.67932583e-03 1.31651987e+02] [-1.14554679e-01 9.93416925e-01 -1.95229536e-04 -1.02705713e+01] [-1.69063519e-03 1.56941672e-06 9.99998571e-01 -4.46946447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.68, Y:-10.28, Z:-0.44 [[ 9.93421502e-01 1.14502832e-01 1.67928915e-03 1.31684071e+02] [-1.14502665e-01 9.93422922e-01 -1.95544540e-04 -1.02770660e+01] [-1.69063474e-03 1.97506770e-06 9.99998571e-01 -4.44632584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.72, Y:-10.28, Z:-0.44 [[ 9.93395392e-01 1.14729140e-01 1.67925163e-03 1.31716426e+02] [-1.14728973e-01 9.93396811e-01 -1.95866216e-04 -1.02838966e+01] [-1.69063478e-03 1.91378205e-06 9.99998571e-01 -4.42330331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.75, Y:-10.29, Z:-0.44 [[ 9.93243058e-01 1.16040544e-01 1.67921399e-03 1.31748913e+02] [-1.16040378e-01 9.93244478e-01 -1.96188421e-04 -1.02915634e+01] [-1.69063583e-03 6.16073366e-09 9.99998571e-01 -4.42277813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.78, Y:-10.30, Z:-0.45 [[ 9.92751125e-01 1.20176471e-01 1.67917653e-03 1.31780294e+02] [-1.20176310e-01 9.92752545e-01 -1.96508512e-04 -1.03013961e+01] [-1.69062247e-03 -6.71319350e-06 9.99998571e-01 -4.47354937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.81, Y:-10.31, Z:-0.45 [[ 9.92334301e-01 1.23571097e-01 1.67914159e-03 1.31811620e+02] [-1.23570941e-01 9.92335721e-01 -1.96806598e-04 -1.03064898e+01] [-1.69059179e-03 -1.21951688e-05 9.99998571e-01 -4.51868416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.84, Y:-10.31, Z:-0.46 [[ 9.91456870e-01 1.30424140e-01 1.67911005e-03 1.31843805e+02] [-1.30423993e-01 9.91458291e-01 -1.97075338e-04 -1.03126202e+01] [-1.69047096e-03 -2.36045397e-05 9.99998571e-01 -4.56277495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:-10.32, Z:-0.46 [[ 9.91054308e-01 1.33448641e-01 1.67909313e-03 1.31875755e+02] [-1.33448499e-01 9.91055730e-01 -1.97219412e-04 -1.03182331e+01] [-1.69039353e-03 -2.86173083e-05 9.99998571e-01 -4.55006834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.685769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:-10.32, Z:-0.45 [[ 9.90725857e-01 1.35865584e-01 1.67905882e-03 1.31906220e+02] [-1.35865444e-01 9.90727279e-01 -1.97511062e-04 -1.03233840e+01] [-1.69032433e-03 -3.24467561e-05 9.99998571e-01 -4.50534514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.94, Y:-10.33, Z:-0.45 [[ 9.90183470e-01 1.39763643e-01 1.67898736e-03 1.31938497e+02] [-1.39763508e-01 9.90184893e-01 -1.98117894e-04 -1.03274664e+01] [-1.69019759e-03 -3.84880996e-05 9.99998571e-01 -4.49944177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:-10.33, Z:-0.45 [[ 9.89949157e-01 1.41413747e-01 1.67901966e-03 1.31970261e+02] [-1.41413615e-01 9.89950580e-01 -1.97843750e-04 -1.03312416e+01] [-1.69012431e-03 -4.15809852e-05 9.99998571e-01 -4.50631225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-10.34, Z:-0.45 [[ 9.89535505e-01 1.44279817e-01 1.67898478e-03 1.32002969e+02] [-1.44279689e-01 9.89536928e-01 -1.98139263e-04 -1.03357806e+01] [-1.69000494e-03 -4.61775661e-05 9.99998571e-01 -4.49979243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:-10.34, Z:-0.45 [[ 9.89410641e-01 1.45133608e-01 1.67894906e-03 1.32035221e+02] [-1.45133481e-01 9.89412065e-01 -1.98441481e-04 -1.03397537e+01] [-1.68997299e-03 -4.73316087e-05 9.99998571e-01 -4.49944390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.07, Y:-10.34, Z:-0.45 [[ 9.89366657e-01 1.45433146e-01 1.67891321e-03 1.32068438e+02] [-1.45433018e-01 9.89368080e-01 -1.98744377e-04 -1.03431353e+01] [-1.68996716e-03 -4.75383547e-05 9.99998571e-01 -4.50285757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:-10.35, Z:-0.45 [[ 9.89301840e-01 1.45873403e-01 1.67887742e-03 1.32099688e+02] [-1.45873275e-01 9.89303264e-01 -1.99046274e-04 -1.03450837e+01] [-1.68995446e-03 -4.79865022e-05 9.99998571e-01 -4.53628163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:-10.35, Z:-0.45 [[ 9.89143961e-01 1.46940142e-01 1.67884836e-03 1.32131183e+02] [-1.46940015e-01 9.89145385e-01 -1.99291013e-04 -1.03478075e+01] [-1.68990896e-03 -4.95625019e-05 9.99998571e-01 -4.54012126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.16, Y:-10.35, Z:-0.45 [[ 9.88585255e-01 1.50653162e-01 1.67881496e-03 1.32164268e+02] [-1.50653040e-01 9.88586679e-01 -1.99572018e-04 -1.03476182e+01] [-1.68972026e-03 -5.56246226e-05 9.99998571e-01 -4.51102710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:-10.35, Z:-0.45 [[ 9.88296144e-01 1.52538235e-01 1.67877949e-03 1.32196155e+02] [-1.52538115e-01 9.88297568e-01 -1.99869966e-04 -1.03491424e+01] [-1.68962150e-03 -5.85471418e-05 9.99998571e-01 -4.51025594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.23, Y:-10.35, Z:-0.45 [[ 9.88121607e-01 1.53664805e-01 1.67874631e-03 1.32228861e+02] [-1.53664686e-01 9.88123031e-01 -2.00148225e-04 -1.03509617e+01] [-1.68956363e-03 -6.01932391e-05 9.99998571e-01 -4.53043838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:-10.35, Z:-0.45 [[ 9.88231024e-01 1.52959554e-01 1.67871108e-03 1.32262532e+02] [-1.52959433e-01 9.88232448e-01 -2.00443298e-04 -1.03508931e+01] [-1.68961648e-03 -5.86904094e-05 9.99998571e-01 -4.54361029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:-10.35, Z:-0.45 [[ 9.88418072e-01 1.51746162e-01 1.67867603e-03 1.32295742e+02] [-1.51746040e-01 9.88419496e-01 -2.00736397e-04 -1.03530991e+01] [-1.68969709e-03 -5.63209568e-05 9.99998571e-01 -4.52314611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:-10.35, Z:-0.45 [[ 9.89038938e-01 1.47645392e-01 1.67864110e-03 1.32327642e+02] [-1.47645264e-01 9.89040361e-01 -2.01028076e-04 -1.03525504e+01] [-1.68992467e-03 -4.90188133e-05 9.99998571e-01 -4.48478594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:-10.35, Z:-0.45 [[ 9.89302101e-01 1.45871641e-01 1.67862422e-03 1.32360827e+02] [-1.45871510e-01 9.89303524e-01 -2.01168956e-04 -1.03543048e+01] [-1.69001370e-03 -4.58465780e-05 9.99998571e-01 -4.47676688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:-10.36, Z:-0.45 [[ 9.89275269e-01 1.46053497e-01 1.67858718e-03 1.32394063e+02] [-1.46053365e-01 9.89276692e-01 -2.01477472e-04 -1.03584823e+01] [-1.69001367e-03 -4.58466272e-05 9.99998571e-01 -4.47733354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:-10.36, Z:-0.45 [[ 9.89564177e-01 1.44083039e-01 1.67855009e-03 1.32425572e+02] [-1.44082904e-01 9.89565600e-01 -2.01786031e-04 -1.03571568e+01] [-1.69010937e-03 -4.21701433e-05 9.99998571e-01 -4.52194580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:-10.36, Z:-0.45 [[ 9.89617403e-01 1.43717011e-01 1.67851780e-03 1.32457206e+02] [-1.43716875e-01 9.89618825e-01 -2.02054325e-04 -1.03588968e+01] [-1.69013145e-03 -4.12748557e-05 9.99998571e-01 -4.54745275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:-10.36, Z:-0.45 [[ 9.89641681e-01 1.43549731e-01 1.67848859e-03 1.32489966e+02] [-1.43549594e-01 9.89643104e-01 -2.02296663e-04 -1.03613664e+01] [-1.69014429e-03 -4.07451453e-05 9.99998571e-01 -4.52570407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:-10.36, Z:-0.45 [[ 9.89827044e-01 1.42265966e-01 1.67844980e-03 1.32521475e+02] [-1.42265827e-01 9.89828467e-01 -2.02617970e-04 -1.03617797e+01] [-1.69020303e-03 -3.82293019e-05 9.99998571e-01 -4.46869263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.55, Y:-10.36, Z:-0.45 [[ 9.89963201e-01 1.41315404e-01 1.67841854e-03 1.32554025e+02] [-1.41315263e-01 9.89964623e-01 -2.02876606e-04 -1.03638980e+01] [-1.69024457e-03 -3.63457837e-05 9.99998571e-01 -4.45472125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:-10.37, Z:-0.45 [[ 9.90393376e-01 1.38268379e-01 1.67837984e-03 1.32585759e+02] [-1.38268234e-01 9.90394797e-01 -2.03196254e-04 -1.03665267e+01] [-1.69035428e-03 -3.08223921e-05 9.99998571e-01 -4.50731638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-10.37, Z:-0.45 [[ 9.90712747e-01 1.35961156e-01 1.67834363e-03 1.32618077e+02] [-1.35961007e-01 9.90714168e-01 -2.03494913e-04 -1.03704500e+01] [-1.69042621e-03 -2.65842843e-05 9.99998571e-01 -4.52501476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.65, Y:-10.37, Z:-0.45 [[ 9.91015581e-01 1.33735937e-01 1.67830540e-03 1.32650143e+02] [-1.33735784e-01 9.91017002e-01 -2.03809733e-04 -1.03742356e+01] [-1.69048587e-03 -2.24708669e-05 9.99998571e-01 -4.51440083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:-10.38, Z:-0.45 [[ 9.91468721e-01 1.30334031e-01 1.67826958e-03 1.32682153e+02] [-1.30333872e-01 9.91470141e-01 -2.04104202e-04 -1.03757837e+01] [-1.69055590e-03 -1.63724409e-05 9.99998571e-01 -4.45939367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.435769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:-10.38, Z:-0.44 [[ 9.91542434e-01 1.29772052e-01 1.67823380e-03 1.32715340e+02] [-1.29771892e-01 9.91543854e-01 -2.04398003e-04 -1.03788822e+01] [-1.69056756e-03 -1.51182818e-05 9.99998571e-01 -4.44764366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.465769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.75, Y:-10.38, Z:-0.44 [[ 9.91386308e-01 1.30959428e-01 1.67819579e-03 1.32746782e+02] [-1.30959269e-01 9.91387728e-01 -2.04709629e-04 -1.03816441e+01] [-1.69055137e-03 -1.68289711e-05 9.99998571e-01 -4.44392729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.495769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.78, Y:-10.38, Z:-0.44 [[ 9.91181397e-01 1.32501403e-01 1.67816499e-03 1.32779190e+02] [-1.32501246e-01 9.91182818e-01 -2.04961830e-04 -1.03848432e+01] [-1.69052603e-03 -1.92045987e-05 9.99998571e-01 -4.44086381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:-10.39, Z:-0.44 [[ 9.90908212e-01 1.34529176e-01 1.67813196e-03 1.32811539e+02] [-1.34529021e-01 9.90909633e-01 -2.05231868e-04 -1.03874841e+01] [-1.69048680e-03 -2.23915063e-05 9.99998571e-01 -4.44219038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:-10.39, Z:-0.45 [[ 9.90431201e-01 1.37997177e-01 1.67809873e-03 1.32842072e+02] [-1.37997026e-01 9.90432622e-01 -2.05503252e-04 -1.03861382e+01] [-1.69040259e-03 -2.80358017e-05 9.99998571e-01 -4.47913901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:-10.39, Z:-0.45 [[ 9.90261412e-01 1.39210342e-01 1.67809636e-03 1.32873668e+02] [-1.39210194e-01 9.90262834e-01 -2.05522544e-04 -1.03878979e+01] [-1.69036732e-03 -3.00870750e-05 9.99998571e-01 -4.49676985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.90, Y:-10.39, Z:-0.45 [[ 9.90284910e-01 1.39043092e-01 1.67809169e-03 1.32903586e+02] [-1.39042943e-01 9.90286331e-01 -2.05560663e-04 -1.03892462e+01] [-1.69037306e-03 -2.97631853e-05 9.99998571e-01 -4.49234988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.645769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.94, Y:-10.39, Z:-0.45 [[ 9.90512837e-01 1.37409982e-01 1.67808937e-03 1.32935064e+02] [-1.37409831e-01 9.90514258e-01 -2.05579628e-04 -1.03931177e+01] [-1.69042014e-03 -2.69567165e-05 9.99998571e-01 -4.48000954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:-10.40, Z:-0.45 [[ 9.90814313e-01 1.35219009e-01 1.67808476e-03 1.32965927e+02] [-1.35218855e-01 9.90815734e-01 -2.05617248e-04 -1.03973650e+01] [-1.69047615e-03 -2.31801879e-05 9.99998571e-01 -4.49490704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.00, Y:-10.40, Z:-0.45 [[ 9.91066931e-01 1.33354872e-01 1.67808018e-03 1.32997335e+02] [-1.33354715e-01 9.91068352e-01 -2.05654652e-04 -1.04022184e+01] [-1.69051721e-03 -1.99623792e-05 9.99998571e-01 -4.54211115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:-10.41, Z:-0.46 [[ 9.90921027e-01 1.34434754e-01 1.67804695e-03 1.33027154e+02] [-1.34434598e-01 9.90922447e-01 -2.05925430e-04 -1.04055420e+01] [-1.69049792e-03 -2.15317294e-05 9.99998571e-01 -4.56417527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.765769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.06, Y:-10.41, Z:-0.45 [[ 9.90164864e-01 1.39895410e-01 1.67804458e-03 1.33058173e+02] [-1.39895262e-01 9.90166286e-01 -2.05944750e-04 -1.04075090e+01] [-1.69035389e-03 -3.08312304e-05 9.99998571e-01 -4.54867257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:-10.41, Z:-0.45 [[ 9.89721301e-01 1.42999754e-01 1.67803962e-03 1.33088498e+02] [-1.42999611e-01 9.89722723e-01 -2.05985112e-04 -1.04111565e+01] [-1.69024977e-03 -3.60911597e-05 9.99998571e-01 -4.53291165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.12, Y:-10.42, Z:-0.45 [[ 9.89362538e-01 1.45461174e-01 1.67803715e-03 1.33118312e+02] [-1.45461034e-01 9.89363960e-01 -2.06005239e-04 -1.04154223e+01] [-1.69015525e-03 -4.02751526e-05 9.99998571e-01 -4.50858678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-10.42, Z:-0.45 [[ 9.88883832e-01 1.48680702e-01 1.67803715e-03 1.33148876e+02] [-1.48680566e-01 9.88885255e-01 -2.06005239e-04 -1.04186037e+01] [-1.69001520e-03 -4.57762636e-05 9.99998571e-01 -4.49431905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.885769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.18, Y:-10.42, Z:-0.45 [[ 9.88613340e-01 1.50468763e-01 1.67803715e-03 1.33178889e+02] [-1.50468630e-01 9.88614763e-01 -2.06005239e-04 -1.04205623e+01] [-1.68992965e-03 -4.88324240e-05 9.99998571e-01 -4.49279280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:-10.42, Z:-0.45 [[ 9.87779411e-01 1.55849346e-01 1.67803715e-03 1.33209576e+02] [-1.55849221e-01 9.87780835e-01 -2.06005239e-04 -1.04179989e+01] [-1.68963872e-03 -5.80330487e-05 9.99998571e-01 -4.49674554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:133.24, Y:-10.42, Z:-0.45 [[ 9.87357788e-01 1.58498528e-01 1.67804194e-03 1.33238447e+02] [-1.58498407e-01 9.87359212e-01 -2.05966254e-04 -1.04182226e+01] [-1.68947551e-03 -6.26045890e-05 9.99998571e-01 -4.50712328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.27, Y:-10.42, Z:-0.45 [[ 9.86751329e-01 1.62231315e-01 1.67804907e-03 1.33267831e+02] [-1.62231199e-01 9.86752753e-01 -2.05908149e-04 -1.04169575e+01] [-1.68922429e-03 -6.90517716e-05 9.99998571e-01 -4.50293298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.30, Y:-10.42, Z:-0.45 [[ 9.86615467e-01 1.63055524e-01 1.67805610e-03 1.33297638e+02] [-1.63055409e-01 9.86616892e-01 -2.05850822e-04 -1.04179552e+01] [-1.68916361e-03 -7.05205194e-05 9.99998571e-01 -4.48189350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.33, Y:-10.42, Z:-0.45 [[ 9.86599983e-01 1.63149186e-01 1.67806075e-03 1.33326147e+02] [-1.63149071e-01 9.86601408e-01 -2.05812900e-04 -1.04183774e+01] [-1.68915531e-03 -7.07190496e-05 9.99998571e-01 -4.46223427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:-10.42, Z:-0.45 [[ 9.86915910e-01 1.61227075e-01 1.67806769e-03 1.33355030e+02] [-1.61226958e-01 9.86917335e-01 -2.05756311e-04 -1.04170731e+01] [-1.68928758e-03 -6.74855727e-05 9.99998571e-01 -4.45994504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:-10.42, Z:-0.45 [[ 9.87214513e-01 1.59388489e-01 1.67807690e-03 1.33383988e+02] [-1.59388369e-01 9.87215937e-01 -2.05681178e-04 -1.04188507e+01] [-1.68940747e-03 -6.44144961e-05 9.99998571e-01 -4.48352452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.41, Y:-10.42, Z:-0.45 [[ 9.87874326e-01 1.55246580e-01 1.67808617e-03 1.33413063e+02] [-1.55246455e-01 9.87875749e-01 -2.05605507e-04 -1.04191866e+01] [-1.68966018e-03 -5.74045273e-05 9.99998571e-01 -4.49930837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:-10.42, Z:-0.45 [[ 9.88246255e-01 1.52861122e-01 1.67809575e-03 1.33441635e+02] [-1.52860993e-01 9.88247679e-01 -2.05527275e-04 -1.04218306e+01] [-1.68979136e-03 -5.34038237e-05 9.99998571e-01 -4.48781907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.185769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:-10.43, Z:-0.45 [[ 9.88632305e-01 1.50344107e-01 1.67810530e-03 1.33469572e+02] [-1.50343974e-01 9.88633728e-01 -2.05449272e-04 -1.04255786e+01] [-1.68991959e-03 -4.91792327e-05 9.99998571e-01 -4.48425687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:-10.43, Z:-0.45 [[ 9.89179289e-01 1.46702141e-01 1.67811241e-03 1.33498908e+02] [-1.46702004e-01 9.89180711e-01 -2.05391165e-04 -1.04299933e+01] [-1.69008775e-03 -4.30137669e-05 9.99998571e-01 -4.48119803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:-10.43, Z:-0.45 [[ 9.89176288e-01 1.46722377e-01 1.67811714e-03 1.33528881e+02] [-1.46722240e-01 9.89177710e-01 -2.05352510e-04 -1.04321058e+01] [-1.69008588e-03 -4.30872715e-05 9.99998571e-01 -4.48353111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:-10.43, Z:-0.45 [[ 9.88599282e-01 1.50561099e-01 1.67812188e-03 1.33556964e+02] [-1.50560967e-01 9.88600705e-01 -2.05313798e-04 -1.04305868e+01] [-1.68990474e-03 -4.96865793e-05 9.99998571e-01 -4.46992672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:-10.43, Z:-0.45 [[ 9.88168015e-01 1.53366089e-01 1.67813366e-03 1.33586101e+02] [-1.53365962e-01 9.88169439e-01 -2.05217492e-04 -1.04316525e+01] [-1.68975380e-03 -5.45792207e-05 9.99998571e-01 -4.46288922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.61, Y:-10.43, Z:-0.45 [[ 9.87370116e-01 1.58421706e-01 1.67814300e-03 1.33614177e+02] [-1.58421586e-01 9.87371541e-01 -2.05141094e-04 -1.04309418e+01] [-1.68944944e-03 -6.33038883e-05 9.99998571e-01 -4.47113064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:-10.43, Z:-0.45 [[ 9.87065983e-01 1.60305736e-01 1.67815545e-03 1.33642119e+02] [-1.60305619e-01 9.87067407e-01 -2.05039160e-04 -1.04313785e+01] [-1.68932150e-03 -6.66305680e-05 9.99998571e-01 -4.49247897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:-10.43, Z:-0.45 [[ 9.86376319e-01 1.64496023e-01 1.67816692e-03 1.33671590e+02] [-1.64495912e-01 9.86377743e-01 -2.04945265e-04 -1.04271779e+01] [-1.68901918e-03 -7.38984422e-05 9.99998571e-01 -4.49023102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:-10.43, Z:-0.45 [[ 9.86147002e-01 1.65865229e-01 1.67817605e-03 1.33701003e+02] [-1.65865120e-01 9.86148427e-01 -2.04870448e-04 -1.04271796e+01] [-1.68891156e-03 -7.63184941e-05 9.99998571e-01 -4.46822057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:-10.43, Z:-0.45 [[ 9.86004074e-01 1.66712776e-01 1.67818515e-03 1.33729281e+02] [-1.66712668e-01 9.86005499e-01 -2.04795864e-04 -1.04275053e+01] [-1.68884188e-03 -7.78451687e-05 9.99998571e-01 -4.45065062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:-10.42, Z:-0.44 [[ 9.86092531e-01 1.66188760e-01 1.67819871e-03 1.33757568e+02] [-1.66188652e-01 9.86093956e-01 -2.04684675e-04 -1.04248728e+01] [-1.68887790e-03 -7.70595521e-05 9.99998571e-01 -4.43988060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-10.42, Z:-0.45 [[ 9.86157801e-01 1.65801009e-01 1.67821223e-03 1.33784894e+02] [-1.65800901e-01 9.86159226e-01 -2.04573766e-04 -1.04237263e+01] [-1.68890301e-03 -7.65070847e-05 9.99998571e-01 -4.45003198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:-10.42, Z:-0.45 [[ 9.86118281e-01 1.66035896e-01 1.67823191e-03 1.33814603e+02] [-1.66035788e-01 9.86119706e-01 -2.04412236e-04 -1.04190586e+01] [-1.68887733e-03 -7.70719154e-05 9.99998571e-01 -4.49238665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:-10.42, Z:-0.45 [[ 9.86083186e-01 1.66244199e-01 1.67824173e-03 1.33841511e+02] [-1.66244092e-01 9.86084611e-01 -2.04331531e-04 -1.04194873e+01] [-1.68885728e-03 -7.75098850e-05 9.99998571e-01 -4.51172890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:-10.42, Z:-0.45 [[ 9.86129520e-01 1.65969134e-01 1.67825887e-03 1.33869327e+02] [-1.65969026e-01 9.86130945e-01 -2.04190675e-04 -1.04193263e+01] [-1.68887236e-03 -7.71805380e-05 9.99998571e-01 -4.50716871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.635769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.90, Y:-10.41, Z:-0.45 [[ 9.86182198e-01 1.65655837e-01 1.67827349e-03 1.33897342e+02] [-1.65655729e-01 9.86183623e-01 -2.04070428e-04 -1.04135327e+01] [-1.68889129e-03 -7.67649960e-05 9.99998571e-01 -4.50353263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:-10.41, Z:-0.45 [[ 9.86227852e-01 1.65383816e-01 1.67829044e-03 1.33924979e+02] [-1.65383708e-01 9.86229277e-01 -2.03930974e-04 -1.04114495e+01] [-1.68890605e-03 -7.64394896e-05 9.99998571e-01 -4.50478941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:-10.41, Z:-0.45 [[ 9.86523140e-01 1.63613196e-01 1.67830721e-03 1.33954455e+02] [-1.63613086e-01 9.86524565e-01 -2.03792820e-04 -1.04059504e+01] [-1.68903449e-03 -7.35466897e-05 9.99998571e-01 -4.48552511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:-10.41, Z:-0.45 [[ 9.86938580e-01 1.61088244e-01 1.67831673e-03 1.33982108e+02] [-1.61088131e-01 9.86940005e-01 -2.03714443e-04 -1.04053129e+01] [-1.68921392e-03 -6.93032610e-05 9.99998571e-01 -4.48579034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.01, Y:-10.40, Z:-0.45 [[ 9.87932428e-01 1.54876407e-01 1.67834086e-03 1.34011256e+02] [-1.54876285e-01 9.87933852e-01 -2.03515394e-04 -1.04015905e+01] [-1.68960949e-03 -5.88757405e-05 9.99998571e-01 -4.50571867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:-10.40, Z:-0.45 [[ 9.88427495e-01 1.51684770e-01 1.67835273e-03 1.34039987e+02] [-1.51684643e-01 9.88428919e-01 -2.03417533e-04 -1.04016206e+01] [-1.68978771e-03 -5.35168512e-05 9.99998571e-01 -4.52803419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.07, Y:-10.40, Z:-0.46 [[ 9.88927579e-01 1.48389443e-01 1.67836226e-03 1.34067796e+02] [-1.48389311e-01 9.88929002e-01 -2.03338846e-04 -1.04020628e+01] [-1.68995445e-03 -4.79636264e-05 9.99998571e-01 -4.55835439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.10, Y:-10.40, Z:-0.46 [[ 9.89932051e-01 1.41533450e-01 1.67837412e-03 1.34095226e+02] [-1.41533308e-01 9.89933473e-01 -2.03240894e-04 -1.04009585e+01] [-1.69024411e-03 -3.63511663e-05 9.99998571e-01 -4.55870464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.12, Y:-10.40, Z:-0.45 [[ 9.90360080e-01 1.38506658e-01 1.67838817e-03 1.34123638e+02] [-1.38506513e-01 9.90361502e-01 -2.03124764e-04 -1.04028033e+01] [-1.69034517e-03 -3.13010359e-05 9.99998571e-01 -4.52935651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:-10.40, Z:-0.45 [[ 9.91003044e-01 1.33828807e-01 1.67839754e-03 1.34152298e+02] [-1.33828656e-01 9.91004465e-01 -2.03047366e-04 -1.04021881e+01] [-1.69047304e-03 -2.33971281e-05 9.99998571e-01 -4.48376801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:-10.40, Z:-0.45 [[ 9.91238841e-01 1.32070980e-01 1.67840710e-03 1.34179154e+02] [-1.32070825e-01 9.91240261e-01 -2.02968324e-04 -1.04025912e+01] [-1.69051091e-03 -2.04785245e-05 9.99998571e-01 -4.49479150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.965769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:134.21, Y:-10.40, Z:-0.45 [[ 9.91383888e-01 1.30977741e-01 1.67842368e-03 1.34207157e+02] [-1.30977586e-01 9.91385309e-01 -2.02831061e-04 -1.04035735e+01] [-1.69053094e-03 -1.87524359e-05 9.99998571e-01 -4.51473394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.995769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:134.24, Y:-10.41, Z:-0.45 [[ 9.91392740e-01 1.30910721e-01 1.67843742e-03 1.34235458e+02] [-1.30910566e-01 9.91394161e-01 -2.02717339e-04 -1.04068493e+01] [-1.69053093e-03 -1.87526939e-05 9.99998571e-01 -4.51521567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.26, Y:-10.41, Z:-0.45 [[ 9.91576653e-01 1.29510326e-01 1.67845112e-03 1.34262213e+02] [-1.29510169e-01 9.91578073e-01 -2.02603872e-04 -1.04083017e+01] [-1.69055462e-03 -1.64792180e-05 9.99998571e-01 -4.53370194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:-10.41, Z:-0.45 [[ 9.91646030e-01 1.28978037e-01 1.67846700e-03 1.34290983e+02] [-1.28977879e-01 9.91647450e-01 -2.02472167e-04 -1.04099888e+01] [-1.69056199e-03 -1.57043936e-05 9.99998571e-01 -4.50536645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:-10.41, Z:-0.44 [[ 9.91625984e-01 1.29132070e-01 1.67847609e-03 1.34320859e+02] [-1.29131912e-01 9.91627404e-01 -2.02396848e-04 -1.04068412e+01] [-1.69055881e-03 -1.60428535e-05 9.99998571e-01 -4.43809010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.115769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.35, Y:-10.41, Z:-0.44 [[ 9.91592966e-01 1.29385367e-01 1.67848569e-03 1.34348589e+02] [-1.29385210e-01 9.91594386e-01 -2.02317201e-04 -1.04080543e+01] [-1.69055387e-03 -1.65549088e-05 9.99998571e-01 -4.43867226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.38, Y:-10.41, Z:-0.45 [[ 9.91712749e-01 1.28464028e-01 1.67850012e-03 1.34375972e+02] [-1.28463869e-01 9.91714169e-01 -2.02197401e-04 -1.04111152e+01] [-1.69056744e-03 -1.51048792e-05 9.99998571e-01 -4.47766570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:-10.41, Z:-0.45 [[ 9.91914243e-01 1.26898847e-01 1.67851448e-03 1.34403402e+02] [-1.26898686e-01 9.91915663e-01 -2.02078076e-04 -1.04129894e+01] [-1.69058828e-03 -1.25571615e-05 9.99998571e-01 -4.49321163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:-10.41, Z:-0.45 [[ 9.92117018e-01 1.25303655e-01 1.67853116e-03 1.34429968e+02] [-1.25303493e-01 9.92118437e-01 -2.01939443e-04 -1.04139558e+01] [-1.69060546e-03 -9.97825984e-06 9.99998571e-01 -4.49813339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:-10.42, Z:-0.45 [[ 9.92216968e-01 1.24509722e-01 1.67855566e-03 1.34457856e+02] [-1.24509559e-01 9.92218388e-01 -2.01735628e-04 -1.04154753e+01] [-1.69061183e-03 -8.83071074e-06 9.99998571e-01 -4.50781633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:-10.42, Z:-0.45 [[ 9.92333063e-01 1.23581045e-01 1.67856984e-03 1.34485238e+02] [-1.23580881e-01 9.92334483e-01 -2.01617515e-04 -1.04197229e+01] [-1.69061884e-03 -7.36741287e-06 9.99998571e-01 -4.51313763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:-10.42, Z:-0.45 [[ 9.92699016e-01 1.20606160e-01 1.67858405e-03 1.34512432e+02] [-1.20605991e-01 9.92700435e-01 -2.01499149e-04 -1.04239162e+01] [-1.69063316e-03 -2.41928669e-06 9.99998571e-01 -4.50130198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.54, Y:-10.43, Z:-0.45 [[ 9.92952180e-01 1.18503800e-01 1.67859817e-03 1.34540788e+02] [-1.18503629e-01 9.92953599e-01 -2.01381481e-04 -1.04265795e+01] [-1.69063456e-03 1.04220565e-06 9.99998571e-01 -4.49253502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:-10.43, Z:-0.45 [[ 9.93220096e-01 1.16236924e-01 1.67861302e-03 1.34567653e+02] [-1.16236750e-01 9.93221515e-01 -2.01257620e-04 -1.04302013e+01] [-1.69062813e-03 4.77659176e-06 9.99998571e-01 -4.48430012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.59, Y:-10.44, Z:-0.45 [[ 9.93746208e-01 1.11649700e-01 1.67863626e-03 1.34594973e+02] [-1.11649519e-01 9.93747626e-01 -2.01063596e-04 -1.04385170e+01] [-1.69058949e-03 1.23872545e-05 9.99998571e-01 -4.48113470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:-10.44, Z:-0.45 [[ 9.93988591e-01 1.09470828e-01 1.67865043e-03 1.34621758e+02] [-1.09470645e-01 9.93990009e-01 -2.00945192e-04 -1.04446251e+01] [-1.69055940e-03 1.59742831e-05 9.99998571e-01 -4.49891724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.445769231 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:134.65, Y:-10.45, Z:-0.45 [[ 9.94260498e-01 1.06973103e-01 1.67866686e-03 1.34649416e+02] [-1.06972917e-01 9.94261915e-01 -2.00807871e-04 -1.04521468e+01] [-1.69051557e-03 2.00834439e-05 9.99998571e-01 -4.52163106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:-10.46, Z:-0.46 [[ 9.94310043e-01 1.06511601e-01 1.67867626e-03 1.34677346e+02] [-1.06511413e-01 9.94311460e-01 -2.00729289e-04 -1.04585228e+01] [-1.69050704e-03 2.07889673e-05 9.99998571e-01 -4.60298077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:-10.47, Z:-0.46 [[ 9.94323310e-01 1.06387674e-01 1.67868561e-03 1.34705349e+02] [-1.06387487e-01 9.94324727e-01 -2.00651008e-04 -1.04657843e+01] [-1.69050541e-03 2.09208307e-05 9.99998571e-01 -4.61267516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:-10.48, Z:-0.46 [[ 9.94272066e-01 1.06865526e-01 1.67869497e-03 1.34732785e+02] [-1.06865339e-01 9.94273483e-01 -2.00572727e-04 -1.04758649e+01] [-1.69051620e-03 2.00295524e-05 9.99998571e-01 -4.57060437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:-10.48, Z:-0.46 [[ 9.94325246e-01 1.06369581e-01 1.67870453e-03 1.34759987e+02] [-1.06369395e-01 9.94326662e-01 -2.00492640e-04 -1.04837110e+01] [-1.69050699e-03 2.07921088e-05 9.99998571e-01 -4.55518452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:134.79, Y:-10.49, Z:-0.46 [[ 9.94361467e-01 1.06030443e-01 1.67871642e-03 1.34787030e+02] [-1.06030256e-01 9.94362884e-01 -2.00393035e-04 -1.04904225e+01] [-1.69050106e-03 2.12683805e-05 9.99998571e-01 -4.56206797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:-10.50, Z:-0.45 [[ 9.94365813e-01 1.05989674e-01 1.67872820e-03 1.34814768e+02] [-1.05989487e-01 9.94367230e-01 -2.00294331e-04 -1.04973237e+01] [-1.69050144e-03 2.12382954e-05 9.99998571e-01 -4.54250203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:-10.50, Z:-0.45 [[ 9.94327870e-01 1.06345044e-01 1.67873752e-03 1.34842960e+02] [-1.06344858e-01 9.94329287e-01 -2.00216165e-04 -1.05035152e+01] [-1.69050988e-03 2.05554103e-05 9.99998571e-01 -4.52846416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.87, Y:-10.51, Z:-0.45 [[ 9.94133408e-01 1.08147810e-01 1.67874693e-03 1.34870513e+02] [-1.08147626e-01 9.94134825e-01 -2.00137249e-04 -1.05099276e+01] [-1.69054519e-03 1.74106303e-05 9.99998571e-01 -4.51723622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:-10.52, Z:-0.45 [[ 9.93853460e-01 1.10690928e-01 1.67875627e-03 1.34898592e+02] [-1.10690748e-01 9.93854878e-01 -2.00058852e-04 -1.05178291e+01] [-1.69058481e-03 1.30063949e-05 9.99998571e-01 -4.53622140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:-10.52, Z:-0.46 [[ 9.93757035e-01 1.11553290e-01 1.67876600e-03 1.34926229e+02] [-1.11553111e-01 9.93758453e-01 -1.99977199e-04 -1.05237374e+01] [-1.69059602e-03 1.14571789e-05 9.99998571e-01 -4.55568240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:-10.53, Z:-0.46 [[ 9.93654098e-01 1.12466511e-01 1.67877809e-03 1.34954216e+02] [-1.12466333e-01 9.93655516e-01 -1.99875658e-04 -1.05298075e+01] [-1.69060642e-03 9.80125000e-06 9.99998571e-01 -4.56486119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:-10.54, Z:-0.46 [[ 9.93440548e-01 1.14337478e-01 1.67878747e-03 1.34980924e+02] [-1.14337303e-01 9.93441967e-01 -1.99796859e-04 -1.05397022e+01] [-1.69062219e-03 6.53826939e-06 9.99998571e-01 -4.56548214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:-10.55, Z:-0.46 [[ 9.93356041e-01 1.15069362e-01 1.67879913e-03 1.35008429e+02] [-1.15069188e-01 9.93357459e-01 -1.99698761e-04 -1.05474452e+01] [-1.69062685e-03 5.19391675e-06 9.99998571e-01 -4.55969779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:-10.56, Z:-0.45 [[ 9.93327036e-01 1.15319478e-01 1.67881077e-03 1.35035659e+02] [-1.15319305e-01 9.93328454e-01 -1.99600931e-04 -1.05586468e+01] [-1.69062838e-03 4.66971054e-06 9.99998571e-01 -4.54362354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:-10.57, Z:-0.45 [[ 9.93316609e-01 1.15409257e-01 1.67882016e-03 1.35063010e+02] [-1.15409085e-01 9.93318027e-01 -1.99521897e-04 -1.05652363e+01] [-1.69062900e-03 4.43731554e-06 9.99998571e-01 -4.53485902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.09, Y:-10.57, Z:-0.45 [[ 9.93253720e-01 1.15949249e-01 1.67883181e-03 1.35091380e+02] [-1.15949077e-01 9.93255139e-01 -1.99423830e-04 -1.05715378e+01] [-1.69063136e-03 3.41946217e-06 9.99998571e-01 -4.51403830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:-10.58, Z:-0.45 [[ 9.92716579e-01 1.20461511e-01 1.67884081e-03 1.35119175e+02] [-1.20461346e-01 9.92717998e-01 -1.99347995e-04 -1.05812564e+01] [-1.69062925e-03 -4.33936464e-06 9.99998571e-01 -4.46414173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:-10.59, Z:-0.45 [[ 9.91937064e-01 1.26720336e-01 1.67885023e-03 1.35146509e+02] [-1.26720180e-01 9.91938484e-01 -1.99268696e-04 -1.05877380e+01] [-1.69056754e-03 -1.50821980e-05 9.99998571e-01 -4.49443215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-10.59, Z:-0.45 [[ 9.91605691e-01 1.29287801e-01 1.67886194e-03 1.35174375e+02] [-1.29287649e-01 9.91607112e-01 -1.99169922e-04 -1.05915539e+01] [-1.69052168e-03 -1.95580846e-05 9.99998571e-01 -4.53472207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:-10.59, Z:-0.46 [[ 9.91338474e-01 1.31321027e-01 1.67887353e-03 1.35202874e+02] [-1.31320879e-01 9.91339895e-01 -1.99072202e-04 -1.05945745e+01] [-1.69047668e-03 -2.31232136e-05 9.99998571e-01 -4.55230839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-10.60, Z:-0.45 [[ 9.90888615e-01 1.34673436e-01 1.67888277e-03 1.35231567e+02] [-1.34673292e-01 9.90890037e-01 -1.98994259e-04 -1.05963117e+01] [-1.69038745e-03 -2.89195225e-05 9.99998571e-01 -4.52093725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:-10.60, Z:-0.45 [[ 9.90704527e-01 1.36021035e-01 1.67889211e-03 1.35259454e+02] [-1.36020894e-01 9.90705949e-01 -1.98915380e-04 -1.05984586e+01] [-1.69034508e-03 -3.12980382e-05 9.99998571e-01 -4.50011120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:-10.60, Z:-0.45 [[ 9.90517903e-01 1.37373453e-01 1.67890467e-03 1.35288090e+02] [-1.37373313e-01 9.90519325e-01 -1.98809385e-04 -1.05981794e+01] [-1.69029865e-03 -3.37124411e-05 9.99998571e-01 -4.52999912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:-10.60, Z:-0.46 [[ 9.90612237e-01 1.36691538e-01 1.67891405e-03 1.35316434e+02] [-1.36691397e-01 9.90613659e-01 -1.98730105e-04 -1.05986743e+01] [-1.69031991e-03 -3.26286340e-05 9.99998571e-01 -4.55884611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:-10.60, Z:-0.46 [[ 9.90789383e-01 1.35401553e-01 1.67892573e-03 1.35345192e+02] [-1.35401410e-01 9.90790805e-01 -1.98631416e-04 -1.05991524e+01] [-1.69035917e-03 -3.05270127e-05 9.99998571e-01 -4.55852283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:-10.60, Z:-0.45 [[ 9.91356129e-01 1.31187678e-01 1.67893500e-03 1.35373226e+02] [-1.31187530e-01 9.91357550e-01 -1.98552984e-04 -1.05976312e+01] [-1.69047259e-03 -2.34186179e-05 9.99998571e-01 -4.50444322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:-10.60, Z:-0.45 [[ 9.92130003e-01 1.25200791e-01 1.67894750e-03 1.35402097e+02] [-1.25200634e-01 9.92131424e-01 -1.98447263e-04 -1.05987117e+01] [-1.69058232e-03 -1.33198073e-05 9.99998571e-01 -4.48151264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:-10.60, Z:-0.45 [[ 9.92421151e-01 1.22871641e-01 1.67895694e-03 1.35429690e+02] [-1.22871481e-01 9.92422571e-01 -1.98367360e-04 -1.06016467e+01] [-1.69060848e-03 -9.43196220e-06 9.99998571e-01 -4.49608088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:-10.60, Z:-0.45 [[ 9.92632991e-01 1.21148367e-01 1.67896966e-03 1.35458265e+02] [-1.21148205e-01 9.92634411e-01 -1.98259634e-04 -1.06049772e+01] [-1.69062189e-03 -6.60510561e-06 9.99998571e-01 -4.51247245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:-10.61, Z:-0.45 [[ 9.93004224e-01 1.18066896e-01 1.67897923e-03 1.35486669e+02] [-1.18066730e-01 9.93005644e-01 -1.98178569e-04 -1.06065074e+01] [-1.69063418e-03 -1.43943082e-06 9.99998571e-01 -4.52540699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:-10.61, Z:-0.45 [[ 9.93135420e-01 1.16958188e-01 1.67898896e-03 1.35514394e+02] [-1.16958020e-01 9.93136840e-01 -1.98096116e-04 -1.06082652e+01] [-1.69063475e-03 3.65045245e-07 9.99998571e-01 -4.53621927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.54, Y:-10.61, Z:-0.45 [[ 9.93248545e-01 1.15993573e-01 1.67900103e-03 1.35543348e+02] [-1.15993404e-01 9.93249964e-01 -1.97993745e-04 -1.06115011e+01] [-1.69063371e-03 1.90395526e-06 9.99998571e-01 -4.53964643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:-10.62, Z:-0.45 [[ 9.93289764e-01 1.15640072e-01 1.67901029e-03 1.35572272e+02] [-1.15639903e-01 9.93291183e-01 -1.97915142e-04 -1.06157446e+01] [-1.69063304e-03 2.42649809e-06 9.99998571e-01 -4.53732360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:-10.62, Z:-0.45 [[ 9.93333971e-01 1.15259721e-01 1.67901994e-03 1.35600194e+02] [-1.15259551e-01 9.93335390e-01 -1.97833296e-04 -1.06198653e+01] [-1.69063213e-03 2.99144965e-06 9.99998571e-01 -4.54523270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:-10.62, Z:-0.45 [[ 9.93497951e-01 1.13837611e-01 1.67903192e-03 1.35628336e+02] [-1.13837439e-01 9.93499370e-01 -1.97731551e-04 -1.06243747e+01] [-1.69062644e-03 5.30919728e-06 9.99998571e-01 -4.54533015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:-10.63, Z:-0.45 [[ 9.93542822e-01 1.13445325e-01 1.67904112e-03 1.35657095e+02] [-1.13445153e-01 9.93544241e-01 -1.97653345e-04 -1.06283448e+01] [-1.69062449e-03 5.89798535e-06 9.99998571e-01 -4.53689912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:-10.63, Z:-0.45 [[ 9.93594315e-01 1.12993439e-01 1.67905031e-03 1.35685949e+02] [-1.12993266e-01 9.93595734e-01 -1.97575282e-04 -1.06328544e+01] [-1.69062194e-03 6.58829838e-06 9.99998571e-01 -4.50643277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.71, Y:-10.64, Z:-0.45 [[ 9.93577241e-01 1.13143482e-01 1.67905947e-03 1.35713611e+02] [-1.13143310e-01 9.93578659e-01 -1.97497378e-04 -1.06356386e+01] [-1.69062320e-03 6.25455398e-06 9.99998571e-01 -4.50899804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:-10.64, Z:-0.45 [[ 9.93506425e-01 1.13763632e-01 1.67907083e-03 1.35742164e+02] [-1.13763461e-01 9.93507844e-01 -1.97400823e-04 -1.06381433e+01] [-1.69062707e-03 5.10207767e-06 9.99998571e-01 -4.52559648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:-10.64, Z:-0.46 [[ 9.93164469e-01 1.16711263e-01 1.67908026e-03 1.35770344e+02] [-1.16711096e-01 9.93165888e-01 -1.97320521e-04 -1.06406702e+01] [-1.69063477e-03 4.43221075e-09 9.99998571e-01 -4.56078999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:-10.64, Z:-0.46 [[ 9.92967943e-01 1.18371642e-01 1.67909196e-03 1.35799004e+02] [-1.18371478e-01 9.92969362e-01 -1.97220901e-04 -1.06444785e+01] [-1.69063224e-03 -2.92256537e-06 9.99998571e-01 -4.55554735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.705769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.83, Y:-10.65, Z:-0.45 [[ 9.92829886e-01 1.19524045e-01 1.67910124e-03 1.35827397e+02] [-1.19523882e-01 9.92831306e-01 -1.97141869e-04 -1.06472030e+01] [-1.69062747e-03 -4.96435966e-06 9.99998571e-01 -4.53656213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:-10.65, Z:-0.45 [[ 9.92902621e-01 1.18918313e-01 1.67911053e-03 1.35854673e+02] [-1.18918150e-01 9.92904041e-01 -1.97062723e-04 -1.06498480e+01] [-1.69063000e-03 -4.01262356e-06 9.99998571e-01 -4.53699096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:-10.65, Z:-0.45 [[ 9.92980706e-01 1.18264525e-01 1.67912213e-03 1.35881804e+02] [-1.18264361e-01 9.92982126e-01 -1.96963845e-04 -1.06532421e+01] [-1.69063210e-03 -2.99900704e-06 9.99998571e-01 -4.54515980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:-10.66, Z:-0.45 [[ 9.93162030e-01 1.16732010e-01 1.67913317e-03 1.35909753e+02] [-1.16731844e-01 9.93163450e-01 -1.96869710e-04 -1.06590910e+01] [-1.69063468e-03 -4.84789282e-07 9.99998571e-01 -4.52659743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:-10.66, Z:-0.45 [[ 9.93268731e-01 1.15820586e-01 1.67914283e-03 1.35937620e+02] [-1.15820418e-01 9.93270151e-01 -1.96787268e-04 -1.06635888e+01] [-1.69063447e-03 9.83615183e-07 9.99998571e-01 -4.51088012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:-10.67, Z:-0.45 [[ 9.93395703e-01 1.14726451e-01 1.67915482e-03 1.35965301e+02] [-1.14726282e-01 9.93397122e-01 -1.96684859e-04 -1.06701683e+01] [-1.69063252e-03 2.74270350e-06 9.99998571e-01 -4.53763307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:-10.68, Z:-0.46 [[ 9.93425862e-01 1.14465002e-01 1.67916650e-03 1.35993861e+02] [-1.14464833e-01 9.93427281e-01 -1.96585137e-04 -1.06770381e+01] [-1.69063193e-03 3.08724604e-06 9.99998571e-01 -4.57443468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:-10.68, Z:-0.46 [[ 9.93413156e-01 1.14575223e-01 1.67917574e-03 1.36021882e+02] [-1.14575055e-01 9.93414575e-01 -1.96506200e-04 -1.06843872e+01] [-1.69063239e-03 2.82019245e-06 9.99998571e-01 -4.59741758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.05, Y:-10.69, Z:-0.46 [[ 9.93418759e-01 1.14526631e-01 1.67918533e-03 1.36051024e+02] [-1.14526463e-01 9.93420178e-01 -1.96424170e-04 -1.06877055e+01] [-1.69063239e-03 2.82029911e-06 9.99998571e-01 -4.59791342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:-10.70, Z:-0.46 [[ 9.93359524e-01 1.15039283e-01 1.67919494e-03 1.36079367e+02] [-1.15039115e-01 9.93360943e-01 -1.96342033e-04 -1.06956495e+01] [-1.69063371e-03 1.86512870e-06 9.99998571e-01 -4.58658145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:-10.70, Z:-0.46 [[ 9.93319940e-01 1.15380572e-01 1.67920002e-03 1.36108069e+02] [-1.15380405e-01 9.93321360e-01 -1.96298499e-04 -1.07002169e+01] [-1.69063428e-03 1.24043487e-06 9.99998571e-01 -4.58612902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:-10.71, Z:-0.46 [[ 9.93074416e-01 1.17475037e-01 1.67920710e-03 1.36135996e+02] [-1.17474873e-01 9.93075836e-01 -1.96237951e-04 -1.07077949e+01] [-1.69063306e-03 -2.38575180e-06 9.99998571e-01 -4.58082744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:-10.71, Z:-0.46 [[ 9.92990398e-01 1.18183119e-01 1.67921608e-03 1.36165189e+02] [-1.18182956e-01 9.92991818e-01 -1.96161058e-04 -1.07128354e+01] [-1.69063076e-03 -3.66867414e-06 9.99998571e-01 -4.58247374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:-10.72, Z:-0.46 [[ 9.92886073e-01 1.19056400e-01 1.67922080e-03 1.36193953e+02] [-1.19056239e-01 9.92887493e-01 -1.96120697e-04 -1.07165007e+01] [-1.69062675e-03 -5.19620312e-06 9.99998571e-01 -4.59082435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:-10.72, Z:-0.46 [[ 9.92929121e-01 1.18696844e-01 1.67922783e-03 1.36222393e+02] [-1.18696682e-01 9.92930541e-01 -1.96060426e-04 -1.07197604e+01] [-1.69062836e-03 -4.64466623e-06 9.99998571e-01 -4.58817521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:-10.72, Z:-0.46 [[ 9.93018775e-01 1.17944448e-01 1.67923671e-03 1.36250636e+02] [-1.17944285e-01 9.93020195e-01 -1.95984400e-04 -1.07237645e+01] [-1.69063123e-03 -3.44018377e-06 9.99998571e-01 -4.59309955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:-10.73, Z:-0.46 [[ 9.93263540e-01 1.15865098e-01 1.67924558e-03 1.36280460e+02] [-1.15864932e-01 9.93264959e-01 -1.95908309e-04 -1.07269856e+01] [-1.69063473e-03 2.29051025e-08 9.99998571e-01 -4.60566294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:-10.73, Z:-0.46 [[ 9.93380975e-01 1.14853898e-01 1.67925041e-03 1.36308953e+02] [-1.14853731e-01 9.93382395e-01 -1.95866970e-04 -1.07291668e+01] [-1.69063387e-03 1.70234765e-06 9.99998571e-01 -4.61440035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:-10.73, Z:-0.46 [[ 9.93513661e-01 1.13700420e-01 1.67925554e-03 1.36338301e+02] [-1.13700252e-01 9.93515080e-01 -1.95822929e-04 -1.07308807e+01] [-1.69063085e-03 3.62097680e-06 9.99998571e-01 -4.56568022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:-10.73, Z:-0.45 [[ 9.93481015e-01 1.13985320e-01 1.67926019e-03 1.36367173e+02] [-1.13985152e-01 9.93482434e-01 -1.95783066e-04 -1.07345789e+01] [-1.69063190e-03 3.09603080e-06 9.99998571e-01 -4.52967491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.40, Y:-10.74, Z:-0.45 [[ 9.93407585e-01 1.14623515e-01 1.67926710e-03 1.36396218e+02] [-1.14623348e-01 9.93409004e-01 -1.95723772e-04 -1.07383827e+01] [-1.69063360e-03 1.95026223e-06 9.99998571e-01 -4.51369504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:-10.74, Z:-0.46 [[ 9.93277453e-01 1.15745766e-01 1.67927167e-03 1.36424688e+02] [-1.15745601e-01 9.93278872e-01 -1.95684550e-04 -1.07405153e+01] [-1.69063473e-03 7.42706697e-10 9.99998571e-01 -4.55925524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.45, Y:-10.74, Z:-0.46 [[ 9.93207979e-01 1.16340410e-01 1.67927848e-03 1.36453371e+02] [-1.16340245e-01 9.93209398e-01 -1.95626097e-04 -1.07421176e+01] [-1.69063439e-03 -1.07027050e-06 9.99998571e-01 -4.58791406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:-10.74, Z:-0.46 [[ 9.93133797e-01 1.16971970e-01 1.67928771e-03 1.36480692e+02] [-1.16971806e-01 9.93135217e-01 -1.95546870e-04 -1.07440731e+01] [-1.69063326e-03 -2.22511022e-06 9.99998571e-01 -4.58787323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:-10.75, Z:-0.46 [[ 9.92984944e-01 1.18228934e-01 1.67929922e-03 1.36509902e+02] [-1.18228773e-01 9.92986364e-01 -1.95447955e-04 -1.07456245e+01] [-1.69062883e-03 -4.46460933e-06 9.99998571e-01 -4.59096670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-10.74, Z:-0.46 [[ 9.92771412e-01 1.20008764e-01 1.67930837e-03 1.36538624e+02] [-1.20008605e-01 9.92772832e-01 -1.95369316e-04 -1.07432516e+01] [-1.69061775e-03 -7.57438310e-06 9.99998571e-01 -4.62787095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:-10.74, Z:-0.46 [[ 9.92766305e-01 1.20051007e-01 1.67931976e-03 1.36566168e+02] [-1.20050849e-01 9.92767725e-01 -1.95271370e-04 -1.07435821e+01] [-1.69061698e-03 -7.74492628e-06 9.99998571e-01 -4.63734410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:-10.74, Z:-0.46 [[ 9.93143172e-01 1.16892339e-01 1.67933185e-03 1.36595203e+02] [-1.16892176e-01 9.93144592e-01 -1.95167288e-04 -1.07432909e+01] [-1.69063291e-03 -2.47169523e-06 9.99998571e-01 -4.64351282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:-10.75, Z:-0.46 [[ 9.93512773e-01 1.13708174e-01 1.67934082e-03 1.36622720e+02] [-1.13708007e-01 9.93514193e-01 -1.95090077e-04 -1.07453264e+01] [-1.69063228e-03 2.86998579e-06 9.99998571e-01 -4.64209663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:-10.75, Z:-0.46 [[ 9.93911273e-01 1.10170605e-01 1.67935195e-03 1.36651326e+02] [-1.10170432e-01 9.93912691e-01 -1.94994231e-04 -1.07477239e+01] [-1.69061185e-03 8.79203372e-06 9.99998571e-01 -4.62914518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:-10.75, Z:-0.46 [[ 9.94630498e-01 1.03476336e-01 1.67936087e-03 1.36681200e+02] [-1.03476154e-01 9.94631916e-01 -1.94917424e-04 -1.07486033e+01] [-1.69051526e-03 2.00970103e-05 9.99998571e-01 -4.59409372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:-10.75, Z:-0.46 [[ 9.94881669e-01 1.01032883e-01 1.67936560e-03 1.36710225e+02] [-1.01032698e-01 9.94883087e-01 -1.94876660e-04 -1.07504205e+01] [-1.69046138e-03 2.42083793e-05 9.99998571e-01 -4.58850755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:-10.75, Z:-0.46 [[ 9.95144834e-01 9.84070082e-02 1.67937265e-03 1.36738584e+02] [-9.84068195e-02 9.95146251e-01 -1.94815827e-04 -1.07510102e+01] [-1.69039264e-03 2.86082422e-05 9.99998571e-01 -4.62600389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:-10.75, Z:-0.46 [[ 9.95228148e-01 9.75608154e-02 1.67937725e-03 1.36767497e+02] [-9.75606256e-02 9.95229565e-01 -1.94776224e-04 -1.07537553e+01] [-1.69036841e-03 3.00056858e-05 9.99998571e-01 -4.63722888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:-10.76, Z:-0.46 [[ 9.95284161e-01 9.69877265e-02 1.67938616e-03 1.36796145e+02] [-9.69875360e-02 9.95285577e-01 -1.94699374e-04 -1.07573932e+01] [-1.69035227e-03 3.09016777e-05 9.99998571e-01 -4.64226463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:-10.76, Z:-0.46 [[ 9.95396524e-01 9.58276518e-02 1.67939279e-03 1.36825775e+02] [-9.58274597e-02 9.95397941e-01 -1.94642116e-04 -1.07631608e+01] [-1.69031622e-03 3.28141404e-05 9.99998571e-01 -4.61774863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:-10.77, Z:-0.46 [[ 9.95538614e-01 9.43400683e-02 1.67939718e-03 1.36854208e+02] [-9.43398742e-02 9.95540029e-01 -1.94604219e-04 -1.07679725e+01] [-1.69026610e-03 3.53018955e-05 9.99998571e-01 -4.60044360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:-10.77, Z:-0.46 [[ 9.95999431e-01 8.93437905e-02 1.67940375e-03 1.36883750e+02] [-8.93435893e-02 9.96000846e-01 -1.94547570e-04 -1.07740280e+01] [-1.69006917e-03 4.37253101e-05 9.99998571e-01 -4.56420106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:-10.78, Z:-0.46 [[ 9.96281285e-01 8.61439534e-02 1.67940810e-03 1.36911986e+02] [-8.61437478e-02 9.96282699e-01 -1.94510006e-04 -1.07788213e+01] [-1.68992109e-03 4.91161717e-05 9.99998571e-01 -4.55173659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:-10.79, Z:-0.45 [[ 9.96803791e-01 7.98710280e-02 1.67941460e-03 1.36940746e+02] [-7.98708136e-02 9.96805204e-01 -1.94453821e-04 -1.07878521e+01] [-1.68958044e-03 5.96960953e-05 9.99998571e-01 -4.54682593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:-10.79, Z:-0.46 [[ 9.96998076e-01 7.74081156e-02 1.67941675e-03 1.36970299e+02] [-7.74078978e-02 9.96999488e-01 -1.94435293e-04 -1.07942791e+01] [-1.68942851e-03 6.38514928e-05 9.99998571e-01 -4.55801140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:-10.80, Z:-0.46 [[ 9.97092631e-01 7.61804782e-02 1.67941675e-03 1.36999559e+02] [-7.61802586e-02 9.97094043e-01 -1.94435293e-04 -1.08008494e+01] [-1.68934861e-03 6.59315954e-05 9.99998571e-01 -4.56650811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:-10.81, Z:-0.46 [[ 9.97119655e-01 7.58259429e-02 1.67941896e-03 1.37027677e+02] [-7.58257228e-02 9.97121067e-01 -1.94416173e-04 -1.08104769e+01] [-1.68932581e-03 6.65130308e-05 9.99998571e-01 -4.58385483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.995769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.06, Y:-10.82, Z:-0.46 [[ 9.97066300e-01 7.65243353e-02 1.67942102e-03 1.37057836e+02] [-7.65241163e-02 9.97067712e-01 -1.94398374e-04 -1.08170102e+01] [-1.68937268e-03 6.53118582e-05 9.99998571e-01 -4.56977430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:-10.83, Z:-0.45 [[ 9.96870155e-01 7.90384264e-02 1.67942102e-03 1.37086039e+02] [-7.90382109e-02 9.96871568e-01 -1.94398374e-04 -1.08257980e+01] [-1.68953201e-03 6.10515047e-05 9.99998571e-01 -4.54525276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:-10.83, Z:-0.46 [[ 9.96749577e-01 8.05447764e-02 1.67942325e-03 1.37116323e+02] [-8.05445630e-02 9.96750990e-01 -1.94379143e-04 -1.08317496e+01] [-1.68962301e-03 5.84789166e-05 9.99998571e-01 -4.55456459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:-10.84, Z:-0.46 [[ 9.96650898e-01 8.17567555e-02 1.67942325e-03 1.37147492e+02] [-8.17565439e-02 9.96652311e-01 -1.94379143e-04 -1.08383251e+01] [-1.68969287e-03 5.64243068e-05 9.99998571e-01 -4.58534805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:-10.85, Z:-0.46 [[ 9.96614967e-01 8.21935934e-02 1.67941876e-03 1.37178564e+02] [-8.21933824e-02 9.96616381e-01 -1.94417900e-04 -1.08458767e+01] [-1.68971615e-03 5.57226805e-05 9.99998571e-01 -4.62629559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-10.86, Z:-0.47 [[ 9.96726545e-01 8.08292848e-02 1.67946795e-03 1.37208402e+02] [-8.08290725e-02 9.96727959e-01 -1.93993202e-04 -1.08585895e+01] [-1.68965299e-03 5.76083370e-05 9.99998571e-01 -4.68065103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:-10.87, Z:-0.46 [[ 9.96619452e-01 8.21392005e-02 1.67938237e-03 1.37239137e+02] [-8.21389889e-02 9.96620865e-01 -1.94731307e-04 -1.08688695e+01] [-1.68970258e-03 5.61302389e-05 9.99998571e-01 -4.62314198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:-10.88, Z:-0.46 [[ 9.96491683e-01 8.36750027e-02 1.67935338e-03 1.37270105e+02] [-8.36747928e-02 9.96493096e-01 -1.94980939e-04 -1.08755689e+01] [-1.68977908e-03 5.37773378e-05 9.99998571e-01 -4.60758048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:-10.88, Z:-0.46 [[ 9.96358549e-01 8.52456592e-02 1.67932448e-03 1.37300477e+02] [-8.52454511e-02 9.96359963e-01 -1.95229515e-04 -1.08828335e+01] [-1.68985415e-03 5.13638227e-05 9.99998571e-01 -4.60976081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-10.89, Z:-0.46 [[ 9.96205824e-01 8.70122734e-02 1.67931641e-03 1.37331281e+02] [-8.70120677e-02 9.96207238e-01 -1.95298977e-04 -1.08902558e+01] [-1.68994057e-03 4.84371853e-05 9.99998571e-01 -4.62464507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:-10.90, Z:-0.46 [[ 9.95812072e-01 9.14084047e-02 1.67929861e-03 1.37361323e+02] [-9.14082050e-02 9.95813487e-01 -1.95451909e-04 -1.08981906e+01] [-1.69013415e-03 4.11316990e-05 9.99998571e-01 -4.64548774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:-10.90, Z:-0.47 [[ 9.95334212e-01 9.64727188e-02 1.67928098e-03 1.37392426e+02] [-9.64725260e-02 9.95335629e-01 -1.95603259e-04 -1.09040900e+01] [-1.69031856e-03 3.26861385e-05 9.99998571e-01 -4.67296779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:-10.91, Z:-0.47 [[ 9.95147876e-01 9.83762461e-02 1.67925040e-03 1.37423889e+02] [-9.83760556e-02 9.95149292e-01 -1.95865420e-04 -1.09094476e+01] [-1.69037335e-03 2.97170260e-05 9.99998571e-01 -4.69669370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:-10.92, Z:-0.47 [[ 9.95043360e-01 9.94278228e-02 1.67921967e-03 1.37456054e+02] [-9.94276334e-02 9.95044777e-01 -1.96128510e-04 -1.09151082e+01] [-1.69039939e-03 2.81955333e-05 9.99998571e-01 -4.70009487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-10.92, Z:-0.47 [[ 9.95161905e-01 9.82342300e-02 1.67918898e-03 1.37488042e+02] [-9.82340385e-02 9.95163321e-01 -1.96390958e-04 -1.09205506e+01] [-1.69035959e-03 3.04872857e-05 9.99998571e-01 -4.66007227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:-10.93, Z:-0.46 [[ 9.95237790e-01 9.74624128e-02 1.67915758e-03 1.37520809e+02] [-9.74622196e-02 9.95239206e-01 -1.96659043e-04 -1.09253904e+01] [-1.69033032e-03 3.20680864e-05 9.99998571e-01 -4.62121580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:-10.93, Z:-0.46 [[ 9.95364200e-01 9.61628278e-02 1.67911918e-03 1.37552372e+02] [-9.61626323e-02 9.95365616e-01 -1.96986383e-04 -1.09331894e+01] [-1.69028026e-03 3.46046732e-05 9.99998571e-01 -4.60968255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:-10.94, Z:-0.46 [[ 9.95501504e-01 9.47308605e-02 1.67908334e-03 1.37585279e+02] [-9.47306624e-02 9.95502919e-01 -1.97291352e-04 -1.09399077e+01] [-1.69022195e-03 3.73431602e-05 9.99998571e-01 -4.63507671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:-10.95, Z:-0.47 [[ 9.95627870e-01 9.33933902e-02 1.67904875e-03 1.37616810e+02] [-9.33931898e-02 9.95629285e-01 -1.97585296e-04 -1.09465024e+01] [-1.69016327e-03 3.99097085e-05 9.99998571e-01 -4.66855129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-10.96, Z:-0.47 [[ 9.95927444e-01 9.01427063e-02 1.67901646e-03 1.37648060e+02] [-9.01425008e-02 9.95928858e-01 -1.97859326e-04 -1.09554617e+01] [-1.69001652e-03 4.57027900e-05 9.99998571e-01 -4.69589081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:-10.96, Z:-0.47 [[ 9.96044994e-01 8.88344007e-02 1.67898507e-03 1.37679745e+02] [-8.88341928e-02 9.96046408e-01 -1.98125373e-04 -1.09633797e+01] [-1.68994739e-03 4.81905032e-05 9.99998571e-01 -4.69579379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:-10.98, Z:-0.46 [[ 9.96198438e-01 8.70968072e-02 1.67896272e-03 1.37710660e+02] [-8.70965966e-02 9.96199851e-01 -1.98314545e-04 -1.09751124e+01] [-1.68985498e-03 5.13287015e-05 9.99998571e-01 -4.63996349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:-10.98, Z:-0.46 [[ 9.96243132e-01 8.65840850e-02 1.67893028e-03 1.37742374e+02] [-8.65838731e-02 9.96244545e-01 -1.98588806e-04 -1.09818477e+01] [-1.68981976e-03 5.24744477e-05 9.99998571e-01 -4.64079027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:-10.99, Z:-0.47 [[ 9.96297786e-01 8.59529140e-02 1.67889567e-03 1.37775098e+02] [-8.59527007e-02 9.96299199e-01 -1.98880945e-04 -1.09889414e+01] [-1.68977681e-03 5.38390274e-05 9.99998571e-01 -4.65684837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-11.00, Z:-0.47 [[ 9.96402741e-01 8.47275558e-02 1.67885935e-03 1.37805903e+02] [-8.47273403e-02 9.96404154e-01 -1.99187142e-04 -1.10012109e+01] [-1.68969907e-03 5.62253270e-05 9.99998571e-01 -4.67199678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-11.01, Z:-0.47 [[ 9.96437609e-01 8.43165034e-02 1.67882530e-03 1.37838572e+02] [-8.43162868e-02 9.96439022e-01 -1.99473638e-04 -1.10090454e+01] [-1.68966596e-03 5.72107185e-05 9.99998571e-01 -4.67881430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:-11.02, Z:-0.47 [[ 9.96313030e-01 8.57760338e-02 1.67878802e-03 1.37869573e+02] [-8.57758188e-02 9.96314443e-01 -1.99786915e-04 -1.10170782e+01] [-1.68973768e-03 5.50508895e-05 9.99998571e-01 -4.67936016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:-11.02, Z:-0.47 [[ 9.96297297e-01 8.59585813e-02 1.67875320e-03 1.37902808e+02] [-8.59583661e-02 9.96298710e-01 -2.00079074e-04 -1.10212409e+01] [-1.68973816e-03 5.50353584e-05 9.99998571e-01 -4.67992680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:-11.03, Z:-0.47 [[ 9.96193928e-01 8.71483786e-02 1.67871649e-03 1.37935135e+02] [-8.71481646e-02 9.96195341e-01 -2.00386656e-04 -1.10278330e+01] [-1.68979291e-03 5.33269091e-05 9.99998571e-01 -4.66848288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-11.04, Z:-0.47 [[ 9.96100884e-01 8.82055047e-02 1.67867957e-03 1.37967263e+02] [-8.82052916e-02 9.96102297e-01 -2.00695410e-04 -1.10357258e+01] [-1.68983902e-03 5.18444543e-05 9.99998571e-01 -4.66628382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:-11.05, Z:-0.47 [[ 9.95974356e-01 8.96229004e-02 1.67864282e-03 1.37998622e+02] [-8.96226888e-02 9.95975769e-01 -2.01002370e-04 -1.10455535e+01] [-1.68990199e-03 4.97487231e-05 9.99998571e-01 -4.65990697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-11.05, Z:-0.47 [[ 9.95872712e-01 9.07453752e-02 1.67860839e-03 1.38029984e+02] [-9.07451648e-02 9.95874126e-01 -2.01289459e-04 -1.10500548e+01] [-1.68994875e-03 4.81330842e-05 9.99998571e-01 -4.65028319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:-11.06, Z:-0.46 [[ 9.95562822e-01 9.40842717e-02 1.67857411e-03 1.38062672e+02] [-9.40840655e-02 9.95564236e-01 -2.01574963e-04 -1.10570802e+01] [-1.69009338e-03 4.27534623e-05 9.99998571e-01 -4.59071238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:-11.06, Z:-0.46 [[ 9.95399596e-01 9.57957603e-02 1.67853760e-03 1.38095461e+02] [-9.57955560e-02 9.95401010e-01 -2.01878528e-04 -1.10640964e+01] [-1.69015713e-03 4.01533625e-05 9.99998571e-01 -4.57996908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:-11.07, Z:-0.46 [[ 9.95295077e-01 9.68756538e-02 1.67850085e-03 1.38127090e+02] [-9.68754505e-02 9.95296492e-01 -2.02183548e-04 -1.10710993e+01] [-1.69019268e-03 3.86267634e-05 9.99998571e-01 -4.59811590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:-11.08, Z:-0.46 [[ 9.95319598e-01 9.66233935e-02 1.67846662e-03 1.38159158e+02] [-9.66231894e-02 9.95321013e-01 -2.02467355e-04 -1.10807803e+01] [-1.69017618e-03 3.93409287e-05 9.99998571e-01 -4.62143883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:-11.09, Z:-0.46 [[ 9.95337797e-01 9.64357466e-02 1.67842912e-03 1.38190588e+02] [-9.64355417e-02 9.95339211e-01 -2.02777750e-04 -1.10879710e+01] [-1.69016134e-03 3.99721371e-05 9.99998571e-01 -4.61910781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-11.10, Z:-0.46 [[ 9.95278138e-01 9.70495312e-02 1.67839397e-03 1.38222859e+02] [-9.70493266e-02 9.95279552e-01 -2.03068256e-04 -1.10991443e+01] [-1.69017888e-03 3.92223908e-05 9.99998571e-01 -4.62194359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:-11.11, Z:-0.46 [[ 9.95192070e-01 9.79281718e-02 1.67835649e-03 1.38254538e+02] [-9.79279680e-02 9.95193485e-01 -2.03377544e-04 -1.11067322e+01] [-1.69020584e-03 3.80416782e-05 9.99998571e-01 -4.63346391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:-11.11, Z:-0.46 [[ 9.95061546e-01 9.92456713e-02 1.67832133e-03 1.38285590e+02] [-9.92454689e-02 9.95062961e-01 -2.03667272e-04 -1.11145065e+01] [-1.69024849e-03 3.60956824e-05 9.99998571e-01 -4.64409571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:-11.13, Z:-0.47 [[ 9.94740842e-01 1.02410162e-01 1.67828744e-03 1.38315627e+02] [-1.02409964e-01 9.94742257e-01 -2.03946161e-04 -1.11265601e+01] [-1.69034960e-03 3.10002194e-05 9.99998571e-01 -4.69563101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:-11.13, Z:-0.47 [[ 9.94510647e-01 1.04621971e-01 1.67825844e-03 1.38347542e+02] [-1.04621776e-01 9.94512062e-01 -2.04184591e-04 -1.11344831e+01] [-1.69041045e-03 2.74813721e-05 9.99998571e-01 -4.72358879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-11.14, Z:-0.47 [[ 9.93888454e-01 1.10376290e-01 1.67824149e-03 1.38378388e+02] [-1.10376103e-01 9.93889870e-01 -2.04323757e-04 -1.11444943e+01] [-1.69053972e-03 1.78372681e-05 9.99998571e-01 -4.72943288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:-11.15, Z:-0.47 [[ 9.93600800e-01 1.12936418e-01 1.67820844e-03 1.38409395e+02] [-1.12936234e-01 9.93602217e-01 -2.04594839e-04 -1.11519273e+01] [-1.69057784e-03 1.37550548e-05 9.99998571e-01 -4.73043703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:-11.16, Z:-0.47 [[ 9.93398346e-01 1.14703570e-01 1.67817329e-03 1.38441378e+02] [-1.14703388e-01 9.93399764e-01 -2.04882813e-04 -1.11603947e+01] [-1.69059774e-03 1.10380863e-05 9.99998571e-01 -4.71649529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.47, Y:-11.17, Z:-0.47 [[ 9.93095569e-01 1.17296096e-01 1.67813532e-03 1.38472709e+02] [-1.17295916e-01 9.93096987e-01 -2.05193326e-04 -1.11723687e+01] [-1.69061950e-03 6.93816333e-06 9.99998571e-01 -4.65691369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.50, Y:-11.18, Z:-0.47 [[ 9.92913273e-01 1.18829359e-01 1.67809708e-03 1.38503938e+02] [-1.18829182e-01 9.92914691e-01 -2.05505538e-04 -1.11781002e+01] [-1.69062734e-03 4.64227338e-06 9.99998571e-01 -4.71349947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:-11.18, Z:-0.47 [[ 9.92401049e-01 1.23033905e-01 1.67806139e-03 1.38536146e+02] [-1.23033733e-01 9.92402468e-01 -2.05796590e-04 -1.11831232e+01] [-1.69063222e-03 -2.22540492e-06 9.99998571e-01 -4.72114656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:-11.19, Z:-0.47 [[ 9.92049962e-01 1.25833451e-01 1.67802461e-03 1.38568458e+02] [-1.25833283e-01 9.92051381e-01 -2.06096020e-04 -1.11869564e+01] [-1.69062041e-03 -6.69379643e-06 9.99998571e-01 -4.69679326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:-11.19, Z:-0.47 [[ 9.91681472e-01 1.28705254e-01 1.67798718e-03 1.38601506e+02] [-1.28705089e-01 9.91682892e-01 -2.06400322e-04 -1.11909919e+01] [-1.69059599e-03 -1.12821151e-05 9.99998571e-01 -4.68192069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:-11.19, Z:-0.47 [[ 9.91159729e-01 1.32663397e-01 1.67794926e-03 1.38633411e+02] [-1.32663237e-01 9.91161149e-01 -2.06708181e-04 -1.11947415e+01] [-1.69054072e-03 -1.77213563e-05 9.99998571e-01 -4.69724167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:-11.20, Z:-0.47 [[ 9.91020128e-01 1.33702244e-01 1.67791401e-03 1.38666533e+02] [-1.33702085e-01 9.91021548e-01 -2.06993863e-04 -1.11979380e+01] [-1.69052449e-03 -1.92055179e-05 9.99998571e-01 -4.68022422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:-11.20, Z:-0.47 [[ 9.91062649e-01 1.33386693e-01 1.67787516e-03 1.38698870e+02] [-1.33386533e-01 9.91064069e-01 -2.07308320e-04 -1.12001438e+01] [-1.69053396e-03 -1.83504187e-05 9.99998571e-01 -4.67209263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:-11.20, Z:-0.47 [[ 9.91160442e-01 1.32658069e-01 1.67783891e-03 1.38730666e+02] [-1.32657907e-01 9.91161862e-01 -2.07601313e-04 -1.12019115e+01] [-1.69054993e-03 -1.68123892e-05 9.99998571e-01 -4.67183146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:-11.20, Z:-0.47 [[ 9.91360340e-01 1.31155867e-01 1.67780318e-03 1.38762384e+02] [-1.31155703e-01 9.91361760e-01 -2.07889639e-04 -1.12047278e+01] [-1.69057586e-03 -1.39599119e-05 9.99998571e-01 -4.65170298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-11.21, Z:-0.46 [[ 9.91472925e-01 1.30302047e-01 1.67776864e-03 1.38794003e+02] [-1.30301881e-01 9.91474345e-01 -2.08168013e-04 -1.12099181e+01] [-1.69058929e-03 -1.22234622e-05 9.99998571e-01 -4.63585469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:-11.21, Z:-0.46 [[ 9.91705999e-01 1.28516134e-01 1.67773421e-03 1.38825584e+02] [-1.28515965e-01 9.91707418e-01 -2.08445168e-04 -1.12149662e+01] [-1.69061003e-03 -8.89930761e-06 9.99998571e-01 -4.64119507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:-11.22, Z:-0.47 [[ 9.91816669e-01 1.27659238e-01 1.67770017e-03 1.38858352e+02] [-1.27659068e-01 9.91818088e-01 -2.08718756e-04 -1.12189234e+01] [-1.69061826e-03 -7.16289955e-06 9.99998571e-01 -4.65879583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:-11.22, Z:-0.47 [[ 9.91791600e-01 1.27853857e-01 1.67736299e-03 1.38888860e+02] [-1.27853682e-01 9.91793018e-01 -2.11424788e-04 -1.12236463e+01] [-1.69062838e-03 -4.76770516e-06 9.99998571e-01 -4.70016980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:-11.23, Z:-0.47 [[ 9.91495642e-01 1.30129081e-01 1.67765059e-03 1.38920031e+02] [-1.30128914e-01 9.91497061e-01 -2.09117500e-04 -1.12282013e+01] [-1.69059790e-03 -1.09717597e-05 9.99998571e-01 -4.74348415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:-11.23, Z:-0.47 [[ 9.91031253e-01 1.33619763e-01 1.67763244e-03 1.38952852e+02] [-1.33619600e-01 9.91032673e-01 -2.09262993e-04 -1.12315106e+01] [-1.69055024e-03 -1.67784093e-05 9.99998571e-01 -4.71203868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:-11.23, Z:-0.47 [[ 9.89862576e-01 1.42018545e-01 1.67759229e-03 1.38983692e+02] [-1.42018393e-01 9.89863997e-01 -2.09584430e-04 -1.12319023e+01] [-1.69035308e-03 -3.07891775e-05 9.99998571e-01 -4.69416735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:-11.23, Z:-0.47 [[ 9.89192216e-01 1.46614956e-01 1.67757483e-03 1.39016100e+02] [-1.46614811e-01 9.89193638e-01 -2.09724051e-04 -1.12344223e+01] [-1.69019503e-03 -3.84999178e-05 9.99998571e-01 -4.70700655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:-11.24, Z:-0.47 [[ 9.88491288e-01 1.51268504e-01 1.67754042e-03 1.39049005e+02] [-1.51268365e-01 9.88492710e-01 -2.09998943e-04 -1.12367396e+01] [-1.69000270e-03 -4.61766710e-05 9.99998571e-01 -4.71243055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:-11.23, Z:-0.47 [[ 9.87145975e-01 1.59812419e-01 1.67750348e-03 1.39081574e+02] [-1.59812292e-01 9.87147399e-01 -2.10293602e-04 -1.12346120e+01] [-1.68955073e-03 -6.04951938e-05 9.99998571e-01 -4.73173386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:-11.24, Z:-0.47 [[ 9.86508889e-01 1.63699107e-01 1.67746933e-03 1.39113959e+02] [-1.63698986e-01 9.86510313e-01 -2.10565643e-04 -1.12352118e+01] [-1.68931020e-03 -6.68751489e-05 9.99998571e-01 -4.72877039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:-11.23, Z:-0.47 [[ 9.85480241e-01 1.69781862e-01 1.67743296e-03 1.39145751e+02] [-1.69781749e-01 9.85481666e-01 -2.10854963e-04 -1.12324724e+01] [-1.68887878e-03 -7.70041025e-05 9.99998571e-01 -4.69576782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.18, Y:-11.23, Z:-0.46 [[ 9.85230953e-01 1.71222532e-01 1.67740172e-03 1.39178983e+02] [-1.71222420e-01 9.85232378e-01 -2.11103254e-04 -1.12325161e+01] [-1.68877612e-03 -7.92233203e-05 9.99998571e-01 -4.64906210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:-11.23, Z:-0.46 [[ 9.85041906e-01 1.72306789e-01 1.67736384e-03 1.39212538e+02] [-1.72306678e-01 9.85043331e-01 -2.11403753e-04 -1.12274450e+01] [-1.68870237e-03 -8.07794359e-05 9.99998571e-01 -4.63873339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:-11.23, Z:-0.47 [[ 9.84898311e-01 1.73125685e-01 1.67732573e-03 1.39245840e+02] [-1.73125575e-01 9.84899736e-01 -2.11705725e-04 -1.12278208e+01] [-1.68864937e-03 -8.18793705e-05 9.99998571e-01 -4.66341271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:-11.23, Z:-0.47 [[ 9.84707621e-01 1.74207024e-01 1.67728684e-03 1.39278639e+02] [-1.74206915e-01 9.84709046e-01 -2.12013364e-04 -1.12284000e+01] [-1.68857374e-03 -8.34237909e-05 9.99998571e-01 -4.67403316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:-11.22, Z:-0.47 [[ 9.84520227e-01 1.75262973e-01 1.67724652e-03 1.39311295e+02] [-1.75262865e-01 9.84521652e-01 -2.12331873e-04 -1.12230163e+01] [-1.68849943e-03 -8.49140069e-05 9.99998571e-01 -4.66678972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:-11.22, Z:-0.46 [[ 9.84524736e-01 1.75237643e-01 1.67720899e-03 1.39343509e+02] [-1.75237534e-01 9.84526161e-01 -2.12627916e-04 -1.12220370e+01] [-1.68851654e-03 -8.45725241e-05 9.99998571e-01 -4.64894965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:-11.22, Z:-0.47 [[ 9.85088469e-01 1.72040390e-01 1.67718505e-03 1.39377142e+02] [-1.72040276e-01 9.85089893e-01 -2.12816563e-04 -1.12187894e+01] [-1.68879109e-03 -7.89002370e-05 9.99998571e-01 -4.65399637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:-11.22, Z:-0.47 [[ 9.85572666e-01 1.69244519e-01 1.67714591e-03 1.39408444e+02] [-1.69244400e-01 9.85574090e-01 -2.13124594e-04 -1.12206295e+01] [-1.68902172e-03 -7.37977796e-05 9.99998571e-01 -4.69542341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:-11.22, Z:-0.48 [[ 9.86545022e-01 1.63481209e-01 1.67712665e-03 1.39440369e+02] [-1.63481083e-01 9.86546446e-01 -2.13276045e-04 -1.12192579e+01] [-1.68942996e-03 -6.37720607e-05 9.99998571e-01 -4.77434432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:-11.22, Z:-0.48 [[ 9.86960624e-01 1.60953142e-01 1.67709371e-03 1.39473312e+02] [-1.60953012e-01 9.86962047e-01 -2.13534746e-04 -1.12207088e+01] [-1.68959693e-03 -5.91828971e-05 9.99998571e-01 -4.76132273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-11.22, Z:-0.47 [[ 9.87355757e-01 1.58511185e-01 1.67705454e-03 1.39504371e+02] [-1.58511050e-01 9.87357180e-01 -2.13841952e-04 -1.12220355e+01] [-1.68974818e-03 -5.46935934e-05 9.99998571e-01 -4.74273697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:-11.22, Z:-0.47 [[ 9.88082766e-01 1.53914377e-01 1.67702291e-03 1.39536887e+02] [-1.53914235e-01 9.88084188e-01 -2.14089722e-04 -1.12249092e+01] [-1.68999131e-03 -4.65793335e-05 9.99998571e-01 -4.66659971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:-11.23, Z:-0.47 [[ 9.88419690e-01 1.51735637e-01 1.67698689e-03 1.39569468e+02] [-1.51735492e-01 9.88421112e-01 -2.14371494e-04 -1.12297067e+01] [-1.69009704e-03 -4.25694247e-05 9.99998571e-01 -4.65295164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:-11.23, Z:-0.47 [[ 9.88952827e-01 1.48221100e-01 1.67694560e-03 1.39600014e+02] [-1.48220949e-01 9.88954248e-01 -2.14694042e-04 -1.12333862e+01] [-1.69024466e-03 -3.62361882e-05 9.99998571e-01 -4.68993279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:-11.24, Z:-0.47 [[ 9.89028876e-01 1.47712799e-01 1.67692538e-03 1.39631454e+02] [-1.47712647e-01 9.89030297e-01 -2.14851789e-04 -1.12366865e+01] [-1.69026637e-03 -3.52084634e-05 9.99998571e-01 -4.73356262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.66, Y:-11.24, Z:-0.48 [[ 9.88969852e-01 1.48107462e-01 1.67689385e-03 1.39663022e+02] [-1.48107310e-01 9.88971273e-01 -2.15097620e-04 -1.12399904e+01] [-1.69025741e-03 -3.56351763e-05 9.99998571e-01 -4.75387165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:-11.24, Z:-0.47 [[ 9.88767259e-01 1.49453992e-01 1.67686000e-03 1.39695797e+02] [-1.49453841e-01 9.88768680e-01 -2.15361204e-04 -1.12428147e+01] [-1.69021324e-03 -3.76710608e-05 9.99998571e-01 -4.73488161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:-11.24, Z:-0.47 [[ 9.88633623e-01 1.50335451e-01 1.67681926e-03 1.39727615e+02] [-1.50335301e-01 9.88635044e-01 -2.15677909e-04 -1.12444781e+01] [-1.69018632e-03 -3.88586964e-05 9.99998571e-01 -4.73505538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:-11.24, Z:-0.48 [[ 9.88002903e-01 1.54426200e-01 1.67678110e-03 1.39760529e+02] [-1.54426055e-01 9.88004325e-01 -2.15974190e-04 -1.12414018e+01] [-1.69001905e-03 -4.55555644e-05 9.99998571e-01 -4.75274542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:-11.24, Z:-0.47 [[ 9.87680014e-01 1.56478045e-01 1.67674676e-03 1.39792291e+02] [-1.56477903e-01 9.87681436e-01 -2.16240497e-04 -1.12428542e+01] [-1.68992854e-03 -4.87973998e-05 9.99998571e-01 -4.74340907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:-11.24, Z:-0.47 [[ 9.87530941e-01 1.57416104e-01 1.67671157e-03 1.39823900e+02] [-1.57415964e-01 9.87532363e-01 -2.16513019e-04 -1.12416144e+01] [-1.68988957e-03 -5.01278620e-05 9.99998571e-01 -4.68341861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:-11.24, Z:-0.47 [[ 9.87638373e-01 1.56740656e-01 1.67669269e-03 1.39854072e+02] [-1.56740514e-01 9.87639795e-01 -2.16659113e-04 -1.12418133e+01] [-1.68992771e-03 -4.88248196e-05 9.99998571e-01 -4.66665026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:-11.24, Z:-0.47 [[ 9.88007389e-01 1.54397497e-01 1.67668135e-03 1.39886539e+02] [-1.54397351e-01 9.88008811e-01 -2.16746813e-04 -1.12384654e+01] [-1.69004111e-03 -4.47277067e-05 9.99998571e-01 -4.66533291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:-11.24, Z:-0.47 [[ 9.88225682e-01 1.52994085e-01 1.67667641e-03 1.39918264e+02] [-1.52993937e-01 9.88227104e-01 -2.16785025e-04 -1.12395489e+01] [-1.69010390e-03 -4.22887964e-05 9.99998571e-01 -4.67122436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:-11.24, Z:-0.47 [[ 9.88391680e-01 1.51917991e-01 1.67667137e-03 1.39948336e+02] [-1.51917841e-01 9.88393101e-01 -2.16824038e-04 -1.12401531e+01] [-1.69014988e-03 -4.04092190e-05 9.99998571e-01 -4.68610217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:-11.24, Z:-0.47 [[ 9.88391680e-01 1.51917991e-01 1.67666885e-03 1.39979079e+02] [-1.51917841e-01 9.88393101e-01 -2.16843468e-04 -1.12441292e+01] [-1.69015035e-03 -4.03896335e-05 9.99998571e-01 -4.68662628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:-11.24, Z:-0.47 [[ 9.88581456e-01 1.50678111e-01 1.67666885e-03 1.40009302e+02] [-1.50677960e-01 9.88582877e-01 -2.16843468e-04 -1.12411783e+01] [-1.69019968e-03 -3.82696112e-05 9.99998571e-01 -4.71426013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-11.24, Z:-0.47 [[ 9.88682141e-01 1.50016043e-01 1.67667133e-03 1.40039228e+02] [-1.50015890e-01 9.88683562e-01 -2.16824319e-04 -1.12423062e+01] [-1.69022451e-03 -3.71570103e-05 9.99998571e-01 -4.71390606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:-11.24, Z:-0.47 [[ 9.88728710e-01 1.49708807e-01 1.67666894e-03 1.40067927e+02] [-1.49708655e-01 9.88730131e-01 -2.16842753e-04 -1.12418548e+01] [-1.69023638e-03 -3.66131966e-05 9.99998571e-01 -4.67280141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:-11.24, Z:-0.46 [[ 9.88663737e-01 1.50137282e-01 1.67667618e-03 1.40097376e+02] [-1.50137130e-01 9.88665158e-01 -2.16786817e-04 -1.12433141e+01] [-1.69021910e-03 -3.74020849e-05 9.99998571e-01 -4.64526754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:-11.24, Z:-0.47 [[ 9.88464790e-01 1.51441564e-01 1.67668099e-03 1.40127475e+02] [-1.51441415e-01 9.88466211e-01 -2.16749569e-04 -1.12440681e+01] [-1.69016740e-03 -3.96696237e-05 9.99998571e-01 -4.65151556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-11.25, Z:-0.47 [[ 9.88382563e-01 1.51977291e-01 1.67668611e-03 1.40156310e+02] [-1.51977142e-01 9.88383985e-01 -2.16709961e-04 -1.12468294e+01] [-1.69014469e-03 -4.06256164e-05 9.99998571e-01 -4.68542482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-11.25, Z:-0.47 [[ 9.88310258e-01 1.52446786e-01 1.67669375e-03 1.40186407e+02] [-1.52446637e-01 9.88311679e-01 -2.16650812e-04 -1.12492251e+01] [-1.69012374e-03 -4.14881055e-05 9.99998571e-01 -4.71425430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:-11.25, Z:-0.47 [[ 9.88009769e-01 1.54382269e-01 1.67669614e-03 1.40214142e+02] [-1.54382123e-01 9.88011191e-01 -2.16632343e-04 -1.12488092e+01] [-1.69003874e-03 -4.48170391e-05 9.99998571e-01 -4.70564617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:-11.25, Z:-0.47 [[ 9.87873923e-01 1.55249156e-01 1.67670802e-03 1.40243399e+02] [-1.55249012e-01 9.87875345e-01 -2.16540368e-04 -1.12507475e+01] [-1.68999622e-03 -4.63926800e-05 9.99998571e-01 -4.69072377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:-11.25, Z:-0.47 [[ 9.87784730e-01 1.55815650e-01 1.67671743e-03 1.40272128e+02] [-1.55815506e-01 9.87786151e-01 -2.16467482e-04 -1.12527916e+01] [-1.68996728e-03 -4.74353023e-05 9.99998571e-01 -4.70889656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:-11.26, Z:-0.47 [[ 9.87899526e-01 1.55086156e-01 1.67672761e-03 1.40300860e+02] [-1.55086012e-01 9.87900948e-01 -2.16388612e-04 -1.12563763e+01] [-1.68999967e-03 -4.62667906e-05 9.99998571e-01 -4.73659995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:-11.26, Z:-0.48 [[ 9.88078664e-01 1.53940708e-01 1.67673519e-03 1.40329035e+02] [-1.53940562e-01 9.88080086e-01 -2.16329830e-04 -1.12590587e+01] [-1.69005062e-03 -4.43666682e-05 9.99998571e-01 -4.76157875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:-11.26, Z:-0.47 [[ 9.88155738e-01 1.53445192e-01 1.67674271e-03 1.40358182e+02] [-1.53445046e-01 9.88157159e-01 -2.16271517e-04 -1.12596077e+01] [-1.69007114e-03 -4.35779212e-05 9.99998571e-01 -4.69975303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:-11.26, Z:-0.47 [[ 9.88347361e-01 1.52206052e-01 1.67675268e-03 1.40386498e+02] [-1.52205904e-01 9.88348783e-01 -2.16194196e-04 -1.12604326e+01] [-1.69012254e-03 -4.15366945e-05 9.99998571e-01 -4.65933466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-11.26, Z:-0.47 [[ 9.88600592e-01 1.50552511e-01 1.67676506e-03 1.40413893e+02] [-1.50552361e-01 9.88602013e-01 -2.16098188e-04 -1.12623666e+01] [-1.69018743e-03 -3.88061405e-05 9.99998571e-01 -4.67342895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:-11.26, Z:-0.47 [[ 9.88865705e-01 1.48801229e-01 1.67677734e-03 1.40442913e+02] [-1.48801077e-01 9.88867126e-01 -2.16002848e-04 -1.12647857e+01] [-1.69025148e-03 -3.59084652e-05 9.99998571e-01 -4.70933261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:-11.27, Z:-0.48 [[ 9.89312174e-01 1.45803328e-01 1.67678724e-03 1.40470393e+02] [-1.45803172e-01 9.89313595e-01 -2.15925956e-04 -1.12671294e+01] [-1.69035113e-03 -3.08627201e-05 9.99998571e-01 -4.75461371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:-11.27, Z:-0.47 [[ 9.89544252e-01 1.44219836e-01 1.67679961e-03 1.40499530e+02] [-1.44219677e-01 9.89545673e-01 -2.15829869e-04 -1.12703239e+01] [-1.69039674e-03 -2.82542918e-05 9.99998571e-01 -4.73453206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:-11.27, Z:-0.47 [[ 9.89827879e-01 1.42260181e-01 1.67680944e-03 1.40529350e+02] [-1.42260020e-01 9.89829298e-01 -2.15753445e-04 -1.12729097e+01] [-1.69044824e-03 -2.49841692e-05 9.99998571e-01 -4.66814679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:-11.28, Z:-0.47 [[ 9.89945353e-01 1.41440396e-01 1.67681451e-03 1.40556662e+02] [-1.41440234e-01 9.89946773e-01 -2.15714009e-04 -1.12762016e+01] [-1.69046779e-03 -2.36239551e-05 9.99998571e-01 -4.66239584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.385769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.59, Y:-11.28, Z:-0.47 [[ 9.90078668e-01 1.40504161e-01 1.67682818e-03 1.40585349e+02] [-1.40503997e-01 9.90080088e-01 -2.15607738e-04 -1.12799339e+01] [-1.69048797e-03 -2.21324396e-05 9.99998571e-01 -4.67625504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.61, Y:-11.28, Z:-0.47 [[ 9.90169214e-01 1.39864634e-01 1.67683560e-03 1.40614219e+02] [-1.39864470e-01 9.90170634e-01 -2.15550035e-04 -1.12822264e+01] [-1.69050119e-03 -2.10987127e-05 9.99998571e-01 -4.68427971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:-11.28, Z:-0.47 [[ 9.90126894e-01 1.40163912e-01 1.67684568e-03 1.40642582e+02] [-1.40163748e-01 9.90128313e-01 -2.15471582e-04 -1.12844876e+01] [-1.69049372e-03 -2.16887676e-05 9.99998571e-01 -4.67458041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:-11.29, Z:-0.47 [[ 9.90080924e-01 1.40488263e-01 1.67685577e-03 1.40670177e+02] [-1.40488100e-01 9.90082344e-01 -2.15392993e-04 -1.12857819e+01] [-1.69048548e-03 -2.23217870e-05 9.99998571e-01 -4.65704754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:-11.29, Z:-0.47 [[ 9.90136619e-01 1.40095199e-01 1.67686830e-03 1.40698720e+02] [-1.40095035e-01 9.90138038e-01 -2.15295390e-04 -1.12881642e+01] [-1.69049294e-03 -2.17490740e-05 9.99998571e-01 -4.66022713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:-11.29, Z:-0.47 [[ 9.90079752e-01 1.40496522e-01 1.67687818e-03 1.40727029e+02] [-1.40496359e-01 9.90081172e-01 -2.15218406e-04 -1.12887047e+01] [-1.69048295e-03 -2.25118935e-05 9.99998571e-01 -4.65055094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.76, Y:-11.29, Z:-0.47 [[ 9.89848999e-01 1.42113149e-01 1.67689048e-03 1.40755705e+02] [-1.42112988e-01 9.89850419e-01 -2.15122534e-04 -1.12907963e+01] [-1.69044249e-03 -2.53690929e-05 9.99998571e-01 -4.66298736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:-11.29, Z:-0.47 [[ 9.89477605e-01 1.44676387e-01 1.67690029e-03 1.40784193e+02] [-1.44676231e-01 9.89479026e-01 -2.15046065e-04 -1.12890752e+01] [-1.69036975e-03 -2.98243476e-05 9.99998571e-01 -4.69949055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:-11.29, Z:-0.47 [[ 9.89302805e-01 1.45866881e-01 1.67691318e-03 1.40813476e+02] [-1.45866726e-01 9.89304226e-01 -2.14945465e-04 -1.12899755e+01] [-1.69033072e-03 -3.19596847e-05 9.99998571e-01 -4.69705180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:-11.29, Z:-0.47 [[ 9.89221750e-01 1.46415565e-01 1.67692290e-03 1.40841143e+02] [-1.46415411e-01 9.89223171e-01 -2.14869655e-04 -1.12903338e+01] [-1.69031125e-03 -3.29736183e-05 9.99998571e-01 -4.68413481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.87, Y:-11.29, Z:-0.47 [[ 9.89111136e-01 1.47160965e-01 1.67693603e-03 1.40869872e+02] [-1.47160812e-01 9.89112556e-01 -2.14767076e-04 -1.12893636e+01] [-1.69028382e-03 -3.43507617e-05 9.99998571e-01 -4.66351273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.90, Y:-11.29, Z:-0.47 [[ 9.89078438e-01 1.47380569e-01 1.67694615e-03 1.40897840e+02] [-1.47380416e-01 9.89079859e-01 -2.14688059e-04 -1.12901359e+01] [-1.69027451e-03 -3.48056919e-05 9.99998571e-01 -4.67308997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-11.29, Z:-0.47 [[ 9.89143797e-01 1.46941270e-01 1.67695869e-03 1.40927052e+02] [-1.46941118e-01 9.89145218e-01 -2.14590041e-04 -1.12867527e+01] [-1.69028781e-03 -3.41537762e-05 9.99998571e-01 -4.68141476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:-11.29, Z:-0.47 [[ 9.89341610e-01 1.45603453e-01 1.67696879e-03 1.40956337e+02] [-1.45603299e-01 9.89343031e-01 -2.14511094e-04 -1.12876839e+01] [-1.69033094e-03 -3.19474369e-05 9.99998571e-01 -4.67824227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:-11.29, Z:-0.47 [[ 9.89963502e-01 1.41313314e-01 1.67697908e-03 1.40984123e+02] [-1.41313154e-01 9.89964922e-01 -2.14430649e-04 -1.12881584e+01] [-1.69045237e-03 -2.47006859e-05 9.99998571e-01 -4.66532516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:-11.29, Z:-0.47 [[ 9.90301982e-01 1.38921462e-01 1.67699187e-03 1.41011829e+02] [-1.38921298e-01 9.90303402e-01 -2.14330575e-04 -1.12906006e+01] [-1.69050587e-03 -2.07178939e-05 9.99998571e-01 -4.66601819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:-11.29, Z:-0.47 [[ 9.90640739e-01 1.36484849e-01 1.67700547e-03 1.41040010e+02] [-1.36484682e-01 9.90642158e-01 -2.14224057e-04 -1.12935210e+01] [-1.69055066e-03 -1.66664802e-05 9.99998571e-01 -4.66356551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:-11.30, Z:-0.47 [[ 9.91211688e-01 1.32274629e-01 1.67701804e-03 1.41068006e+02] [-1.32274457e-01 9.91213106e-01 -2.14125612e-04 -1.12989416e+01] [-1.69060565e-03 -9.58284095e-06 9.99998571e-01 -4.66791579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:-11.31, Z:-0.47 [[ 9.91561915e-01 1.29623132e-01 1.67702770e-03 1.41096309e+02] [-1.29622956e-01 9.91563333e-01 -2.14049969e-04 -1.13052913e+01] [-1.69062500e-03 -5.13749043e-06 9.99998571e-01 -4.68566727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:-11.31, Z:-0.47 [[ 9.91549589e-01 1.29717383e-01 1.67703775e-03 1.41124042e+02] [-1.29717206e-01 9.91551008e-01 -2.13971160e-04 -1.13093039e+01] [-1.69062425e-03 -5.37763684e-06 9.99998571e-01 -4.69463363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:-11.31, Z:-0.47 [[ 9.91418550e-01 1.30715136e-01 1.67705027e-03 1.41152899e+02] [-1.30714961e-01 9.91419968e-01 -2.13873050e-04 -1.13135356e+01] [-1.69061757e-03 -7.17785219e-06 9.99998571e-01 -4.70270281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.18, Y:-11.32, Z:-0.47 [[ 9.91215886e-01 1.32243169e-01 1.67706024e-03 1.41180214e+02] [-1.32242997e-01 9.91217304e-01 -2.13794818e-04 -1.13204798e+01] [-1.69060403e-03 -9.86265183e-06 9.99998571e-01 -4.67331597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:-11.33, Z:-0.46 [[ 9.91265595e-01 1.31870041e-01 1.67707261e-03 1.41208419e+02] [-1.31869868e-01 9.91267014e-01 -2.13697774e-04 -1.13263737e+01] [-1.69060709e-03 -9.32409168e-06 9.99998571e-01 -4.63915878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:-11.33, Z:-0.46 [[ 9.91463335e-01 1.30375004e-01 1.67708216e-03 1.41236213e+02] [-1.30374830e-01 9.91464754e-01 -2.13622799e-04 -1.13346551e+01] [-1.69061892e-03 -6.85012757e-06 9.99998571e-01 -4.62671671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:-11.34, Z:-0.47 [[ 9.91583706e-01 1.29456330e-01 1.67709229e-03 1.41263837e+02] [-1.29456154e-01 9.91585124e-01 -2.13543174e-04 -1.13412010e+01] [-1.69062429e-03 -5.36398705e-06 9.99998571e-01 -4.65915207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:-11.35, Z:-0.47 [[ 9.91759590e-01 1.28101923e-01 1.67710494e-03 1.41291576e+02] [-1.28101745e-01 9.91761008e-01 -2.13443789e-04 -1.13482626e+01] [-1.69062985e-03 -3.15514544e-06 9.99998571e-01 -4.68557687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:-11.36, Z:-0.47 [[ 9.91995325e-01 1.26263468e-01 1.67711507e-03 1.41319063e+02] [-1.26263288e-01 9.91996742e-01 -2.13364191e-04 -1.13586815e+01] [-1.69063279e-03 -1.01783641e-07 9.99998571e-01 -4.68871664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:-11.36, Z:-0.47 [[ 9.92017582e-01 1.26088478e-01 1.67712514e-03 1.41345975e+02] [-1.26088297e-01 9.92019000e-01 -2.13285022e-04 -1.13642363e+01] [-1.69063278e-03 1.16639048e-07 9.99998571e-01 -4.67510260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.37, Y:-11.37, Z:-0.47 [[ 9.91944110e-01 1.26665185e-01 1.67713880e-03 1.41374640e+02] [-1.26665005e-01 9.91945528e-01 -2.13177567e-04 -1.13705766e+01] [-1.69063250e-03 -9.74562536e-07 9.99998571e-01 -4.66955503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:-11.38, Z:-0.47 [[ 9.91807364e-01 1.27731512e-01 1.67714877e-03 1.41403210e+02] [-1.27731334e-01 9.91808782e-01 -2.13099099e-04 -1.13760504e+01] [-1.69063035e-03 -2.87119310e-06 9.99998571e-01 -4.69032040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:-11.38, Z:-0.47 [[ 9.91439302e-01 1.30557643e-01 1.67715885e-03 1.41430534e+02] [-1.30557469e-01 9.91440720e-01 -2.13019687e-04 -1.13826920e+01] [-1.69061493e-03 -7.76952498e-06 9.99998571e-01 -4.72967311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.46, Y:-11.39, Z:-0.47 [[ 9.91258886e-01 1.31920458e-01 1.67717139e-03 1.41459502e+02] [-1.31920287e-01 9.91260305e-01 -2.12920897e-04 -1.13870448e+01] [-1.69060205e-03 -1.01931995e-05 9.99998571e-01 -4.73211078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:-11.39, Z:-0.47 [[ 9.91145264e-01 1.32771431e-01 1.67718120e-03 1.41487682e+02] [-1.32771261e-01 9.91146683e-01 -2.12843608e-04 -1.13913636e+01] [-1.69059214e-03 -1.17225286e-05 9.99998571e-01 -4.73359468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:-11.40, Z:-0.47 [[ 9.91279679e-01 1.31764124e-01 1.67718853e-03 1.41517351e+02] [-1.31763952e-01 9.91281098e-01 -2.12785842e-04 -1.13968340e+01] [-1.69060283e-03 -1.00627079e-05 9.99998571e-01 -4.70458518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:-11.40, Z:-0.47 [[ 9.91422996e-01 1.30681410e-01 1.67719338e-03 1.41546895e+02] [-1.30681237e-01 9.91424414e-01 -2.12747600e-04 -1.14017563e+01] [-1.69061262e-03 -8.25484360e-06 9.99998571e-01 -4.68374080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:-11.41, Z:-0.47 [[ 9.91831391e-01 1.27544808e-01 1.67719824e-03 1.41574480e+02] [-1.27544630e-01 9.91832810e-01 -2.12709290e-04 -1.14083254e+01] [-1.69063021e-03 -2.94587847e-06 9.99998571e-01 -4.67432811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:-11.41, Z:-0.47 [[ 9.92107207e-01 1.25381329e-01 1.67720331e-03 1.41604037e+02] [-1.25381149e-01 9.92108624e-01 -2.12669277e-04 -1.14140308e+01] [-1.69063263e-03 7.01044228e-07 9.99998571e-01 -4.68488294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:-11.42, Z:-0.47 [[ 9.92756019e-01 1.20136059e-01 1.67720812e-03 1.41633922e+02] [-1.20135871e-01 9.92757436e-01 -2.12631408e-04 -1.14230870e+01] [-1.69060553e-03 9.59825127e-06 9.99998571e-01 -4.70847283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:-11.43, Z:-0.47 [[ 9.93045904e-01 1.17715840e-01 1.67720812e-03 1.41663762e+02] [-1.17715649e-01 9.93047321e-01 -2.12631408e-04 -1.14306470e+01] [-1.69057711e-03 1.37191069e-05 9.99998571e-01 -4.71113179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:-11.44, Z:-0.47 [[ 9.93360339e-01 1.15032270e-01 1.67720812e-03 1.41693442e+02] [-1.15032075e-01 9.93361755e-01 -2.12631408e-04 -1.14430455e+01] [-1.69053387e-03 1.82868782e-05 9.99998571e-01 -4.69296807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:-11.45, Z:-0.47 [[ 9.93380917e-01 1.14854434e-01 1.67720298e-03 1.41723437e+02] [-1.14854239e-01 9.93382333e-01 -2.12671933e-04 -1.14510849e+01] [-1.69053012e-03 1.86303689e-05 9.99998571e-01 -4.68878454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:-11.46, Z:-0.47 [[ 9.93378211e-01 1.14877832e-01 1.67716963e-03 1.41755011e+02] [-1.14877636e-01 9.93379627e-01 -2.12934584e-04 -1.14551392e+01] [-1.69052761e-03 1.88552933e-05 9.99998571e-01 -4.68932291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:-11.46, Z:-0.47 [[ 9.93378927e-01 1.14871645e-01 1.67716461e-03 1.41785029e+02] [-1.14871449e-01 9.93380342e-01 -2.12974087e-04 -1.14629795e+01] [-1.69052704e-03 1.89056407e-05 9.99998571e-01 -4.70054177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:-11.47, Z:-0.47 [[ 9.93309901e-01 1.15467001e-01 1.67713214e-03 1.41815229e+02] [-1.15466806e-01 9.93311316e-01 -2.13229518e-04 -1.14739492e+01] [-1.69053531e-03 1.81499002e-05 9.99998571e-01 -4.73019696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:-11.48, Z:-0.47 [[ 9.93107881e-01 1.17191827e-01 1.67710020e-03 1.41846825e+02] [-1.17191633e-01 9.93109297e-01 -2.13480451e-04 -1.14810746e+01] [-1.69056196e-03 1.54670072e-05 9.99998571e-01 -4.71755950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:-11.49, Z:-0.47 [[ 9.92411587e-01 1.22948887e-01 1.67706513e-03 1.41877988e+02] [-1.22948701e-01 9.92413004e-01 -2.13755593e-04 -1.14898306e+01] [-1.69062225e-03 5.94054866e-06 9.99998571e-01 -4.70878910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:-11.50, Z:-0.47 [[ 9.91983763e-01 1.26354270e-01 1.67702982e-03 1.41909178e+02] [-1.26354088e-01 9.91985181e-01 -2.14032215e-04 -1.14959834e+01] [-1.69063262e-03 4.16907462e-07 9.99998571e-01 -4.71251635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:-11.50, Z:-0.47 [[ 9.91292549e-01 1.31667269e-01 1.67699450e-03 1.41939556e+02] [-1.31667095e-01 9.91293968e-01 -2.14308665e-04 -1.15032539e+01] [-1.69061196e-03 -8.36240980e-06 9.99998571e-01 -4.69356537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:-11.51, Z:-0.47 [[ 9.91080917e-01 1.33250903e-01 1.67696180e-03 1.41971673e+02] [-1.33250730e-01 9.91082336e-01 -2.14564192e-04 -1.15094002e+01] [-1.69059809e-03 -1.08059088e-05 9.99998571e-01 -4.67043428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.00, Y:-11.52, Z:-0.47 [[ 9.90972744e-01 1.34053009e-01 1.67692714e-03 1.42002988e+02] [-1.34052838e-01 9.90974162e-01 -2.14834749e-04 -1.15154025e+01] [-1.69059071e-03 -1.19014608e-05 9.99998571e-01 -4.66550459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-11.52, Z:-0.47 [[ 9.90662408e-01 1.36327481e-01 1.67689240e-03 1.42033740e+02] [-1.36327312e-01 9.90663827e-01 -2.15105578e-04 -1.15214584e+01] [-1.69056144e-03 -1.55092233e-05 9.99998571e-01 -4.66637449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-11.53, Z:-0.47 [[ 9.90388464e-01 1.38303574e-01 1.67686033e-03 1.42064420e+02] [-1.38303407e-01 9.90389883e-01 -2.15355310e-04 -1.15254786e+01] [-1.69052991e-03 -1.86300819e-05 9.99998571e-01 -4.66246975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:-11.53, Z:-0.46 [[ 9.89883811e-01 1.41870467e-01 1.67682846e-03 1.42096703e+02] [-1.41870305e-01 9.89885231e-01 -2.15603118e-04 -1.15284819e+01] [-1.69045545e-03 -2.44701293e-05 9.99998571e-01 -4.64813208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:-11.53, Z:-0.47 [[ 9.89609478e-01 1.43771585e-01 1.67679302e-03 1.42126480e+02] [-1.43771426e-01 9.89610899e-01 -2.15878421e-04 -1.15315498e+01] [-1.69040983e-03 -2.74395910e-05 9.99998571e-01 -4.66463057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:-11.53, Z:-0.47 [[ 9.89533819e-01 1.44291401e-01 1.67728632e-03 1.42158881e+02] [-1.44291248e-01 9.89535240e-01 -2.12047412e-04 -1.15337983e+01] [-1.69033054e-03 -3.21896523e-05 9.99998571e-01 -4.68451130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:-11.53, Z:-0.47 [[ 9.89452712e-01 1.44846534e-01 1.67674477e-03 1.42190424e+02] [-1.44846376e-01 9.89454133e-01 -2.16246565e-04 -1.15340606e+01] [-1.69038461e-03 -2.89046522e-05 9.99998571e-01 -4.71147188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:-11.53, Z:-0.47 [[ 9.89793660e-01 1.42498064e-01 1.67673971e-03 1.42222425e+02] [-1.42497903e-01 9.89795080e-01 -2.16285803e-04 -1.15341498e+01] [-1.69044902e-03 -2.48535743e-05 9.99998571e-01 -4.68199905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:-11.54, Z:-0.47 [[ 9.90012998e-01 1.40966136e-01 1.67670405e-03 1.42253998e+02] [-1.40965972e-01 9.90014418e-01 -2.16561874e-04 -1.15362657e+01] [-1.69048907e-03 -2.19591447e-05 9.99998571e-01 -4.66156097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:-11.54, Z:-0.46 [[ 9.90240480e-01 1.39359181e-01 1.67667103e-03 1.42285072e+02] [-1.39359013e-01 9.90241899e-01 -2.16817199e-04 -1.15381016e+01] [-1.69052537e-03 -1.89580532e-05 9.99998571e-01 -4.64524134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:-11.54, Z:-0.47 [[ 9.90514005e-01 1.37401584e-01 1.67666614e-03 1.42316099e+02] [-1.37401414e-01 9.90515424e-01 -2.16854983e-04 -1.15381857e+01] [-1.69055990e-03 -1.55784006e-05 9.99998571e-01 -4.66443752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:-11.54, Z:-0.47 [[ 9.90464509e-01 1.37757922e-01 1.67666371e-03 1.42346229e+02] [-1.37757753e-01 9.90465928e-01 -2.16873817e-04 -1.15392775e+01] [-1.69055436e-03 -1.61676053e-05 9.99998571e-01 -4.67610881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:-11.53, Z:-0.47 [[ 9.90383886e-01 1.38336356e-01 1.67666371e-03 1.42376919e+02] [-1.38336187e-01 9.90385305e-01 -2.16873817e-04 -1.15348382e+01] [-1.69054463e-03 -1.71549299e-05 9.99998571e-01 -4.68311472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:-11.53, Z:-0.47 [[ 9.90445808e-01 1.37892311e-01 1.67666625e-03 1.42408142e+02] [-1.37892142e-01 9.90447227e-01 -2.16854153e-04 -1.15347611e+01] [-1.69055196e-03 -1.64168140e-05 9.99998571e-01 -4.67632072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:-11.53, Z:-0.47 [[ 9.90583577e-01 1.36899106e-01 1.67666625e-03 1.42437581e+02] [-1.36898935e-01 9.90584996e-01 -2.16854153e-04 -1.15348151e+01] [-1.69056757e-03 -1.47216626e-05 9.99998571e-01 -4.68046190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:-11.53, Z:-0.47 [[ 9.91044530e-01 1.33521266e-01 1.67667119e-03 1.42467254e+02] [-1.33521090e-01 9.91045948e-01 -2.16815955e-04 -1.15326250e+01] [-1.69060773e-03 -8.99669847e-06 9.99998571e-01 -4.70699064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:-11.53, Z:-0.47 [[ 9.91658003e-01 1.28885969e-01 1.67667365e-03 1.42496298e+02] [-1.28885786e-01 9.91659421e-01 -2.16796912e-04 -1.15307208e+01] [-1.69063130e-03 -1.11100971e-06 9.99998571e-01 -4.71038898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:-11.53, Z:-0.47 [[ 9.92127290e-01 1.25222319e-01 1.67668098e-03 1.42526206e+02] [-1.25222132e-01 9.92128707e-01 -2.16740257e-04 -1.15331320e+01] [-1.69062405e-03 5.07635728e-06 9.99998571e-01 -4.67558319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:-11.54, Z:-0.47 [[ 9.92679364e-01 1.20767830e-01 1.67668585e-03 1.42555043e+02] [-1.20767636e-01 9.92680780e-01 -2.16702554e-04 -1.15365744e+01] [-1.69058452e-03 1.26267670e-05 9.99998571e-01 -4.65094960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.59, Y:-11.54, Z:-0.47 [[ 9.93668205e-01 1.12341829e-01 1.67668353e-03 1.42585036e+02] [-1.12341623e-01 9.93669620e-01 -2.16720487e-04 -1.15411144e+01] [-1.69041626e-03 2.69869077e-05 9.99998571e-01 -4.69684577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:-11.54, Z:-0.47 [[ 9.93991234e-01 1.09446866e-01 1.67668353e-03 1.42615167e+02] [-1.09446656e-01 9.93992647e-01 -2.16720487e-04 -1.15446779e+01] [-1.69033048e-03 3.19108590e-05 9.99998571e-01 -4.73060002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.64, Y:-11.55, Z:-0.47 [[ 9.94047542e-01 1.08934257e-01 1.67668353e-03 1.42644968e+02] [-1.08934047e-01 9.94048956e-01 -2.16720487e-04 -1.15486403e+01] [-1.69031380e-03 3.27825455e-05 9.99998571e-01 -4.70830127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.67, Y:-11.55, Z:-0.47 [[ 9.93924144e-01 1.10054460e-01 1.67668353e-03 1.42674473e+02] [-1.10054251e-01 9.93925558e-01 -2.16720487e-04 -1.15534664e+01] [-1.69034967e-03 3.08775744e-05 9.99998571e-01 -4.68847600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:-11.56, Z:-0.47 [[ 9.93790367e-01 1.11255988e-01 1.67668099e-03 1.42704697e+02] [-1.11255781e-01 9.93791781e-01 -2.16740132e-04 -1.15584918e+01] [-1.69038543e-03 2.88538023e-05 9.99998571e-01 -4.67314320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:-11.56, Z:-0.47 [[ 9.93358822e-01 1.15045381e-01 1.67668099e-03 1.42733274e+02] [-1.15045179e-01 9.93360237e-01 -2.16740132e-04 -1.15621051e+01] [-1.69048318e-03 2.24066562e-05 9.99998571e-01 -4.70365775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.76, Y:-11.57, Z:-0.47 [[ 9.93119664e-01 1.17091934e-01 1.67668603e-03 1.42763252e+02] [-1.17091735e-01 9.93121080e-01 -2.16701132e-04 -1.15650708e+01] [-1.69052620e-03 1.88840791e-05 9.99998571e-01 -4.71402342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:-11.57, Z:-0.47 [[ 9.92930366e-01 1.18686467e-01 1.67669116e-03 1.42791388e+02] [-1.18686271e-01 9.92931781e-01 -2.16661497e-04 -1.15677134e+01] [-1.69055472e-03 1.61295589e-05 9.99998571e-01 -4.70668021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:-11.57, Z:-0.47 [[ 9.92956130e-01 1.18470728e-01 1.67669880e-03 1.42820604e+02] [-1.18470531e-01 9.92957545e-01 -2.16602343e-04 -1.15724958e+01] [-1.69055176e-03 1.64372278e-05 9.99998571e-01 -4.67063046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:-11.58, Z:-0.46 [[ 9.93220613e-01 1.16232539e-01 1.67670388e-03 1.42849211e+02] [-1.16232339e-01 9.93222028e-01 -2.16562980e-04 -1.15787945e+01] [-1.69051089e-03 2.02076014e-05 9.99998571e-01 -4.63889879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.88, Y:-11.58, Z:-0.47 [[ 9.93442569e-01 1.14319953e-01 1.67670641e-03 1.42878527e+02] [-1.14319751e-01 9.93443983e-01 -2.16543369e-04 -1.15838673e+01] [-1.69046913e-03 2.34427421e-05 9.99998571e-01 -4.66159519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:-11.59, Z:-0.47 [[ 9.93687811e-01 1.12168281e-01 1.67670412e-03 1.42908422e+02] [-1.12168075e-01 9.93689225e-01 -2.16561118e-04 -1.15898355e+01] [-1.69041411e-03 2.71214688e-05 9.99998571e-01 -4.72512174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:-11.59, Z:-0.47 [[ 9.93659803e-01 1.12416121e-01 1.67670412e-03 1.42938351e+02] [-1.12415916e-01 9.93661217e-01 -2.16561118e-04 -1.15948913e+01] [-1.69042082e-03 2.66998481e-05 9.99998571e-01 -4.71672928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-11.60, Z:-0.47 [[ 9.93534869e-01 1.13514989e-01 1.67670412e-03 1.42969431e+02] [-1.13514785e-01 9.93536283e-01 -2.16561118e-04 -1.16002917e+01] [-1.69044931e-03 2.48303136e-05 9.99998571e-01 -4.68730827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:-11.61, Z:-0.46 [[ 9.92989936e-01 1.18187038e-01 1.67669896e-03 1.42998974e+02] [-1.18186841e-01 9.92991351e-01 -2.16601081e-04 -1.16073523e+01] [-1.69054701e-03 1.69189395e-05 9.99998571e-01 -4.64504955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:-11.61, Z:-0.46 [[ 9.92706223e-01 1.20546855e-01 1.67669639e-03 1.43028499e+02] [-1.20546661e-01 9.92707639e-01 -2.16620962e-04 -1.16135608e+01] [-1.69058229e-03 1.29208261e-05 9.99998571e-01 -4.64546319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:-11.62, Z:-0.47 [[ 9.92410254e-01 1.22959650e-01 1.67669639e-03 1.43057556e+02] [-1.22959460e-01 9.92411671e-01 -2.16620962e-04 -1.16230160e+01] [-1.69060870e-03 8.81118182e-06 9.99998571e-01 -4.66534573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:-11.63, Z:-0.47 [[ 9.92354001e-01 1.23412828e-01 1.67669386e-03 1.43087945e+02] [-1.23412638e-01 9.92355417e-01 -2.16640555e-04 -1.16295284e+01] [-1.69061246e-03 8.05890900e-06 9.99998571e-01 -4.67121328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:-11.64, Z:-0.47 [[ 9.92226420e-01 1.24434398e-01 1.67668880e-03 1.43118740e+02] [-1.24434209e-01 9.92227837e-01 -2.16679684e-04 -1.16364730e+01] [-1.69061971e-03 6.35786176e-06 9.99998571e-01 -4.68332340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.15, Y:-11.64, Z:-0.47 [[ 9.92068490e-01 1.25687307e-01 1.67668376e-03 1.43149309e+02] [-1.25687120e-01 9.92069907e-01 -2.16718709e-04 -1.16411485e+01] [-1.69062629e-03 4.26224911e-06 9.99998571e-01 -4.69688390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:-11.65, Z:-0.47 [[ 9.91516520e-01 1.29969915e-01 1.67667869e-03 1.43179254e+02] [-1.29969734e-01 9.91517938e-01 -2.16757918e-04 -1.16450109e+01] [-1.69062900e-03 -2.99842653e-06 9.99998571e-01 -4.69907574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:-11.65, Z:-0.47 [[ 9.91263625e-01 1.31884852e-01 1.67667869e-03 1.43208618e+02] [-1.31884674e-01 9.91265043e-01 -2.16757918e-04 -1.16484777e+01] [-1.69062006e-03 -6.26398251e-06 9.99998571e-01 -4.69754891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:-11.65, Z:-0.47 [[ 9.90934196e-01 1.34337663e-01 1.67668120e-03 1.43238624e+02] [-1.34337488e-01 9.90935615e-01 -2.16738480e-04 -1.16513684e+01] [-1.69059926e-03 -1.04675695e-05 9.99998571e-01 -4.71358292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:-11.66, Z:-0.47 [[ 9.91006125e-01 1.33806010e-01 1.67668120e-03 1.43268341e+02] [-1.33805835e-01 9.91007544e-01 -2.16738480e-04 -1.16552989e+01] [-1.69060463e-03 -9.56056609e-06 9.99998571e-01 -4.72229151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:-11.66, Z:-0.47 [[ 9.91331375e-01 1.31374635e-01 1.67667872e-03 1.43298800e+02] [-1.31374456e-01 9.91332792e-01 -2.16757678e-04 -1.16613181e+01] [-1.69062306e-03 -5.39406733e-06 9.99998571e-01 -4.71967485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:-11.67, Z:-0.47 [[ 9.91507205e-01 1.30040963e-01 1.67667377e-03 1.43330049e+02] [-1.30040782e-01 9.91508622e-01 -2.16795931e-04 -1.16666143e+01] [-1.69062885e-03 -3.08124098e-06 9.99998571e-01 -4.71439431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-11.67, Z:-0.47 [[ 9.91668119e-01 1.28808113e-01 1.67666883e-03 1.43361044e+02] [-1.28807931e-01 9.91669537e-01 -2.16834153e-04 -1.16714655e+01] [-1.69063140e-03 -9.40726372e-07 9.99998571e-01 -4.71067707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:-11.68, Z:-0.47 [[ 9.91785236e-01 1.27903220e-01 1.67666383e-03 1.43390754e+02] [-1.27903036e-01 9.91786654e-01 -2.16872836e-04 -1.16753519e+01] [-1.69063154e-03 6.40882228e-07 9.99998571e-01 -4.72731808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.42, Y:-11.68, Z:-0.47 [[ 9.91700696e-01 1.28557065e-01 1.67665212e-03 1.43420643e+02] [-1.28556881e-01 9.91702113e-01 -2.16963271e-04 -1.16792265e+01] [-1.69063162e-03 -3.82541714e-07 9.99998571e-01 -4.74141217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:-11.68, Z:-0.47 [[ 9.91250138e-01 1.31986185e-01 1.67664966e-03 1.43450659e+02] [-1.31986006e-01 9.91251556e-01 -2.16982291e-04 -1.16824813e+01] [-1.69062025e-03 -6.21056763e-06 9.99998571e-01 -4.73541650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:-11.69, Z:-0.47 [[ 9.90925010e-01 1.34405405e-01 1.67664966e-03 1.43482072e+02] [-1.34405230e-01 9.90926429e-01 -2.16982291e-04 -1.16863514e+01] [-1.69060006e-03 -1.03373055e-05 9.99998571e-01 -4.71471330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:-11.69, Z:-0.47 [[ 9.90316325e-01 1.38819181e-01 1.67664448e-03 1.43511639e+02] [-1.38819012e-01 9.90317744e-01 -2.17022336e-04 -1.16910800e+01] [-1.69053764e-03 -1.78293687e-05 9.99998571e-01 -4.67867621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.54, Y:-11.70, Z:-0.47 [[ 9.90220931e-01 1.39498018e-01 1.67664190e-03 1.43542199e+02] [-1.39497851e-01 9.90222350e-01 -2.17042259e-04 -1.16966441e+01] [-1.69052525e-03 -1.89681537e-05 9.99998571e-01 -4.65105147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:-11.70, Z:-0.46 [[ 9.90271878e-01 1.39135890e-01 1.67663665e-03 1.43572573e+02] [-1.39135722e-01 9.90273297e-01 -2.17082811e-04 -1.17022019e+01] [-1.69053251e-03 -1.83090487e-05 9.99998571e-01 -4.63226744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:-11.71, Z:-0.46 [[ 9.90685915e-01 1.36156553e-01 1.67660261e-03 1.43602398e+02] [-1.36156380e-01 9.90687334e-01 -2.17345410e-04 -1.17071242e+01] [-1.69058197e-03 -1.29591054e-05 9.99998571e-01 -4.64653240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:-11.71, Z:-0.47 [[ 9.90950249e-01 1.34219195e-01 1.67660009e-03 1.43633740e+02] [-1.34219019e-01 9.90951668e-01 -2.17364839e-04 -1.17123109e+01] [-1.69060419e-03 -9.63387806e-06 9.99998571e-01 -4.66837592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.66, Y:-11.72, Z:-0.47 [[ 9.91568607e-01 1.29571935e-01 1.67656336e-03 1.43664292e+02] [-1.29571752e-01 9.91570025e-01 -2.17647750e-04 -1.17190856e+01] [-1.69063101e-03 -1.42257537e-06 9.99998571e-01 -4.71582968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-11.72, Z:-0.48 [[ 9.91812966e-01 1.27688013e-01 1.67654263e-03 1.43695448e+02] [-1.27687828e-01 9.91814383e-01 -2.17807344e-04 -1.17246135e+01] [-1.69063048e-03 1.95006193e-06 9.99998571e-01 -4.75147743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:-11.73, Z:-0.48 [[ 9.91792389e-01 1.27847751e-01 1.67650867e-03 1.43727823e+02] [-1.27847565e-01 9.91793806e-01 -2.18068450e-04 -1.17289842e+01] [-1.69063047e-03 1.94107862e-06 9.99998571e-01 -4.75202995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:-11.74, Z:-0.48 [[ 9.92114169e-01 1.25326237e-01 1.67647350e-03 1.43758847e+02] [-1.25326047e-01 9.92115585e-01 -2.18338458e-04 -1.17362392e+01] [-1.69061903e-03 6.51088084e-06 9.99998571e-01 -4.75888953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:-11.74, Z:-0.48 [[ 9.92176809e-01 1.24829364e-01 1.67643625e-03 1.43790208e+02] [-1.24829173e-01 9.92178225e-01 -2.18624109e-04 -1.17433340e+01] [-1.69061425e-03 7.64562013e-06 9.99998571e-01 -4.77597776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.82, Y:-11.75, Z:-0.47 [[ 9.92389223e-01 1.23129283e-01 1.67640967e-03 1.43822565e+02] [-1.23129089e-01 9.92390639e-01 -2.18827716e-04 -1.17529336e+01] [-1.69059736e-03 1.07474721e-05 9.99998571e-01 -4.74708786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-11.76, Z:-0.48 [[ 9.92481713e-01 1.22381535e-01 1.67636746e-03 1.43855440e+02] [-1.22381339e-01 9.92483128e-01 -2.19150612e-04 -1.17592245e+01] [-1.69058641e-03 1.23468804e-05 9.99998571e-01 -4.75637539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:-11.77, Z:-0.48 [[ 9.92541606e-01 1.21894829e-01 1.67632552e-03 1.43887163e+02] [-1.21894632e-01 9.92543022e-01 -2.19470981e-04 -1.17653072e+01] [-1.69057757e-03 1.34989971e-05 9.99998571e-01 -4.75089323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:-11.77, Z:-0.47 [[ 9.92587911e-01 1.21517196e-01 1.67629935e-03 1.43918565e+02] [-1.21516999e-01 9.92589326e-01 -2.19670683e-04 -1.17732734e+01] [-1.69057060e-03 1.43435986e-05 9.99998571e-01 -4.69656530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:-11.78, Z:-0.47 [[ 9.92543848e-01 1.21876575e-01 1.67626278e-03 1.43951520e+02] [-1.21876377e-01 9.92545264e-01 -2.19949394e-04 -1.17793852e+01] [-1.69057336e-03 1.40125841e-05 9.99998571e-01 -4.67769643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:-11.79, Z:-0.47 [[ 9.92501547e-01 1.22220579e-01 1.67622032e-03 1.43983051e+02] [-1.22220381e-01 9.92502962e-01 -2.20272505e-04 -1.17862114e+01] [-1.69057546e-03 1.37525152e-05 9.99998571e-01 -4.69897260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:-11.79, Z:-0.47 [[ 9.92540033e-01 1.21907640e-01 1.67618067e-03 1.44014438e+02] [-1.21907441e-01 9.92541449e-01 -2.20573783e-04 -1.17913366e+01] [-1.69056842e-03 1.45894138e-05 9.99998571e-01 -4.70686392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:-11.80, Z:-0.47 [[ 9.92581163e-01 1.21572304e-01 1.67615451e-03 1.44045364e+02] [-1.21572104e-01 9.92582578e-01 -2.20772383e-04 -1.17982367e+01] [-1.69056157e-03 1.53608779e-05 9.99998571e-01 -4.65519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:-11.80, Z:-0.46 [[ 9.92546845e-01 1.21852167e-01 1.67611638e-03 1.44077425e+02] [-1.21851967e-01 9.92548260e-01 -2.21061476e-04 -1.18043904e+01] [-1.69056322e-03 1.51757922e-05 9.99998571e-01 -4.62431367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:-11.81, Z:-0.46 [[ 9.92650202e-01 1.21007304e-01 1.67607331e-03 1.44108264e+02] [-1.21007103e-01 9.92651617e-01 -2.21387559e-04 -1.18129366e+01] [-1.69054639e-03 1.69436302e-05 9.99998571e-01 -4.62927108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:-11.82, Z:-0.47 [[ 9.92799086e-01 1.19779657e-01 1.67603298e-03 1.44140212e+02] [-1.19779454e-01 9.92800500e-01 -2.21692489e-04 -1.18207146e+01] [-1.69052063e-03 1.93417865e-05 9.99998571e-01 -4.66530535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:-11.83, Z:-0.47 [[ 9.92968525e-01 1.18366801e-01 1.67599187e-03 1.44171908e+02] [-1.18366595e-01 9.92969939e-01 -2.22002830e-04 -1.18284395e+01] [-1.69048731e-03 2.20603716e-05 9.99998571e-01 -4.70802378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:-11.84, Z:-0.47 [[ 9.93134940e-01 1.16962308e-01 1.67595351e-03 1.44203993e+02] [-1.16962099e-01 9.93136354e-01 -2.22292020e-04 -1.18391528e+01] [-1.69045015e-03 2.47429311e-05 9.99998571e-01 -4.70362391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:-11.85, Z:-0.47 [[ 9.93096904e-01 1.17284824e-01 1.67591193e-03 1.44236414e+02] [-1.17284616e-01 9.93098318e-01 -2.22605114e-04 -1.18457078e+01] [-1.69045352e-03 2.45097634e-05 9.99998571e-01 -4.68503201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:-11.85, Z:-0.47 [[ 9.92924700e-01 1.18733872e-01 1.67586929e-03 1.44267654e+02] [-1.18733665e-01 9.92926114e-01 -2.22925634e-04 -1.18535087e+01] [-1.69048320e-03 2.23662648e-05 9.99998571e-01 -4.68919571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:-11.86, Z:-0.47 [[ 9.92786412e-01 1.19884664e-01 1.67582939e-03 1.44299706e+02] [-1.19884458e-01 9.92787826e-01 -2.23225204e-04 -1.18597419e+01] [-1.69050429e-03 2.07090510e-05 9.99998571e-01 -4.70898211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:-11.87, Z:-0.47 [[ 9.92638261e-01 1.21105223e-01 1.67578709e-03 1.44331861e+02] [-1.21105018e-01 9.92639675e-01 -2.23542286e-04 -1.18650310e+01] [-1.69052489e-03 1.89504005e-05 9.99998571e-01 -4.72931675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:-11.87, Z:-0.47 [[ 9.92077309e-01 1.25617689e-01 1.67574326e-03 1.44363622e+02] [-1.25617490e-01 9.92078725e-01 -2.23870327e-04 -1.18701706e+01] [-1.69059131e-03 1.15940081e-05 9.99998571e-01 -4.73893016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:-11.87, Z:-0.47 [[ 9.91651922e-01 1.28932764e-01 1.67571587e-03 1.44395853e+02] [-1.28932570e-01 9.91653338e-01 -2.24075180e-04 -1.18747699e+01] [-1.69061987e-03 6.15022962e-06 9.99998571e-01 -4.71421152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:-11.88, Z:-0.47 [[ 9.90834828e-01 1.35068632e-01 1.67567360e-03 1.44426908e+02] [-1.35068446e-01 9.90836245e-01 -2.24390815e-04 -1.18776023e+01] [-1.69062630e-03 -3.99639485e-06 9.99998571e-01 -4.65837058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-11.88, Z:-0.46 [[ 9.90523429e-01 1.37333642e-01 1.67563958e-03 1.44459630e+02] [-1.37333459e-01 9.90524846e-01 -2.24644620e-04 -1.18812043e+01] [-1.69061390e-03 -7.60561937e-06 9.99998571e-01 -4.64544147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:-11.89, Z:-0.46 [[ 9.90226412e-01 1.39459119e-01 1.67559841e-03 1.44491970e+02] [-1.39458938e-01 9.90227829e-01 -2.24951242e-04 -1.18856633e+01] [-1.69059568e-03 -1.09245146e-05 9.99998571e-01 -4.64219609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.52, Y:-11.89, Z:-0.46 [[ 9.89693758e-01 1.43190285e-01 1.67555613e-03 1.44523367e+02] [-1.43190109e-01 9.89695176e-01 -2.25265775e-04 -1.18918330e+01] [-1.69054569e-03 -1.69789325e-05 9.99998571e-01 -4.64936547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:-11.90, Z:-0.47 [[ 9.89451486e-01 1.44854925e-01 1.67551663e-03 1.44555023e+02] [-1.44854751e-01 9.89452905e-01 -2.25559192e-04 -1.18970060e+01] [-1.69051815e-03 -1.95266658e-05 9.99998571e-01 -4.66789525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.59, Y:-11.90, Z:-0.47 [[ 9.89385014e-01 1.45308250e-01 1.67547812e-03 1.44587263e+02] [-1.45308075e-01 9.89386432e-01 -2.25844868e-04 -1.19010733e+01] [-1.69051244e-03 -2.00129734e-05 9.99998571e-01 -4.68431775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.62, Y:-11.91, Z:-0.47 [[ 9.89389962e-01 1.45274553e-01 1.67543764e-03 1.44619968e+02] [-1.45274378e-01 9.89391381e-01 -2.26144765e-04 -1.19053538e+01] [-1.69051664e-03 -1.96528009e-05 9.99998571e-01 -4.71094830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-11.91, Z:-0.48 [[ 9.89601464e-01 1.43826757e-01 1.67539698e-03 1.44650737e+02] [-1.43826580e-01 9.89602882e-01 -2.26445567e-04 -1.19096991e+01] [-1.69054662e-03 -1.68757545e-05 9.99998571e-01 -4.75703914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.68, Y:-11.91, Z:-0.47 [[ 9.89663349e-01 1.43400313e-01 1.67536406e-03 1.44682913e+02] [-1.43400134e-01 9.89664767e-01 -2.26688867e-04 -1.19146433e+01] [-1.69055604e-03 -1.59017684e-05 9.99998571e-01 -4.74516681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.495769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.71, Y:-11.92, Z:-0.47 [[ 9.89429306e-01 1.45006354e-01 1.67532231e-03 1.44713287e+02] [-1.45006177e-01 9.89430724e-01 -2.26997004e-04 -1.19201601e+01] [-1.69053138e-03 -1.83345959e-05 9.99998571e-01 -4.69491912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.75, Y:-11.92, Z:-0.47 [[ 9.89172326e-01 1.46749117e-01 1.67528865e-03 1.44746000e+02] [-1.46748943e-01 9.89173744e-01 -2.27245165e-04 -1.19248776e+01] [-1.69049958e-03 -2.10622099e-05 9.99998571e-01 -4.67557312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:-11.93, Z:-0.47 [[ 9.88908431e-01 1.48517031e-01 1.67524745e-03 1.44778099e+02] [-1.48516858e-01 9.88909850e-01 -2.27548493e-04 -1.19284077e+01] [-1.69046353e-03 -2.37778647e-05 9.99998571e-01 -4.66990603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:-11.93, Z:-0.47 [[ 9.88595000e-01 1.50589239e-01 1.67520879e-03 1.44810776e+02] [-1.50589069e-01 9.88596419e-01 -2.27832772e-04 -1.19294930e+01] [-1.69041457e-03 -2.70337930e-05 9.99998571e-01 -4.67118590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:-11.93, Z:-0.47 [[ 9.88610943e-01 1.50484539e-01 1.67516790e-03 1.44844055e+02] [-1.50484368e-01 9.88612362e-01 -2.28133018e-04 -1.19330809e+01] [-1.69042219e-03 -2.65517851e-05 9.99998571e-01 -4.66660297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:-11.94, Z:-0.47 [[ 9.88828801e-01 1.49046290e-01 1.67512683e-03 1.44875571e+02] [-1.49046117e-01 9.88830219e-01 -2.28434193e-04 -1.19379636e+01] [-1.69046330e-03 -2.37888388e-05 9.99998571e-01 -4.66422027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.91, Y:-11.94, Z:-0.47 [[ 9.89105744e-01 1.47197221e-01 1.67510129e-03 1.44907537e+02] [-1.47197044e-01 9.89107162e-01 -2.28621320e-04 -1.19428887e+01] [-1.69050710e-03 -2.04392984e-05 9.99998571e-01 -4.69524006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:-11.95, Z:-0.47 [[ 9.89490750e-01 1.44586476e-01 1.67507618e-03 1.44939219e+02] [-1.44586296e-01 9.89492168e-01 -2.28805148e-04 -1.19481206e+01] [-1.69055689e-03 -1.57924826e-05 9.99998571e-01 -4.74387250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:-11.96, Z:-0.48 [[ 9.90397753e-01 1.38237060e-01 1.67504090e-03 1.44970926e+02] [-1.38236870e-01 9.90399170e-01 -2.29063099e-04 -1.19558135e+01] [-1.69062413e-03 -4.68883264e-06 9.99998571e-01 -4.80338539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:-11.96, Z:-0.48 [[ 9.90735269e-01 1.35796988e-01 1.67500529e-03 1.45002290e+02] [-1.35796794e-01 9.90736685e-01 -2.29323230e-04 -1.19630214e+01] [-1.69063059e-03 -2.61736004e-07 9.99998571e-01 -4.77729625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:-11.97, Z:-0.47 [[ 9.91243451e-01 1.32036417e-01 1.67496964e-03 1.45032151e+02] [-1.32036218e-01 9.91244866e-01 -2.29583320e-04 -1.19714620e+01] [-1.69061841e-03 6.41630629e-06 9.99998571e-01 -4.69903989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:-11.98, Z:-0.47 [[ 9.91381079e-01 1.30999047e-01 1.67493663e-03 1.45063549e+02] [-1.30998845e-01 9.91382494e-01 -2.29823920e-04 -1.19780449e+01] [-1.69060956e-03 8.42832202e-06 9.99998571e-01 -4.68825395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:-11.99, Z:-0.47 [[ 9.91332904e-01 1.31363116e-01 1.67491141e-03 1.45095118e+02] [-1.31362915e-01 9.91334319e-01 -2.30007577e-04 -1.19873487e+01] [-1.69061167e-03 7.99283519e-06 9.99998571e-01 -4.73321246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:-11.99, Z:-0.48 [[ 9.91191753e-01 1.32423953e-01 1.67487636e-03 1.45126878e+02] [-1.32423753e-01 9.91193168e-01 -2.30262503e-04 -1.19935615e+01] [-1.69061827e-03 6.44088106e-06 9.99998571e-01 -4.75766933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.16, Y:-12.00, Z:-0.48 [[ 9.90988267e-01 1.33938233e-01 1.67484121e-03 1.45159122e+02] [-1.33938035e-01 9.90989682e-01 -2.30517883e-04 -1.19997272e+01] [-1.69062551e-03 4.11557759e-06 9.99998571e-01 -4.76231367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.19, Y:-12.01, Z:-0.47 [[ 9.90695549e-01 1.36086456e-01 1.67480117e-03 1.45191078e+02] [-1.36086260e-01 9.90696965e-01 -2.30808412e-04 -1.20056791e+01] [-1.69063033e-03 7.43439504e-07 9.99998571e-01 -4.73406809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:-12.01, Z:-0.47 [[ 9.90563549e-01 1.37043972e-01 1.67476374e-03 1.45222862e+02] [-1.37043777e-01 9.90564965e-01 -2.31079718e-04 -1.20108759e+01] [-1.69063036e-03 -6.16802014e-07 9.99998571e-01 -4.72237699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:-12.02, Z:-0.47 [[ 9.90335572e-01 1.38681829e-01 1.67472657e-03 1.45255028e+02] [-1.38681636e-01 9.90336988e-01 -2.31348760e-04 -1.20161538e+01] [-1.69062754e-03 -3.14091466e-06 9.99998571e-01 -4.71678962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:-12.02, Z:-0.48 [[ 9.90159157e-01 1.39935838e-01 1.67468194e-03 1.45286627e+02] [-1.39935647e-01 9.90160573e-01 -2.31671410e-04 -1.20209640e+01] [-1.69062316e-03 -4.95613130e-06 9.99998571e-01 -4.75047619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-12.03, Z:-0.48 [[ 9.90082488e-01 1.40477264e-01 1.67464025e-03 1.45318917e+02] [-1.40477073e-01 9.90083905e-01 -2.31972363e-04 -1.20258260e+01] [-1.69062120e-03 -5.57678469e-06 9.99998571e-01 -4.75364999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-12.03, Z:-0.48 [[ 9.90063477e-01 1.40611193e-01 1.67461984e-03 1.45350511e+02] [-1.40611001e-01 9.90064893e-01 -2.32119560e-04 -1.20319146e+01] [-1.69062093e-03 -5.65687377e-06 9.99998571e-01 -4.75504870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:-12.04, Z:-0.47 [[ 9.90119913e-01 1.40213243e-01 1.67458000e-03 1.45383412e+02] [-1.40213051e-01 9.90121329e-01 -2.32406623e-04 -1.20376591e+01] [-1.69062387e-03 -4.68754581e-06 9.99998571e-01 -4.71486411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-12.04, Z:-0.46 [[ 9.90343625e-01 1.38624312e-01 1.67453984e-03 1.45415989e+02] [-1.38624117e-01 9.90345041e-01 -2.32695626e-04 -1.20449784e+01] [-1.69062950e-03 -1.68297724e-06 9.99998571e-01 -4.64644965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.45, Y:-12.05, Z:-0.46 [[ 9.90384111e-01 1.38334770e-01 1.67449570e-03 1.45448969e+02] [-1.38334574e-01 9.90385527e-01 -2.33012856e-04 -1.20507433e+01] [-1.69063009e-03 -8.68418880e-07 9.99998571e-01 -4.64679822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.215769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:145.48, Y:-12.06, Z:-0.47 [[ 9.90317646e-01 1.38809786e-01 1.67445146e-03 1.45480937e+02] [-1.38809590e-01 9.90319061e-01 -2.33330365e-04 -1.20556170e+01] [-1.69062973e-03 -1.35874270e-06 9.99998571e-01 -4.66155913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:-12.06, Z:-0.47 [[ 9.89951132e-01 1.41399972e-01 1.67441028e-03 1.45513813e+02] [-1.41399779e-01 9.89952548e-01 -2.33625477e-04 -1.20601937e+01] [-1.69062136e-03 -5.48343914e-06 9.99998571e-01 -4.70301302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.55, Y:-12.06, Z:-0.47 [[ 9.89745634e-01 1.42831290e-01 1.67436440e-03 1.45546629e+02] [-1.42831099e-01 9.89747050e-01 -2.33953861e-04 -1.20645606e+01] [-1.69061315e-03 -7.59649405e-06 9.99998571e-01 -4.70555346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:-12.07, Z:-0.47 [[ 9.89374376e-01 1.45380674e-01 1.67431858e-03 1.45578591e+02] [-1.45380486e-01 9.89375793e-01 -2.34281261e-04 -1.20680330e+01] [-1.69059024e-03 -1.16213730e-05 9.99998571e-01 -4.71237236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-12.07, Z:-0.47 [[ 9.89165345e-01 1.46796178e-01 1.67427586e-03 1.45611078e+02] [-1.46795991e-01 9.89166761e-01 -2.34586153e-04 -1.20720956e+01] [-1.69057439e-03 -1.37324917e-05 9.99998571e-01 -4.70790633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:-12.08, Z:-0.47 [[ 9.88842418e-01 1.48955928e-01 1.67423116e-03 1.45642492e+02] [-1.48955744e-01 9.88843836e-01 -2.34904774e-04 -1.20761450e+01] [-1.69054362e-03 -1.71025431e-05 9.99998571e-01 -4.70227862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:-12.08, Z:-0.47 [[ 9.87934149e-01 1.54865474e-01 1.67418958e-03 1.45674855e+02] [-1.54865297e-01 9.87935567e-01 -2.35200770e-04 -1.20781718e+01] [-1.69041591e-03 -2.69109940e-05 9.99998571e-01 -4.67732508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-12.08, Z:-0.47 [[ 9.87905838e-01 1.55045969e-01 1.67414913e-03 1.45707991e+02] [-1.55045792e-01 9.87907256e-01 -2.35488305e-04 -1.20830300e+01] [-1.69041559e-03 -2.69295078e-05 9.99998571e-01 -4.67789172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-12.08, Z:-0.47 [[ 9.86808724e-01 1.61881870e-01 1.67410605e-03 1.45741230e+02] [-1.61881702e-01 9.86810143e-01 -2.35794168e-04 -1.20811995e+01] [-1.69019563e-03 -3.83233960e-05 9.99998571e-01 -4.66066432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-12.08, Z:-0.47 [[ 9.86279872e-01 1.65073354e-01 1.67406032e-03 1.45773057e+02] [-1.65073191e-01 9.86281291e-01 -2.36118409e-04 -1.20813469e+01] [-1.69007123e-03 -4.34636450e-05 9.99998571e-01 -4.65628839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:-12.08, Z:-0.47 [[ 9.85760815e-01 1.68145215e-01 1.67401785e-03 1.45804842e+02] [-1.68145056e-01 9.85762235e-01 -2.36419120e-04 -1.20820534e+01] [-1.68993632e-03 -4.84251210e-05 9.99998571e-01 -4.65036499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.84, Y:-12.08, Z:-0.47 [[ 9.84941562e-01 1.72879487e-01 1.67397635e-03 1.45838544e+02] [-1.72879334e-01 9.84942983e-01 -2.36712574e-04 -1.20797922e+01] [-1.68969401e-03 -5.62478653e-05 9.99998571e-01 -4.66457854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.87, Y:-12.08, Z:-0.47 [[ 9.84740573e-01 1.74020696e-01 1.67393231e-03 1.45871514e+02] [-1.74020544e-01 9.84741994e-01 -2.37023633e-04 -1.20808002e+01] [-1.68963846e-03 -5.78918225e-05 9.99998571e-01 -4.67589599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:-12.08, Z:-0.47 [[ 9.84618455e-01 1.74710322e-01 1.67388760e-03 1.45902977e+02] [-1.74710170e-01 9.84619876e-01 -2.37338984e-04 -1.20778173e+01] [-1.68960857e-03 -5.87568430e-05 9.99998571e-01 -4.72002685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-12.08, Z:-0.47 [[ 9.84652183e-01 1.74520131e-01 1.67385132e-03 1.45936211e+02] [-1.74519979e-01 9.84653604e-01 -2.37594530e-04 -1.20784731e+01] [-1.68962877e-03 -5.81725247e-05 9.99998571e-01 -4.72898874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.97, Y:-12.08, Z:-0.47 [[ 9.85009740e-01 1.72490609e-01 1.67380709e-03 1.45967766e+02] [-1.72490454e-01 9.85011161e-01 -2.37905718e-04 -1.20765358e+01] [-1.68975517e-03 -5.43762954e-05 9.99998571e-01 -4.70159148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.00, Y:-12.08, Z:-0.47 [[ 9.85219741e-01 1.71287070e-01 1.67377144e-03 1.45999457e+02] [-1.71286912e-01 9.85221161e-01 -2.38156272e-04 -1.20791334e+01] [-1.68982813e-03 -5.20588817e-05 9.99998571e-01 -4.68087894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-12.08, Z:-0.47 [[ 9.85453320e-01 1.69938084e-01 1.67373232e-03 1.46032778e+02] [-1.69937923e-01 9.85454740e-01 -2.38430907e-04 -1.20825845e+01] [-1.68990594e-03 -4.94680651e-05 9.99998571e-01 -4.68872061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:-12.08, Z:-0.47 [[ 9.86180379e-01 1.65666708e-01 1.67368659e-03 1.46063716e+02] [-1.65666542e-01 9.86181799e-01 -2.38751464e-04 -1.20845540e+01] [-1.69011242e-03 -4.18218598e-05 9.99998571e-01 -4.74157006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:-12.09, Z:-0.47 [[ 9.86463456e-01 1.63972708e-01 1.67364957e-03 1.46095039e+02] [-1.63972539e-01 9.86464875e-01 -2.39010664e-04 -1.20889620e+01] [-1.69018774e-03 -3.86572837e-05 9.99998571e-01 -4.74427653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:-12.09, Z:-0.47 [[ 9.86957378e-01 1.60973079e-01 1.67362123e-03 1.46125868e+02] [-1.60972905e-01 9.86958797e-01 -2.39208964e-04 -1.20938115e+01] [-1.69030140e-03 -3.33186186e-05 9.99998571e-01 -4.68413980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:146.16, Y:-12.10, Z:-0.46 [[ 9.87196936e-01 1.59497364e-01 1.67358471e-03 1.46158403e+02] [-1.59497187e-01 9.87198354e-01 -2.39464205e-04 -1.20980892e+01] [-1.69035398e-03 -3.05337242e-05 9.99998571e-01 -4.64834997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:146.19, Y:-12.10, Z:-0.46 [[ 9.87404690e-01 1.58206125e-01 1.67353959e-03 1.46191148e+02] [-1.58205946e-01 9.87406108e-01 -2.39779103e-04 -1.21020464e+01] [-1.69039774e-03 -2.80049027e-05 9.99998571e-01 -4.63243616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:146.22, Y:-12.11, Z:-0.47 [[ 9.87605226e-01 1.56949408e-01 1.67349430e-03 1.46222744e+02] [-1.56949226e-01 9.87606644e-01 -2.40094768e-04 -1.21068671e+01] [-1.69043683e-03 -2.55347885e-05 9.99998571e-01 -4.66508979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:146.25, Y:-12.11, Z:-0.47 [[ 9.87660829e-01 1.56599126e-01 1.67346609e-03 1.46254569e+02] [-1.56598944e-01 9.87662246e-01 -2.40291271e-04 -1.21139201e+01] [-1.69044868e-03 -2.47367457e-05 9.99998571e-01 -4.69875186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.29, Y:-12.12, Z:-0.47 [[ 9.87715266e-01 1.56255406e-01 1.67342619e-03 1.46285829e+02] [-1.56255223e-01 9.87716684e-01 -2.40568797e-04 -1.21182322e+01] [-1.69046114e-03 -2.38681091e-05 9.99998571e-01 -4.70811887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.32, Y:-12.12, Z:-0.47 [[ 9.87721025e-01 1.56219003e-01 1.67339761e-03 1.46318316e+02] [-1.56218819e-01 9.87722442e-01 -2.40767431e-04 -1.21225414e+01] [-1.69046483e-03 -2.36051453e-05 9.99998571e-01 -4.71872977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.35, Y:-12.13, Z:-0.47 [[ 9.87655568e-01 1.56632304e-01 1.67335275e-03 1.46351405e+02] [-1.56632121e-01 9.87656985e-01 -2.41078861e-04 -1.21263871e+01] [-1.69045927e-03 -2.39979093e-05 9.99998571e-01 -4.73974603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.055769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.38, Y:-12.13, Z:-0.47 [[ 9.87614323e-01 1.56892159e-01 1.67330731e-03 1.46383906e+02] [-1.56891975e-01 9.87615740e-01 -2.41393820e-04 -1.21314440e+01] [-1.69045743e-03 -2.41244954e-05 9.99998571e-01 -4.73147173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:-12.14, Z:-0.47 [[ 9.87707462e-01 1.56304735e-01 1.67326189e-03 1.46416525e+02] [-1.56304550e-01 9.87708879e-01 -2.41708256e-04 -1.21370233e+01] [-1.69047577e-03 -2.28013976e-05 9.99998571e-01 -4.70314997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.45, Y:-12.14, Z:-0.47 [[ 9.87807724e-01 1.55669847e-01 1.67321639e-03 1.46448486e+02] [-1.55669660e-01 9.87809141e-01 -2.42022811e-04 -1.21423515e+01] [-1.69049410e-03 -2.13970248e-05 9.99998571e-01 -4.70401383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:-12.15, Z:-0.47 [[ 9.87939647e-01 1.54830402e-01 1.67318802e-03 1.46481269e+02] [-1.54830214e-01 9.87941064e-01 -2.42218754e-04 -1.21481641e+01] [-1.69051398e-03 -1.97625501e-05 9.99998571e-01 -4.71416643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:-12.15, Z:-0.47 [[ 9.88059975e-01 1.54060657e-01 1.67314272e-03 1.46513164e+02] [-1.54060467e-01 9.88061392e-01 -2.42531256e-04 -1.21543074e+01] [-1.69053225e-03 -1.81297235e-05 9.99998571e-01 -4.71461883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:-12.16, Z:-0.47 [[ 9.87920832e-01 1.54950410e-01 1.67310039e-03 1.46544851e+02] [-1.54950221e-01 9.87922249e-01 -2.42822948e-04 -1.21588809e+01] [-1.69051862e-03 -1.93574265e-05 9.99998571e-01 -4.69712436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.58, Y:-12.16, Z:-0.47 [[ 9.87494111e-01 1.57647019e-01 1.67305827e-03 1.46577021e+02] [-1.57646833e-01 9.87495528e-01 -2.43112787e-04 -1.21640665e+01] [-1.69046357e-03 -2.36798932e-05 9.99998571e-01 -4.66994862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.61, Y:-12.17, Z:-0.47 [[ 9.87248220e-01 1.59179622e-01 1.67301887e-03 1.46608178e+02] [-1.59179438e-01 9.87249638e-01 -2.43383667e-04 -1.21697742e+01] [-1.69042899e-03 -2.60301115e-05 9.99998571e-01 -4.67087680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.295769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.64, Y:-12.18, Z:-0.47 [[ 9.87074250e-01 1.60254876e-01 1.67297691e-03 1.46639887e+02] [-1.60254693e-01 9.87075668e-01 -2.43671712e-04 -1.21758711e+01] [-1.69040438e-03 -2.75803283e-05 9.99998571e-01 -4.67259697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.325769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:146.67, Y:-12.18, Z:-0.47 [[ 9.86939432e-01 1.61083081e-01 1.67293767e-03 1.46670965e+02] [-1.61082899e-01 9.86940849e-01 -2.43940836e-04 -1.21820130e+01] [-1.69038527e-03 -2.87268189e-05 9.99998571e-01 -4.68237706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:-12.19, Z:-0.47 [[ 9.86692706e-01 1.62587529e-01 1.67289580e-03 1.46701420e+02] [-1.62587349e-01 9.86694124e-01 -2.44227654e-04 -1.21873926e+01] [-1.69034482e-03 -3.10140472e-05 9.99998571e-01 -4.67854199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:-12.19, Z:-0.47 [[ 9.86386050e-01 1.64437713e-01 1.67287425e-03 1.46733455e+02] [-1.64437535e-01 9.86387468e-01 -2.44375167e-04 -1.21920162e+01] [-1.69028669e-03 -3.40350620e-05 9.99998571e-01 -4.67554063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.77, Y:-12.20, Z:-0.47 [[ 9.85977166e-01 1.66871899e-01 1.67283577e-03 1.46765618e+02] [-1.66871724e-01 9.85978584e-01 -2.44638306e-04 -1.21961940e+01] [-1.69020350e-03 -3.79412047e-05 9.99998571e-01 -4.67050466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.80, Y:-12.20, Z:-0.47 [[ 9.84931872e-01 1.72934697e-01 1.67279747e-03 1.46795422e+02] [-1.72934531e-01 9.84933291e-01 -2.44899868e-04 -1.21960614e+01] [-1.68994561e-03 -4.80747606e-05 9.99998571e-01 -4.69520685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.83, Y:-12.20, Z:-0.47 [[ 9.84415790e-01 1.75848666e-01 1.67280019e-03 1.46825748e+02] [-1.75848503e-01 9.84417210e-01 -2.44881298e-04 -1.21977220e+01] [-1.68979535e-03 -5.30943933e-05 9.99998571e-01 -4.69525979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.86, Y:-12.20, Z:-0.47 [[ 9.83399362e-01 1.81446680e-01 1.67280019e-03 1.46857720e+02] [-1.81446525e-01 9.83400782e-01 -2.44881298e-04 -1.21973976e+01] [-1.68946592e-03 -6.27076696e-05 9.99998571e-01 -4.65341938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.89, Y:-12.20, Z:-0.47 [[ 9.82856106e-01 1.84366692e-01 1.67279422e-03 1.46887779e+02] [-1.84366542e-01 9.82857527e-01 -2.44922082e-04 -1.21989162e+01] [-1.68927387e-03 -6.76841215e-05 9.99998571e-01 -4.65124157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.92, Y:-12.20, Z:-0.47 [[ 9.82247313e-01 1.87583094e-01 1.67278048e-03 1.46917115e+02] [-1.87582949e-01 9.82248735e-01 -2.45015925e-04 -1.21995013e+01] [-1.68904735e-03 -7.31188599e-05 9.99998571e-01 -4.67619167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.95, Y:-12.19, Z:-0.47 [[ 9.81081536e-01 1.93587764e-01 1.67277754e-03 1.46946391e+02] [-1.93587627e-01 9.81082958e-01 -2.45035930e-04 -1.21945477e+01] [-1.68856950e-03 -8.34288090e-05 9.99998571e-01 -4.72902424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.98, Y:-12.19, Z:-0.47 [[ 9.80496460e-01 1.96529625e-01 1.67279079e-03 1.46975737e+02] [-1.96529492e-01 9.80497883e-01 -2.44945483e-04 -1.21896894e+01] [-1.68830687e-03 -8.85845452e-05 9.99998571e-01 -4.69766433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.00, Y:-12.19, Z:-0.47 [[ 9.80310006e-01 1.97457573e-01 1.67280387e-03 1.47003808e+02] [-1.97457441e-01 9.80311430e-01 -2.44856114e-04 -1.21883280e+01] [-1.68821745e-03 -9.02726738e-05 9.99998571e-01 -4.67790219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:-12.19, Z:-0.47 [[ 9.80182466e-01 1.98089712e-01 1.67281686e-03 1.47032205e+02] [-1.98089582e-01 9.80183890e-01 -2.44767324e-04 -1.21864959e+01] [-1.68815403e-03 -9.14509543e-05 9.99998571e-01 -4.68015571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.715769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.06, Y:-12.18, Z:-0.47 [[ 9.80115687e-01 1.98419863e-01 1.67283235e-03 1.47062065e+02] [-1.98419734e-01 9.80117110e-01 -2.44661405e-04 -1.21789900e+01] [-1.68811729e-03 -9.21264697e-05 9.99998571e-01 -4.69419929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:-12.18, Z:-0.47 [[ 9.80295348e-01 1.97530333e-01 1.67284373e-03 1.47091097e+02] [-1.97530202e-01 9.80296771e-01 -2.44583583e-04 -1.21775683e+01] [-1.68819599e-03 -9.06730124e-05 9.99998571e-01 -4.68341451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.12, Y:-12.17, Z:-0.47 [[ 9.81028386e-01 1.93856924e-01 1.67285512e-03 1.47119929e+02] [-1.93856788e-01 9.81029809e-01 -2.44505670e-04 -1.21709499e+01] [-1.68851986e-03 -8.44273176e-05 9.99998571e-01 -4.65425810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:-12.17, Z:-0.47 [[ 9.81581393e-01 1.91037090e-01 1.67287160e-03 1.47148457e+02] [-1.91036950e-01 9.81582816e-01 -2.44392852e-04 -1.21694556e+01] [-1.68875012e-03 -7.96888123e-05 9.99998571e-01 -4.65132564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-12.16, Z:-0.47 [[ 9.82557803e-01 1.85949899e-01 1.67288849e-03 1.47178357e+02] [-1.85949752e-01 9.82559225e-01 -2.44277172e-04 -1.21626134e+01] [-1.68913534e-03 -7.10567592e-05 9.99998571e-01 -4.68492997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:-12.16, Z:-0.47 [[ 9.83065436e-01 1.83247235e-01 1.67289971e-03 1.47205491e+02] [-1.83247085e-01 9.83066858e-01 -2.44200304e-04 -1.21604272e+01] [-1.68932130e-03 -6.64891172e-05 9.99998571e-01 -4.70028823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.24, Y:-12.16, Z:-0.47 [[ 9.83532891e-01 1.80721481e-01 1.67292352e-03 1.47235115e+02] [-1.80721327e-01 9.83534312e-01 -2.44037099e-04 -1.21596098e+01] [-1.68948043e-03 -6.23144445e-05 9.99998571e-01 -4.69472913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.925769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:147.26, Y:-12.16, Z:-0.46 [[ 9.84816096e-01 1.73592794e-01 1.67293473e-03 1.47263245e+02] [-1.73592629e-01 9.84817516e-01 -2.43960209e-04 -1.21564191e+01] [-1.68988516e-03 -5.01531991e-05 9.99998571e-01 -4.64112239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.29, Y:-12.16, Z:-0.46 [[ 9.85610111e-01 1.69026362e-01 1.67295355e-03 1.47291183e+02] [-1.69026191e-01 9.85611530e-01 -2.43831129e-04 -1.21577928e+01] [-1.69009619e-03 -4.24505406e-05 9.99998571e-01 -4.62026153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.985769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:147.32, Y:-12.16, Z:-0.47 [[ 9.87187927e-01 1.59553122e-01 1.67297032e-03 1.47320011e+02] [-1.59552938e-01 9.87189344e-01 -2.43716020e-04 -1.21562254e+01] [-1.69042412e-03 -2.63338169e-05 9.99998571e-01 -4.65746431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.35, Y:-12.16, Z:-0.47 [[ 9.87813845e-01 1.55631000e-01 1.67298708e-03 1.47348982e+02] [-1.55630810e-01 9.87815262e-01 -2.43600872e-04 -1.21581533e+01] [-1.69051402e-03 -1.97360210e-05 9.99998571e-01 -4.69410581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.38, Y:-12.16, Z:-0.47 [[ 9.88366153e-01 1.52084019e-01 1.67299866e-03 1.47378199e+02] [-1.52083825e-01 9.88367569e-01 -2.43521342e-04 -1.21608496e+01] [-1.69057332e-03 -1.37477830e-05 9.99998571e-01 -4.72699002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.075769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.41, Y:-12.16, Z:-0.47 [[ 9.89470634e-01 1.44724100e-01 1.67301021e-03 1.47405621e+02] [-1.44723895e-01 9.89472049e-01 -2.43441938e-04 -1.21624516e+01] [-1.69062876e-03 -1.24590533e-06 9.99998571e-01 -4.72475608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-12.16, Z:-0.47 [[ 9.90433768e-01 1.37978808e-01 1.67302460e-03 1.47433331e+02] [-1.37978594e-01 9.90435181e-01 -2.43343030e-04 -1.21639975e+01] [-1.69059860e-03 1.01735718e-05 9.99998571e-01 -4.68855598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.46, Y:-12.17, Z:-0.47 [[ 9.90844141e-01 1.35000332e-01 1.67304055e-03 1.47460895e+02] [-1.35000114e-01 9.90845553e-01 -2.43233308e-04 -1.21675300e+01] [-1.69056137e-03 1.51456331e-05 9.99998571e-01 -4.68824958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-12.17, Z:-0.47 [[ 9.91154943e-01 1.32699205e-01 1.67305606e-03 1.47488095e+02] [-1.32698983e-01 9.91156355e-01 -2.43126607e-04 -1.21718275e+01] [-1.69052285e-03 1.89633005e-05 9.99998571e-01 -4.70086215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.195769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:147.52, Y:-12.18, Z:-0.47 [[ 9.91599192e-01 1.29337710e-01 1.67307063e-03 1.47516559e+02] [-1.29337484e-01 9.91600603e-01 -2.43026315e-04 -1.21766964e+01] [-1.69045031e-03 2.45939515e-05 9.99998571e-01 -4.71783679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.55, Y:-12.18, Z:-0.47 [[ 9.91765987e-01 1.28052439e-01 1.67308148e-03 1.47545447e+02] [-1.28052212e-01 9.91767398e-01 -2.42951558e-04 -1.21813485e+01] [-1.69041821e-03 2.67093077e-05 9.99998571e-01 -4.70880979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.57, Y:-12.19, Z:-0.47 [[ 9.92039621e-01 1.25915015e-01 1.67309311e-03 1.47572842e+02] [-1.25914784e-01 9.92041031e-01 -2.42871418e-04 -1.21863826e+01] [-1.69035818e-03 3.02709111e-05 9.99998571e-01 -4.68782849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.60, Y:-12.19, Z:-0.47 [[ 9.92110991e-01 1.25351437e-01 1.67310758e-03 1.47601617e+02] [-1.25351205e-01 9.92112401e-01 -2.42771701e-04 -1.21916872e+01] [-1.69034256e-03 3.11304202e-05 9.99998571e-01 -4.67129959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.63, Y:-12.20, Z:-0.47 [[ 9.92085738e-01 1.25551140e-01 1.67311896e-03 1.47629710e+02] [-1.25550909e-01 9.92087149e-01 -2.42693282e-04 -1.21969159e+01] [-1.69035023e-03 3.07109371e-05 9.99998571e-01 -4.66640824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.66, Y:-12.20, Z:-0.47 [[ 9.91756839e-01 1.28123271e-01 1.67313035e-03 1.47657114e+02] [-1.28123044e-01 9.91758250e-01 -2.42614722e-04 -1.22029841e+01] [-1.69042542e-03 2.62482572e-05 9.99998571e-01 -4.67667808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.69, Y:-12.21, Z:-0.47 [[ 9.91762634e-01 1.28078406e-01 1.67314451e-03 1.47686153e+02] [-1.28078179e-01 9.91764045e-01 -2.42517015e-04 -1.22071000e+01] [-1.69042576e-03 2.62260114e-05 9.99998571e-01 -4.67717393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:147.71, Y:-12.21, Z:-0.47 [[ 9.91532577e-01 1.29847405e-01 1.67315548e-03 1.47714828e+02] [-1.29847181e-01 9.91533989e-01 -2.42441326e-04 -1.22113562e+01] [-1.69047090e-03 2.31339499e-05 9.99998571e-01 -4.66724441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:147.74, Y:-12.21, Z:-0.47 [[ 9.91014117e-01 1.33746851e-01 1.67316641e-03 1.47743389e+02] [-1.33746632e-01 9.91015529e-01 -2.42365901e-04 -1.22144466e+01] [-1.69054957e-03 1.64076582e-05 9.99998571e-01 -4.65738497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.465769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:147.77, Y:-12.22, Z:-0.47 [[ 9.90779010e-01 1.35477500e-01 1.67317734e-03 1.47772049e+02] [-1.35477284e-01 9.90780423e-01 -2.42290391e-04 -1.22178768e+01] [-1.69057625e-03 1.33787133e-05 9.99998571e-01 -4.66212750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.495769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.80, Y:-12.22, Z:-0.47 [[ 9.90290389e-01 1.39004119e-01 1.67318859e-03 1.47800404e+02] [-1.39003908e-01 9.90291803e-01 -2.42212692e-04 -1.22222077e+01] [-1.69061350e-03 7.28114769e-06 9.99998571e-01 -4.68800786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.525769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:147.83, Y:-12.23, Z:-0.47 [[ 9.90076612e-01 1.40518694e-01 1.67319999e-03 1.47827928e+02] [-1.40518486e-01 9.90078026e-01 -2.42133916e-04 -1.22259906e+01] [-1.69062288e-03 4.61559916e-06 9.99998571e-01 -4.70636974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.555769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:147.86, Y:-12.23, Z:-0.47 [[ 9.89728095e-01 1.42952783e-01 1.67321419e-03 1.47855995e+02] [-1.42952578e-01 9.89729509e-01 -2.42035706e-04 -1.22283625e+01] [-1.69062914e-03 3.59255335e-07 9.99998571e-01 -4.69914660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.585769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.88, Y:-12.23, Z:-0.47 [[ 9.89684698e-01 1.43252919e-01 1.67323076e-03 1.47884371e+02] [-1.43252715e-01 9.89686112e-01 -2.41921144e-04 -1.22305748e+01] [-1.69062915e-03 -2.69194895e-07 9.99998571e-01 -4.69246030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.615769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:147.91, Y:-12.23, Z:-0.47 [[ 9.89682806e-01 1.43265992e-01 1.67324744e-03 1.47912638e+02] [-1.43265788e-01 9.89684220e-01 -2.41805705e-04 -1.22331623e+01] [-1.69062912e-03 -4.08163283e-07 9.99998571e-01 -4.69220896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.645769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.94, Y:-12.24, Z:-0.47 [[ 9.89947523e-01 1.41425253e-01 1.67326414e-03 1.47940511e+02] [-1.41425047e-01 9.89948937e-01 -2.41690070e-04 -1.22362338e+01] [-1.69062714e-03 2.61902652e-06 9.99998571e-01 -4.73094106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.675769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:147.97, Y:-12.24, Z:-0.47 [[ 9.90278118e-01 1.39091512e-01 1.67327798e-03 1.47968372e+02] [-1.39091302e-01 9.90279532e-01 -2.41594237e-04 -1.22407907e+01] [-1.69061664e-03 6.50707247e-06 9.99998571e-01 -4.74413580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.705769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:147.99, Y:-12.25, Z:-0.47 [[ 9.91067086e-01 1.33353782e-01 1.67329444e-03 1.47994974e+02] [-1.33353565e-01 9.91068498e-01 -2.41480205e-04 -1.22481779e+01] [-1.69055170e-03 1.61833050e-05 9.99998571e-01 -4.69586643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.735769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:148.02, Y:-12.25, Z:-0.47 [[ 9.91465260e-01 1.30360419e-01 1.67330945e-03 1.48022717e+02] [-1.30360198e-01 9.91466671e-01 -2.41376151e-04 -1.22545429e+01] [-1.69049644e-03 2.11831178e-05 9.99998571e-01 -4.66812074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.765769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:148.05, Y:-12.26, Z:-0.47 [[ 9.92142392e-01 1.25102655e-01 1.67332028e-03 1.48050263e+02] [-1.25102425e-01 9.92143803e-01 -2.41301023e-04 -1.22635669e+01] [-1.69036174e-03 3.00685485e-05 9.99998571e-01 -4.68369384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.08, Y:-12.27, Z:-0.47 [[ 9.92294913e-01 1.23887070e-01 1.67333106e-03 1.48077823e+02] [-1.23886840e-01 9.92296323e-01 -2.41226255e-04 -1.22699835e+01] [-1.69032507e-03 3.20638891e-05 9.99998571e-01 -4.70818709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:-12.28, Z:-0.47 [[ 9.92359803e-01 1.23366210e-01 1.67334444e-03 1.48105850e+02] [-1.23365979e-01 9.92361213e-01 -2.41133399e-04 -1.22804976e+01] [-1.69030983e-03 3.28573182e-05 9.99998571e-01 -4.71413566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.855769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:148.13, Y:-12.29, Z:-0.47 [[ 9.92258819e-01 1.24175825e-01 1.67335573e-03 1.48133278e+02] [-1.24175595e-01 9.92260230e-01 -2.41055039e-04 -1.22879681e+01] [-1.69033755e-03 3.13990451e-05 9.99998571e-01 -4.70999245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.885769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:148.16, Y:-12.30, Z:-0.47 [[ 9.92100721e-01 1.25432685e-01 1.67336972e-03 1.48161394e+02] [-1.25432457e-01 9.92102132e-01 -2.40957839e-04 -1.22953677e+01] [-1.69037766e-03 2.91595708e-05 9.99998571e-01 -4.69988406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.915769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:148.19, Y:-12.31, Z:-0.47 [[ 9.91788368e-01 1.27878976e-01 1.67338100e-03 1.48187645e+02] [-1.27878751e-01 9.91789780e-01 -2.40879505e-04 -1.23059005e+01] [-1.69044560e-03 2.49116188e-05 9.99998571e-01 -4.70990892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.22, Y:-12.31, Z:-0.47 [[ 9.91658806e-01 1.28879838e-01 1.67339505e-03 1.48215348e+02] [-1.28879615e-01 9.91660217e-01 -2.40781871e-04 -1.23137175e+01] [-1.69047123e-03 2.31069522e-05 9.99998571e-01 -4.71024692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.24, Y:-12.33, Z:-0.47 [[ 9.91446212e-01 1.30505202e-01 1.67340615e-03 1.48242440e+02] [-1.30504982e-01 9.91447624e-01 -2.40704661e-04 -1.23250237e+01] [-1.69050777e-03 2.02578853e-05 9.99998571e-01 -4.71704125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00576923100002 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:148.27, Y:-12.33, Z:-0.47 [[ 9.91286294e-01 1.31714398e-01 1.67341753e-03 1.48269564e+02] [-1.31714179e-01 9.91287707e-01 -2.40625542e-04 -1.23319452e+01] [-1.69053207e-03 1.81159854e-05 9.99998571e-01 -4.71249016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03576923100002 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:148.30, Y:-12.34, Z:-0.47 [[ 9.90725614e-01 1.35867422e-01 1.67343285e-03 1.48297441e+02] [-1.35867210e-01 9.90727028e-01 -2.40518988e-04 -1.23387253e+01] [-1.69059384e-03 1.09236707e-05 9.99998571e-01 -4.69114514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06576923100002 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:148.33, Y:-12.34, Z:-0.47 [[ 9.90366711e-01 1.38459298e-01 1.67344430e-03 1.48325197e+02] [-1.38459089e-01 9.90368125e-01 -2.40439247e-04 -1.23425646e+01] [-1.69061695e-03 6.41945244e-06 9.99998571e-01 -4.68238137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.35, Y:-12.35, Z:-0.47 [[ 9.89582926e-01 1.43954271e-01 1.67345972e-03 1.48353646e+02] [-1.43954071e-01 9.89584341e-01 -2.40331920e-04 -1.23451582e+01] [-1.69062634e-03 -3.07297379e-06 9.99998571e-01 -4.67772501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12576923100002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:148.38, Y:-12.35, Z:-0.47 [[ 9.89197584e-01 1.46578780e-01 1.67347113e-03 1.48381723e+02] [-1.46578584e-01 9.89199000e-01 -2.40252417e-04 -1.23488427e+01] [-1.69061187e-03 -7.63791810e-06 9.99998571e-01 -4.69736915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15576923100002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:148.41, Y:-12.35, Z:-0.47 [[ 9.88890325e-01 1.48637559e-01 1.67348534e-03 1.48410230e+02] [-1.48637365e-01 9.88891741e-01 -2.40153392e-04 -1.23506672e+01] [-1.69059165e-03 -1.12570866e-05 9.99998571e-01 -4.72399865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18576923100002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:148.44, Y:-12.35, Z:-0.47 [[ 9.88921640e-01 1.48429070e-01 1.67349661e-03 1.48438931e+02] [-1.48428876e-01 9.88923056e-01 -2.40074841e-04 -1.23522598e+01] [-1.69059347e-03 -1.09800145e-05 9.99998571e-01 -4.72276990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:-12.35, Z:-0.47 [[ 9.89353942e-01 1.45519678e-01 1.67350785e-03 1.48467244e+02] [-1.45519480e-01 9.89355357e-01 -2.39996474e-04 -1.23515828e+01] [-1.69061816e-03 -6.08653424e-06 9.99998571e-01 -4.71739815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:-12.35, Z:-0.47 [[ 9.89634392e-01 1.43600030e-01 1.67352187e-03 1.48496426e+02] [-1.43599830e-01 9.89635807e-01 -2.39898685e-04 -1.23538536e+01] [-1.69062662e-03 -2.90546605e-06 9.99998571e-01 -4.72320898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:-12.35, Z:-0.48 [[ 9.90079678e-01 1.40497086e-01 1.67353301e-03 1.48525435e+02] [-1.40496881e-01 9.90081092e-01 -2.39820895e-04 -1.23539132e+01] [-1.69062753e-03 2.31562535e-06 9.99998571e-01 -4.75912339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.305769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.55, Y:-12.36, Z:-0.48 [[ 9.90294584e-01 1.38974225e-01 1.67354414e-03 1.48554512e+02] [-1.38974018e-01 9.90295999e-01 -2.39743226e-04 -1.23554093e+01] [-1.69062219e-03 4.83726441e-06 9.99998571e-01 -4.75782588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.58, Y:-12.36, Z:-0.47 [[ 9.90377120e-01 1.38384826e-01 1.67355529e-03 1.48583692e+02] [-1.38384619e-01 9.90378534e-01 -2.39665345e-04 -1.23565808e+01] [-1.69061928e-03 5.76476270e-06 9.99998571e-01 -4.74432365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.365769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:148.61, Y:-12.35, Z:-0.47 [[ 9.90245265e-01 1.39325210e-01 1.67356634e-03 1.48611658e+02] [-1.39325004e-01 9.90246679e-01 -2.39588154e-04 -1.23547150e+01] [-1.69062418e-03 4.08139659e-06 9.99998571e-01 -4.68969917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.395769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:148.64, Y:-12.36, Z:-0.47 [[ 9.90095403e-01 1.40386223e-01 1.67358006e-03 1.48640613e+02] [-1.40386019e-01 9.90096818e-01 -2.39492303e-04 -1.23566747e+01] [-1.69062771e-03 2.17298624e-06 9.99998571e-01 -4.67359920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.425769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:148.67, Y:-12.36, Z:-0.47 [[ 9.90091602e-01 1.40413027e-01 1.67359095e-03 1.48668808e+02] [-1.40412823e-01 9.90093017e-01 -2.39416184e-04 -1.23566637e+01] [-1.69062786e-03 2.05032344e-06 9.99998571e-01 -4.67799630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.455769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.70, Y:-12.36, Z:-0.47 [[ 9.90246432e-01 1.39316916e-01 1.67360450e-03 1.48697384e+02] [-1.39316711e-01 9.90247846e-01 -2.39321435e-04 -1.23594737e+01] [-1.69062477e-03 3.82612315e-06 9.99998571e-01 -4.69985799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.485769231 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:148.72, Y:-12.36, Z:-0.47 [[ 9.90638920e-01 1.36498093e-01 1.67361533e-03 1.48724995e+02] [-1.36497883e-01 9.90640334e-01 -2.39245685e-04 -1.23627227e+01] [-1.69060743e-03 8.56113666e-06 9.99998571e-01 -4.71512769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.515769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:148.75, Y:-12.37, Z:-0.47 [[ 9.90889052e-01 1.34670285e-01 1.67362877e-03 1.48753918e+02] [-1.34670073e-01 9.90890465e-01 -2.39151592e-04 -1.23668514e+01] [-1.69058941e-03 1.15849844e-05 9.99998571e-01 -4.70992207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.545769231 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:148.78, Y:-12.37, Z:-0.47 [[ 9.91149644e-01 1.32738774e-01 1.67363949e-03 1.48782066e+02] [-1.32738560e-01 9.91151057e-01 -2.39076593e-04 -1.23708297e+01] [-1.69056428e-03 1.48041851e-05 9.99998571e-01 -4.70518148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.575769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:148.81, Y:-12.37, Z:-0.47 [[ 9.91599047e-01 1.29338816e-01 1.67365018e-03 1.48809994e+02] [-1.29338597e-01 9.91600459e-01 -2.39001707e-04 -1.23747051e+01] [-1.69050448e-03 2.05262996e-05 9.99998571e-01 -4.71286062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.605769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:148.84, Y:-12.38, Z:-0.47 [[ 9.91883249e-01 1.27140945e-01 1.67366450e-03 1.48837939e+02] [-1.27140723e-01 9.91884660e-01 -2.38901380e-04 -1.23793013e+01] [-1.69045629e-03 2.41713623e-05 9.99998571e-01 -4.70228175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.635769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:148.87, Y:-12.39, Z:-0.47 [[ 9.92468859e-01 1.22485769e-01 1.67367770e-03 1.48865449e+02] [-1.22485540e-01 9.92470269e-01 -2.38808897e-04 -1.23880798e+01] [-1.69032605e-03 3.20090769e-05 9.99998571e-01 -4.65903187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:-12.40, Z:-0.47 [[ 9.92694628e-01 1.20642336e-01 1.67368893e-03 1.48893241e+02] [-1.20642105e-01 9.92696039e-01 -2.38730121e-04 -1.23954096e+01] [-1.69026533e-03 3.50687525e-05 9.99998571e-01 -4.65858009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.695769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:148.92, Y:-12.41, Z:-0.47 [[ 9.92948139e-01 1.18537726e-01 1.67370018e-03 1.48920605e+02] [-1.18537492e-01 9.92949549e-01 -2.38651257e-04 -1.24058976e+01] [-1.69018901e-03 3.85720997e-05 9.99998571e-01 -4.72434936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:-12.41, Z:-0.47 [[ 9.92911706e-01 1.18842516e-01 1.67370855e-03 1.48948915e+02] [-1.18842283e-01 9.92913115e-01 -2.38592529e-04 -1.24127555e+01] [-1.69020211e-03 3.79939705e-05 9.99998571e-01 -4.74233705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75576923100002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:148.98, Y:-12.42, Z:-0.47 [[ 9.92496465e-01 1.22261869e-01 1.67371974e-03 1.48977317e+02] [-1.22261641e-01 9.92497876e-01 -2.38513990e-04 -1.24201847e+01] [-1.69032446e-03 3.20925700e-05 9.99998571e-01 -4.71752643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:149.01, Y:-12.42, Z:-0.47 [[ 9.92216901e-01 1.24510321e-01 1.67372611e-03 1.49005871e+02] [-1.24510096e-01 9.92218312e-01 -2.38469273e-04 -1.24244432e+01] [-1.69039358e-03 2.82174445e-05 9.99998571e-01 -4.71733363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.03, Y:-12.43, Z:-0.47 [[ 9.91603920e-01 1.29301448e-01 1.67373485e-03 1.49033304e+02] [-1.29301230e-01 9.91605332e-01 -2.38407913e-04 -1.24286652e+01] [-1.69051089e-03 1.99902457e-05 9.99998571e-01 -4.74675651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:-12.43, Z:-0.48 [[ 9.91347697e-01 1.31251443e-01 1.67374875e-03 1.49061243e+02] [-1.31251227e-01 9.91349110e-01 -2.38310318e-04 -1.24339104e+01] [-1.69054791e-03 1.65668068e-05 9.99998571e-01 -4.75176911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.09, Y:-12.44, Z:-0.47 [[ 9.91070607e-01 1.33327602e-01 1.67375998e-03 1.49089632e+02] [-1.33327390e-01 9.91072021e-01 -2.38231379e-04 -1.24399734e+01] [-1.69057951e-03 1.29460672e-05 9.99998571e-01 -4.73247500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:149.12, Y:-12.44, Z:-0.47 [[ 9.91051312e-01 1.33470951e-01 1.67377151e-03 1.49117449e+02] [-1.33470739e-01 9.91052726e-01 -2.38150392e-04 -1.24432204e+01] [-1.69058197e-03 1.26197388e-05 9.99998571e-01 -4.71272095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.14, Y:-12.45, Z:-0.47 [[ 9.91013009e-01 1.33755055e-01 1.67378714e-03 1.49144851e+02] [-1.33754844e-01 9.91014422e-01 -2.38040506e-04 -1.24460510e+01] [-1.69058631e-03 1.20241018e-05 9.99998571e-01 -4.68555372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.17, Y:-12.45, Z:-0.47 [[ 9.90942167e-01 1.34278889e-01 1.67380098e-03 1.49173004e+02] [-1.34278678e-01 9.90943581e-01 -2.37943135e-04 -1.24508653e+01] [-1.69059307e-03 1.10321029e-05 9.99998571e-01 -4.67460904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.995769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.20, Y:-12.46, Z:-0.46 [[ 9.90686543e-01 1.36152018e-01 1.67381206e-03 1.49200154e+02] [-1.36151810e-01 9.90687957e-01 -2.37865125e-04 -1.24581538e+01] [-1.69061127e-03 7.75723525e-06 9.99998571e-01 -4.63940391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.025769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.23, Y:-12.46, Z:-0.46 [[ 9.90621696e-01 1.36623037e-01 1.67382583e-03 1.49228293e+02] [-1.36622830e-01 9.90623110e-01 -2.37768183e-04 -1.24637274e+01] [-1.69061516e-03 6.85549817e-06 9.99998571e-01 -4.63712546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.055769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:149.26, Y:-12.47, Z:-0.47 [[ 9.90571802e-01 1.36984320e-01 1.67383701e-03 1.49255645e+02] [-1.36984114e-01 9.90573216e-01 -2.37689448e-04 -1.24690796e+01] [-1.69061784e-03 6.15938478e-06 9.99998571e-01 -4.65590484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.085769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.28, Y:-12.48, Z:-0.47 [[ 9.90506077e-01 1.37458753e-01 1.67385203e-03 1.49283922e+02] [-1.37458548e-01 9.90507492e-01 -2.37583687e-04 -1.24769894e+01] [-1.69062093e-03 5.24281626e-06 9.99998571e-01 -4.69178888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-12.48, Z:-0.47 [[ 9.90292290e-01 1.38990572e-01 1.67386298e-03 1.49311619e+02] [-1.38990369e-01 9.90293704e-01 -2.37506456e-04 -1.24837246e+01] [-1.69062713e-03 2.54997890e-06 9.99998571e-01 -4.71972142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.145769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.34, Y:-12.49, Z:-0.47 [[ 9.90045087e-01 1.40740629e-01 1.67387116e-03 1.49339395e+02] [-1.40740429e-01 9.90046502e-01 -2.37448836e-04 -1.24878980e+01] [-1.69062898e-03 -4.96290627e-07 9.99998571e-01 -4.72616135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.175769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.37, Y:-12.49, Z:-0.47 [[ 9.89719939e-01 1.43009230e-01 1.67388557e-03 1.49368312e+02] [-1.43009033e-01 9.89721355e-01 -2.37347224e-04 -1.24915545e+01] [-1.69062313e-03 -4.47347619e-06 9.99998571e-01 -4.69306704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.205769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:149.40, Y:-12.49, Z:-0.47 [[ 9.88914505e-01 1.48476599e-01 1.67389724e-03 1.49395886e+02] [-1.48476410e-01 9.88915921e-01 -2.37264867e-04 -1.24933332e+01] [-1.69057191e-03 -1.38995847e-05 9.99998571e-01 -4.68947405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.235769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:149.42, Y:-12.50, Z:-0.47 [[ 9.88549099e-01 1.50890283e-01 1.67391171e-03 1.49423351e+02] [-1.50890097e-01 9.88550516e-01 -2.37162770e-04 -1.24963708e+01] [-1.69053184e-03 -1.81296575e-05 9.99998571e-01 -4.71010813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.265769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:149.45, Y:-12.50, Z:-0.47 [[ 9.88556090e-01 1.50844470e-01 1.67392564e-03 1.49452405e+02] [-1.50844284e-01 9.88557508e-01 -2.37064403e-04 -1.25003926e+01] [-1.69053161e-03 -1.81506555e-05 9.99998571e-01 -4.71060397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.295769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.48, Y:-12.50, Z:-0.47 [[ 9.88423917e-01 1.51708138e-01 1.67393662e-03 1.49481219e+02] [-1.51707954e-01 9.88425334e-01 -2.36986827e-04 -1.25049104e+01] [-1.69051419e-03 -1.97060515e-05 9.99998571e-01 -4.71675230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.325769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:149.51, Y:-12.51, Z:-0.47 [[ 9.89284657e-01 1.45989952e-01 1.67394771e-03 1.49509973e+02] [-1.45989760e-01 9.89286073e-01 -2.36908461e-04 -1.25112138e+01] [-1.69059941e-03 -1.00093193e-05 9.99998571e-01 -4.68406106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:-12.52, Z:-0.47 [[ 9.89744718e-01 1.42837636e-01 1.67395329e-03 1.49539657e+02] [-1.42837440e-01 9.89746134e-01 -2.36869057e-04 -1.25166973e+01] [-1.69062261e-03 -4.66330417e-06 9.99998571e-01 -4.69030538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.57, Y:-12.52, Z:-0.47 [[ 9.90133653e-01 1.40116191e-01 1.67395883e-03 1.49568189e+02] [-1.40115991e-01 9.90135068e-01 -2.36829832e-04 -1.25219012e+01] [-1.69062904e-03 -5.52144367e-08 9.99998571e-01 -4.70458006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.415769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:149.60, Y:-12.53, Z:-0.47 [[ 9.90490008e-01 1.37574496e-01 1.67396442e-03 1.49597022e+02] [-1.37574292e-01 9.90491423e-01 -2.36790368e-04 -1.25290678e+01] [-1.69062371e-03 4.24402361e-06 9.99998571e-01 -4.72927342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.445769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.63, Y:-12.53, Z:-0.47 [[ 9.90505277e-01 1.37464521e-01 1.67396996e-03 1.49625430e+02] [-1.37464317e-01 9.90506691e-01 -2.36751174e-04 -1.25345537e+01] [-1.69062333e-03 4.39215000e-06 9.99998571e-01 -4.73945474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.65, Y:-12.54, Z:-0.47 [[ 9.90333979e-01 1.38693218e-01 1.67397546e-03 1.49654319e+02] [-1.38693016e-01 9.90335393e-01 -2.36712260e-04 -1.25400491e+01] [-1.69062753e-03 2.25548801e-06 9.99998571e-01 -4.71219146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.68, Y:-12.54, Z:-0.47 [[ 9.90134781e-01 1.40108222e-01 1.67398097e-03 1.49682592e+02] [-1.40108022e-01 9.90136196e-01 -2.36673278e-04 -1.25440868e+01] [-1.69062903e-03 -1.99718688e-07 9.99998571e-01 -4.69753025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.71, Y:-12.55, Z:-0.47 [[ 9.89469421e-01 1.44732382e-01 1.67398691e-03 1.49710718e+02] [-1.44732189e-01 9.89470837e-01 -2.36631287e-04 -1.25483990e+01] [-1.69060944e-03 -8.14036732e-06 9.99998571e-01 -4.68114704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.74, Y:-12.55, Z:-0.47 [[ 9.89158572e-01 1.46841812e-01 1.67399820e-03 1.49739297e+02] [-1.46841622e-01 9.89159988e-01 -2.36551425e-04 -1.25529353e+01] [-1.69058768e-03 -1.18257407e-05 9.99998571e-01 -4.70519452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.77, Y:-12.56, Z:-0.47 [[ 9.88660156e-01 1.50160892e-01 1.67400661e-03 1.49767919e+02] [-1.50160707e-01 9.88661573e-01 -2.36491889e-04 -1.25560138e+01] [-1.69053784e-03 -1.75599077e-05 9.99998571e-01 -4.73921819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:149.80, Y:-12.56, Z:-0.47 [[ 9.88296352e-01 1.52536939e-01 1.67401495e-03 1.49797408e+02] [-1.52536757e-01 9.88297770e-01 -2.36432813e-04 -1.25559581e+01] [-1.69048998e-03 -2.16831251e-05 9.99998571e-01 -4.72652528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:149.83, Y:-12.56, Z:-0.47 [[ 9.88136992e-01 1.53565889e-01 1.67402604e-03 1.49825353e+02] [-1.53565708e-01 9.88138410e-01 -2.36354287e-04 -1.25574874e+01] [-1.69046538e-03 -2.35225802e-05 9.99998571e-01 -4.72349737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.85, Y:-12.56, Z:-0.47 [[ 9.88065669e-01 1.54024123e-01 1.67403978e-03 1.49854561e+02] [-1.54023944e-01 9.88067087e-01 -2.36256902e-04 -1.25594887e+01] [-1.69045287e-03 -2.44048754e-05 9.99998571e-01 -4.72254241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.88, Y:-12.56, Z:-0.47 [[ 9.88219474e-01 1.53034211e-01 1.67405067e-03 1.49883284e+02] [-1.53034030e-01 9.88220891e-01 -2.36179731e-04 -1.25603222e+01] [-1.69047542e-03 -2.27893113e-05 9.99998571e-01 -4.71211777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.745769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:149.91, Y:-12.56, Z:-0.47 [[ 9.88474287e-01 1.51379592e-01 1.67406167e-03 1.49912502e+02] [-1.51379409e-01 9.88475705e-01 -2.36101756e-04 -1.25626986e+01] [-1.69051027e-03 -2.00379509e-05 9.99998571e-01 -4.69753149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.775769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:149.94, Y:-12.57, Z:-0.47 [[ 9.89203497e-01 1.46538868e-01 1.67407268e-03 1.49939606e+02] [-1.46538679e-01 9.89204913e-01 -2.36023642e-04 -1.25667477e+01] [-1.69058756e-03 -1.18409858e-05 9.99998571e-01 -4.69605015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.805769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.97, Y:-12.57, Z:-0.47 [[ 9.89563366e-01 1.44088663e-01 1.67408639e-03 1.49968332e+02] [-1.44088470e-01 9.89564782e-01 -2.35926374e-04 -1.25726671e+01] [-1.69061125e-03 -7.75244967e-06 9.99998571e-01 -4.71085685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.835769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.00, Y:-12.58, Z:-0.47 [[ 9.90133543e-01 1.40116970e-01 1.67409746e-03 1.49997106e+02] [-1.40116772e-01 9.90134958e-01 -2.35847796e-04 -1.25806700e+01] [-1.69062869e-03 -1.04831805e-06 9.99998571e-01 -4.71743037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.865769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:150.03, Y:-12.59, Z:-0.47 [[ 9.90246118e-01 1.39319143e-01 1.67410305e-03 1.50025637e+02] [-1.39318943e-01 9.90247533e-01 -2.35808105e-04 -1.25852407e+01] [-1.69062900e-03 2.73793667e-07 9.99998571e-01 -4.70641171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.05, Y:-12.59, Z:-0.47 [[ 9.89898110e-01 1.41770690e-01 1.67410906e-03 1.50053588e+02] [-1.41770494e-01 9.89899526e-01 -2.35765395e-04 -1.25899573e+01] [-1.69062439e-03 -3.95554893e-06 9.99998571e-01 -4.71160131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:-12.59, Z:-0.47 [[ 9.89547579e-01 1.44197037e-01 1.67412013e-03 1.50082016e+02] [-1.44196845e-01 9.89548995e-01 -2.35686767e-04 -1.25942986e+01] [-1.69060923e-03 -8.17957071e-06 9.99998571e-01 -4.71037472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.955769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.11, Y:-12.60, Z:-0.47 [[ 9.89153491e-01 1.46876029e-01 1.67413131e-03 1.50109940e+02] [-1.46875840e-01 9.89154908e-01 -2.35607332e-04 -1.25983198e+01] [-1.69058027e-03 -1.28376274e-05 9.99998571e-01 -4.70677561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.14, Y:-12.60, Z:-0.47 [[ 9.88513305e-01 1.51124594e-01 1.67414636e-03 1.50138482e+02] [-1.51124412e-01 9.88514723e-01 -2.35500348e-04 -1.26013375e+01] [-1.69050822e-03 -2.02091567e-05 9.99998571e-01 -4.71620774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.17, Y:-12.60, Z:-0.47 [[ 9.88485553e-01 1.51306009e-01 1.67415743e-03 1.50166983e+02] [-1.51305828e-01 9.88486971e-01 -2.35421647e-04 -1.26047135e+01] [-1.69050351e-03 -2.05988777e-05 9.99998571e-01 -4.71517012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.19, Y:-12.61, Z:-0.47 [[ 9.88668919e-01 1.50103185e-01 1.67416862e-03 1.50194975e+02] [-1.50103002e-01 9.88670336e-01 -2.35342061e-04 -1.26085789e+01] [-1.69052644e-03 -1.86223529e-05 9.99998571e-01 -4.71436496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.22, Y:-12.61, Z:-0.47 [[ 9.88933707e-01 1.48348646e-01 1.67417695e-03 1.50223418e+02] [-1.48348460e-01 9.88935124e-01 -2.35282734e-04 -1.26124588e+01] [-1.69055627e-03 -1.56825462e-05 9.99998571e-01 -4.71633900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.25, Y:-12.61, Z:-0.47 [[ 9.89288234e-01 1.45965702e-01 1.67418769e-03 1.50252325e+02] [-1.45965513e-01 9.89289651e-01 -2.35206277e-04 -1.26146957e+01] [-1.69058861e-03 -1.16868640e-05 9.99998571e-01 -4.70724907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.135769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.28, Y:-12.62, Z:-0.47 [[ 9.89176479e-01 1.46721133e-01 1.67419855e-03 1.50281567e+02] [-1.46720945e-01 9.89177895e-01 -2.35128983e-04 -1.26160554e+01] [-1.69057859e-03 -1.30559339e-05 9.99998571e-01 -4.69867040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:-12.62, Z:-0.47 [[ 9.88989544e-01 1.47975938e-01 1.67420969e-03 1.50309214e+02] [-1.47975752e-01 9.88990961e-01 -2.35049639e-04 -1.26180352e+01] [-1.69055994e-03 -1.52808024e-05 9.99998571e-01 -4.70290835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:-12.62, Z:-0.47 [[ 9.88711343e-01 1.49823488e-01 1.67422357e-03 1.50338490e+02] [-1.49823305e-01 9.88712760e-01 -2.34950722e-04 -1.26200093e+01] [-1.69052734e-03 -1.85392657e-05 9.99998571e-01 -4.71724692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:-12.62, Z:-0.47 [[ 9.88056996e-01 1.54079750e-01 1.67423495e-03 1.50366787e+02] [-1.54079573e-01 9.88058414e-01 -2.34869637e-04 -1.26183855e+01] [-1.69043058e-03 -2.59008177e-05 9.99998571e-01 -4.74452535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:150.39, Y:-12.62, Z:-0.47 [[ 9.87776309e-01 1.55869050e-01 1.67424908e-03 1.50394513e+02] [-1.55868876e-01 9.87777727e-01 -2.34768807e-04 -1.26195452e+01] [-1.69037915e-03 -2.90642577e-05 9.99998571e-01 -4.74589169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.42, Y:-12.62, Z:-0.47 [[ 9.87437990e-01 1.57998144e-01 1.67426265e-03 1.50424169e+02] [-1.57997973e-01 9.87439408e-01 -2.34672017e-04 -1.26179281e+01] [-1.69031066e-03 -3.28060408e-05 9.99998571e-01 -4.71584759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.45, Y:-12.62, Z:-0.47 [[ 9.87419083e-01 1.58116262e-01 1.67427342e-03 1.50452885e+02] [-1.58116091e-01 9.87420501e-01 -2.34595153e-04 -1.26183167e+01] [-1.69030521e-03 -3.30858379e-05 9.99998571e-01 -4.70801581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:-12.61, Z:-0.47 [[ 9.87255066e-01 1.59137147e-01 1.67428449e-03 1.50480499e+02] [-1.59136978e-01 9.87256485e-01 -2.34516092e-04 -1.26129282e+01] [-1.69026845e-03 -3.49133746e-05 9.99998571e-01 -4.70756307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:-12.61, Z:-0.47 [[ 9.87026016e-01 1.60551678e-01 1.67430720e-03 1.50510649e+02] [-1.60551512e-01 9.87027435e-01 -2.34353858e-04 -1.26065411e+01] [-1.69021305e-03 -3.74991975e-05 9.99998571e-01 -4.74973428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:-12.60, Z:-0.48 [[ 9.87013924e-01 1.60625994e-01 1.67431831e-03 1.50538544e+02] [-1.60625828e-01 9.87015344e-01 -2.34274509e-04 -1.26044545e+01] [-1.69020843e-03 -3.77065613e-05 9.99998571e-01 -4.78934858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.57, Y:-12.60, Z:-0.48 [[ 9.87061930e-01 1.60330730e-01 1.67433735e-03 1.50567397e+02] [-1.60330563e-01 9.87063349e-01 -2.34138329e-04 -1.26027600e+01] [-1.69021660e-03 -3.73384201e-05 9.99998571e-01 -4.80875892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.60, Y:-12.60, Z:-0.48 [[ 9.87634176e-01 1.56767121e-01 1.67434801e-03 1.50597012e+02] [-1.56766950e-01 9.87635595e-01 -2.34062063e-04 -1.25978790e+01] [-1.69033893e-03 -3.13147374e-05 9.99998571e-01 -4.78615513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:-12.60, Z:-0.48 [[ 9.88179454e-01 1.53292408e-01 1.67435635e-03 1.50625587e+02] [-1.53292231e-01 9.88180873e-01 -2.34002372e-04 -1.25987223e+01] [-1.69043771e-03 -2.54294848e-05 9.99998571e-01 -4.77642808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.525769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:150.65, Y:-12.60, Z:-0.48 [[ 9.89750887e-01 1.42794885e-01 1.67436755e-03 1.50654118e+02] [-1.42794693e-01 9.89752303e-01 -2.33922245e-04 -1.25979186e+01] [-1.69061204e-03 -7.56605101e-06 9.99998571e-01 -4.76013452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.555769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.68, Y:-12.60, Z:-0.47 [[ 9.91444925e-01 1.30514972e-01 1.67438144e-03 1.50682525e+02] [-1.30514764e-01 9.91446338e-01 -2.33822779e-04 -1.25993830e+01] [-1.69057672e-03 1.32909101e-05 9.99998571e-01 -4.73937593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-12.60, Z:-0.47 [[ 9.92058510e-01 1.25766090e-01 1.67439517e-03 1.50710963e+02] [-1.25765875e-01 9.92059923e-01 -2.33724384e-04 -1.26036884e+01] [-1.69049495e-03 2.12864906e-05 9.99998571e-01 -4.73701971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.74, Y:-12.61, Z:-0.47 [[ 9.92450747e-01 1.22632424e-01 1.67440611e-03 1.50738761e+02] [-1.22632205e-01 9.92452159e-01 -2.33645997e-04 -1.26089469e+01] [-1.69042053e-03 2.65460317e-05 9.99998571e-01 -4.74582335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.77, Y:-12.62, Z:-0.47 [[ 9.92788975e-01 1.19863452e-01 1.67442097e-03 1.50765627e+02] [-1.19863228e-01 9.92790387e-01 -2.33539482e-04 -1.26166422e+01] [-1.69034189e-03 3.11539214e-05 9.99998571e-01 -4.74511843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.79, Y:-12.62, Z:-0.47 [[ 9.92902042e-01 1.18923216e-01 1.67443430e-03 1.50794256e+02] [-1.18922991e-01 9.92903453e-01 -2.33443860e-04 -1.26224420e+01] [-1.69031349e-03 3.26581492e-05 9.99998571e-01 -4.73247810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.82, Y:-12.63, Z:-0.47 [[ 9.93098112e-01 1.17274617e-01 1.67444529e-03 1.50822589e+02] [-1.17274390e-01 9.93099523e-01 -2.33364977e-04 -1.26312160e+01] [-1.69025861e-03 3.53847681e-05 9.99998571e-01 -4.71569047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.85, Y:-12.64, Z:-0.47 [[ 9.93221822e-01 1.16222240e-01 1.67445631e-03 1.50849126e+02] [-1.16222011e-01 9.93223233e-01 -2.33285858e-04 -1.26388442e+01] [-1.69022192e-03 3.70959238e-05 9.99998571e-01 -4.69612840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.88, Y:-12.64, Z:-0.47 [[ 9.93274283e-01 1.15773028e-01 1.67447001e-03 1.50876278e+02] [-1.15772799e-01 9.93275694e-01 -2.33187492e-04 -1.26444457e+01] [-1.69020719e-03 3.77610586e-05 9.99998571e-01 -4.69453062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.90, Y:-12.65, Z:-0.47 [[ 9.93399186e-01 1.14696354e-01 1.67448350e-03 1.50903827e+02] [-1.14696124e-01 9.93400596e-01 -2.33090631e-04 -1.26513696e+01] [-1.69016755e-03 3.94952774e-05 9.99998571e-01 -4.72593078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.93, Y:-12.66, Z:-0.48 [[ 9.93520460e-01 1.13641064e-01 1.67449689e-03 1.50932279e+02] [-1.13640833e-01 9.93521870e-01 -2.32994339e-04 -1.26570668e+01] [-1.69012701e-03 4.11934205e-05 9.99998571e-01 -4.75106774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.855769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.96, Y:-12.66, Z:-0.48 [[ 9.93676984e-01 1.12264187e-01 1.67450765e-03 1.50961060e+02] [-1.12263953e-01 9.93678394e-01 -2.32917031e-04 -1.26628613e+01] [-1.69007031e-03 4.34574445e-05 9.99998571e-01 -4.76960060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:-12.67, Z:-0.48 [[ 9.93993662e-01 1.09424840e-01 1.67451842e-03 1.50988984e+02] [-1.09424603e-01 9.93995071e-01 -2.32839539e-04 -1.26703458e+01] [-1.68994149e-03 4.82075134e-05 9.99998571e-01 -4.77938499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.915769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.02, Y:-12.68, Z:-0.48 [[ 9.94148294e-01 1.08010951e-01 1.67452922e-03 1.51016529e+02] [-1.08010712e-01 9.94149703e-01 -2.32761867e-04 -1.26761937e+01] [-1.68987356e-03 5.05327204e-05 9.99998571e-01 -4.75943253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.945769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.05, Y:-12.68, Z:-0.47 [[ 9.94442884e-01 1.05264176e-01 1.67454264e-03 1.51045627e+02] [-1.05263934e-01 9.94444292e-01 -2.32665259e-04 -1.26849927e+01] [-1.68973069e-03 5.51033656e-05 9.99998571e-01 -4.71276236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.07, Y:-12.69, Z:-0.47 [[ 9.94628949e-01 1.03491300e-01 1.67454806e-03 1.51073522e+02] [-1.03491055e-01 9.94630357e-01 -2.32626251e-04 -1.26925492e+01] [-1.68963113e-03 5.80760584e-05 9.99998571e-01 -4.69537415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.10, Y:-12.70, Z:-0.47 [[ 9.94699482e-01 1.02811168e-01 1.67455614e-03 1.51102476e+02] [-1.02810922e-01 9.94700890e-01 -2.32568113e-04 -1.26985125e+01] [-1.68959308e-03 5.91727212e-05 9.99998571e-01 -4.70317328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:-12.71, Z:-0.47 [[ 9.94758454e-01 1.02239008e-01 1.67456147e-03 1.51130197e+02] [-1.02238761e-01 9.94759861e-01 -2.32529699e-04 -1.27087390e+01] [-1.68956014e-03 6.01057930e-05 9.99998571e-01 -4.72959987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:-12.72, Z:-0.47 [[ 9.94705519e-01 1.02752748e-01 1.67456940e-03 1.51158286e+02] [-1.02752502e-01 9.94706926e-01 -2.32472571e-04 -1.27161773e+01] [-1.68959298e-03 5.91755531e-05 9.99998571e-01 -4.74303524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.19, Y:-12.72, Z:-0.47 [[ 9.94620195e-01 1.03575400e-01 1.67457726e-03 1.51186818e+02] [-1.03575155e-01 9.94621603e-01 -2.32415905e-04 -1.27227958e+01] [-1.68964329e-03 5.77209518e-05 9.99998571e-01 -4.73686404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.22, Y:-12.73, Z:-0.47 [[ 9.94294215e-01 1.06659313e-01 1.67458248e-03 1.51215881e+02] [-1.06659073e-01 9.94295624e-01 -2.32378356e-04 -1.27311205e+01] [-1.68981534e-03 5.24430405e-05 9.99998571e-01 -4.72324800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-12.74, Z:-0.47 [[ 9.94033592e-01 1.09061510e-01 1.67458773e-03 1.51243324e+02] [-1.09061273e-01 9.94035002e-01 -2.32340504e-04 -1.27399907e+01] [-1.68993822e-03 4.83215966e-05 9.99998571e-01 -4.73163539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:-12.74, Z:-0.47 [[ 9.94036005e-01 1.09039522e-01 1.67459554e-03 1.51273209e+02] [-1.09039285e-01 9.94037414e-01 -2.32284144e-04 -1.27440898e+01] [-1.68993878e-03 4.83021009e-05 9.99998571e-01 -4.73214535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.30, Y:-12.75, Z:-0.47 [[ 9.93940497e-01 1.09906711e-01 1.67460068e-03 1.51301955e+02] [-1.09906475e-01 9.93941906e-01 -2.32247102e-04 -1.27511538e+01] [-1.68998131e-03 4.67903419e-05 9.99998571e-01 -4.74048865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:-12.76, Z:-0.47 [[ 9.93660026e-01 1.12414185e-01 1.67460590e-03 1.51330013e+02] [-1.12413953e-01 9.93661436e-01 -2.32209453e-04 -1.27601120e+01] [-1.69009494e-03 4.24881821e-05 9.99998571e-01 -4.74482772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:-12.77, Z:-0.47 [[ 9.93432217e-01 1.14409904e-01 1.67461371e-03 1.51358008e+02] [-1.14409675e-01 9.93433628e-01 -2.32153159e-04 -1.27658377e+01] [-1.69017819e-03 3.90364168e-05 9.99998571e-01 -4.74630485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:-12.77, Z:-0.47 [[ 9.92754988e-01 1.20144620e-01 1.67462144e-03 1.51387387e+02] [-1.20144400e-01 9.92756400e-01 -2.32097386e-04 -1.27724252e+01] [-1.69037640e-03 2.92194505e-05 9.99998571e-01 -4.74281891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.42, Y:-12.78, Z:-0.48 [[ 9.92405913e-01 1.22994713e-01 1.67462693e-03 1.51416180e+02] [-1.22994496e-01 9.92407326e-01 -2.32057755e-04 -1.27762668e+01] [-1.69045391e-03 2.43255923e-05 9.99998571e-01 -4.75053753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.365769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.44, Y:-12.78, Z:-0.48 [[ 9.91758443e-01 1.28110835e-01 1.67463514e-03 1.51444271e+02] [-1.28110626e-01 9.91759857e-01 -2.31998498e-04 -1.27816758e+01] [-1.69055743e-03 1.55479133e-05 9.99998571e-01 -4.75777054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:-12.79, Z:-0.47 [[ 9.91473526e-01 1.30297515e-01 1.67464317e-03 1.51472409e+02] [-1.30297309e-01 9.91474940e-01 -2.31940531e-04 -1.27878411e+01] [-1.69058801e-03 1.17613973e-05 9.99998571e-01 -4.74660921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.425769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.50, Y:-12.80, Z:-0.47 [[ 9.91209399e-01 1.32291809e-01 1.67464868e-03 1.51501971e+02] [-1.32291606e-01 9.91210814e-01 -2.31900686e-04 -1.27960710e+01] [-1.69060845e-03 8.32017640e-06 9.99998571e-01 -4.73042743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.455769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:151.53, Y:-12.80, Z:-0.47 [[ 9.91169921e-01 1.32587267e-01 1.67464868e-03 1.51530955e+02] [-1.32587064e-01 9.91171336e-01 -2.31900686e-04 -1.28007285e+01] [-1.69061085e-03 7.81623161e-06 9.99998571e-01 -4.73634818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.485769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.56, Y:-12.81, Z:-0.48 [[ 9.91145823e-01 1.32767289e-01 1.67465137e-03 1.51559057e+02] [-1.32767087e-01 9.91147238e-01 -2.31881255e-04 -1.28056019e+01] [-1.69061233e-03 7.48955280e-06 9.99998571e-01 -4.75319609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.59, Y:-12.81, Z:-0.48 [[ 9.91133366e-01 1.32860253e-01 1.67465899e-03 1.51588454e+02] [-1.32860051e-01 9.91134780e-01 -2.31826260e-04 -1.28113701e+01] [-1.69061326e-03 7.27546202e-06 9.99998571e-01 -4.76161269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.62, Y:-12.82, Z:-0.48 [[ 9.91243372e-01 1.32037017e-01 1.67466402e-03 1.51617928e+02] [-1.32036813e-01 9.91244786e-01 -2.31789892e-04 -1.28214687e+01] [-1.69060683e-03 8.64289349e-06 9.99998571e-01 -4.77257786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:-12.83, Z:-0.48 [[ 9.91322881e-01 1.31438738e-01 1.67466402e-03 1.51648015e+02] [-1.31438534e-01 9.91324295e-01 -2.31789892e-04 -1.28282280e+01] [-1.69060130e-03 9.66324026e-06 9.99998571e-01 -4.78028517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:-12.84, Z:-0.48 [[ 9.91174075e-01 1.32556207e-01 1.67466402e-03 1.51677527e+02] [-1.32556004e-01 9.91175490e-01 -2.31789892e-04 -1.28359254e+01] [-1.69061112e-03 7.75736130e-06 9.99998571e-01 -4.79271048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:-12.84, Z:-0.48 [[ 9.90877741e-01 1.34753470e-01 1.67466402e-03 1.51708001e+02] [-1.34753271e-01 9.90879156e-01 -2.31789892e-04 -1.28418416e+01] [-1.69062416e-03 4.00899014e-06 9.99998571e-01 -4.79543104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.74, Y:-12.85, Z:-0.48 [[ 9.90130756e-01 1.40136656e-01 1.67466402e-03 1.51736669e+02] [-1.40136464e-01 9.90132172e-01 -2.31789892e-04 -1.28469234e+01] [-1.69062098e-03 -5.17919336e-06 9.99998571e-01 -4.81971187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.77, Y:-12.85, Z:-0.48 [[ 9.89793642e-01 1.42498217e-01 1.67466673e-03 1.51766003e+02] [-1.42498029e-01 9.89795059e-01 -2.31770334e-04 -1.28510581e+01] [-1.69060371e-03 -9.23190469e-06 9.99998571e-01 -4.82984428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.79, Y:-12.85, Z:-0.49 [[ 9.89440001e-01 1.44933364e-01 1.67467160e-03 1.51794476e+02] [-1.44933180e-01 9.89441418e-01 -2.31735132e-04 -1.28549689e+01] [-1.69057559e-03 -1.34274705e-05 9.99998571e-01 -4.85137926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-12.86, Z:-0.48 [[ 9.89353860e-01 1.45520225e-01 1.67467886e-03 1.51824297e+02] [-1.45520041e-01 9.89355277e-01 -2.31682654e-04 -1.28588598e+01] [-1.69056688e-03 -1.44832086e-05 9.99998571e-01 -4.81080336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:-12.86, Z:-0.48 [[ 9.89316137e-01 1.45776461e-01 1.67467886e-03 1.51854795e+02] [-1.45776278e-01 9.89317554e-01 -2.31682654e-04 -1.28623680e+01] [-1.69056307e-03 -1.49210624e-05 9.99998571e-01 -4.78695368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-12.86, Z:-0.48 [[ 9.89196378e-01 1.46586908e-01 1.67467886e-03 1.51883757e+02] [-1.46586726e-01 9.89197795e-01 -2.31682654e-04 -1.28649040e+01] [-1.69055028e-03 -1.63060489e-05 9.99998571e-01 -4.76633050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-12.87, Z:-0.47 [[ 9.89170360e-01 1.46762376e-01 1.67468157e-03 1.51914349e+02] [-1.46762194e-01 9.89171777e-01 -2.31663037e-04 -1.28683356e+01] [-1.69054717e-03 -1.66257320e-05 9.99998571e-01 -4.74275218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-12.87, Z:-0.47 [[ 9.89204168e-01 1.46534331e-01 1.67468157e-03 1.51943826e+02] [-1.46534148e-01 9.89205585e-01 -2.31663037e-04 -1.28701329e+01] [-1.69055095e-03 -1.62359961e-05 9.99998571e-01 -4.70609091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-12.87, Z:-0.47 [[ 9.89153683e-01 1.46874732e-01 1.67468425e-03 1.51972638e+02] [-1.46874550e-01 9.89155100e-01 -2.31643675e-04 -1.28730045e+01] [-1.69054507e-03 -1.68373018e-05 9.99998571e-01 -4.69172955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:-12.88, Z:-0.47 [[ 9.89046848e-01 1.47592439e-01 1.67469197e-03 1.52002480e+02] [-1.47592258e-01 9.89048266e-01 -2.31587852e-04 -1.28753971e+01] [-1.69053180e-03 -1.81203348e-05 9.99998571e-01 -4.69176457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:-12.88, Z:-0.47 [[ 9.89027349e-01 1.47723044e-01 1.67469719e-03 1.52032363e+02] [-1.47722863e-01 9.89028767e-01 -2.31550129e-04 -1.28787533e+01] [-1.69052898e-03 -1.83816528e-05 9.99998571e-01 -4.70947256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:-12.88, Z:-0.47 [[ 9.89108983e-01 1.47175460e-01 1.67470246e-03 1.52061044e+02] [-1.47175278e-01 9.89110400e-01 -2.31511966e-04 -1.28810468e+01] [-1.69053850e-03 -1.74842356e-05 9.99998571e-01 -4.74257465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.09, Y:-12.88, Z:-0.48 [[ 9.89225391e-01 1.46390989e-01 1.67471035e-03 1.52090509e+02] [-1.46390807e-01 9.89226808e-01 -2.31454902e-04 -1.28841323e+01] [-1.69055128e-03 -1.62011336e-05 9.99998571e-01 -4.75820870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:-12.89, Z:-0.48 [[ 9.89519319e-01 1.44390836e-01 1.67471557e-03 1.52119864e+02] [-1.44390651e-01 9.89520736e-01 -2.31417089e-04 -1.28879231e+01] [-1.69058029e-03 -1.28215925e-05 9.99998571e-01 -4.76512010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.15, Y:-12.89, Z:-0.48 [[ 9.89629196e-01 1.43635825e-01 1.67471818e-03 1.52149207e+02] [-1.43635639e-01 9.89630613e-01 -2.31398241e-04 -1.28918067e+01] [-1.69058945e-03 -1.15507613e-05 9.99998571e-01 -4.76505182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:-12.89, Z:-0.48 [[ 9.89681683e-01 1.43273726e-01 1.67472350e-03 1.52178100e+02] [-1.43273540e-01 9.89683100e-01 -2.31359730e-04 -1.28949412e+01] [-1.69059331e-03 -1.09710775e-05 9.99998571e-01 -4.83083354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.145769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.21, Y:-12.90, Z:-0.49 [[ 9.89668858e-01 1.43362291e-01 1.67473144e-03 1.52207779e+02] [-1.43362105e-01 9.89670275e-01 -2.31302196e-04 -1.28990323e+01] [-1.69059194e-03 -1.11804451e-05 9.99998571e-01 -4.85373688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.24, Y:-12.90, Z:-0.49 [[ 9.89636908e-01 1.43582682e-01 1.67473688e-03 1.52236875e+02] [-1.43582496e-01 9.89638325e-01 -2.31262798e-04 -1.29033130e+01] [-1.69058914e-03 -1.15967017e-05 9.99998571e-01 -4.86148747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:-12.91, Z:-0.48 [[ 9.89719175e-01 1.43014511e-01 1.67473959e-03 1.52266533e+02] [-1.43014324e-01 9.89720592e-01 -2.31243198e-04 -1.29075914e+01] [-1.69059539e-03 -1.06459241e-05 9.99998571e-01 -4.81702199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:-12.91, Z:-0.48 [[ 9.89947278e-01 1.41426947e-01 1.67474502e-03 1.52296387e+02] [-1.41426758e-01 9.89948695e-01 -2.31203846e-04 -1.29115042e+01] [-1.69061010e-03 -7.97414125e-06 9.99998571e-01 -4.80666990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-12.92, Z:-0.48 [[ 9.90020476e-01 1.40913632e-01 1.67474502e-03 1.52325509e+02] [-1.40913443e-01 9.90021893e-01 -2.31203846e-04 -1.29158212e+01] [-1.69061401e-03 -7.09754542e-06 9.99998571e-01 -4.84644787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:-12.92, Z:-0.49 [[ 9.90195368e-01 1.39679374e-01 1.67474782e-03 1.52356161e+02] [-1.39679183e-01 9.90196785e-01 -2.31183625e-04 -1.29205697e+01] [-1.69062149e-03 -5.01045161e-06 9.99998571e-01 -4.87805865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.39, Y:-12.92, Z:-0.49 [[ 9.90315600e-01 1.38824380e-01 1.67474502e-03 1.52385786e+02] [-1.38824188e-01 9.90317016e-01 -2.31203851e-04 -1.29246420e+01] [-1.69062522e-03 -3.53033714e-06 9.99998571e-01 -4.86910576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.42, Y:-12.93, Z:-0.48 [[ 9.90516330e-01 1.37384846e-01 1.67474780e-03 1.52415677e+02] [-1.37384652e-01 9.90517745e-01 -2.31183698e-04 -1.29284294e+01] [-1.69062856e-03 -1.09341540e-06 9.99998571e-01 -4.79535550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:-12.93, Z:-0.48 [[ 9.90536308e-01 1.37240730e-01 1.67474780e-03 1.52445171e+02] [-1.37240535e-01 9.90537724e-01 -2.31183698e-04 -1.29340612e+01] [-1.69062870e-03 -8.47438118e-07 9.99998571e-01 -4.78266672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:-12.94, Z:-0.48 [[ 9.90613734e-01 1.36680743e-01 1.67475053e-03 1.52475181e+02] [-1.36680548e-01 9.90615150e-01 -2.31163986e-04 -1.29394716e+01] [-1.69062891e-03 8.83999806e-08 9.99998571e-01 -4.79540092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:-12.95, Z:-0.48 [[ 9.91121610e-01 1.32947920e-01 1.67475053e-03 1.52504759e+02] [-1.32947719e-01 9.91123025e-01 -2.31163986e-04 -1.29471071e+01] [-1.69061658e-03 6.45735872e-06 9.99998571e-01 -4.80913002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:-12.95, Z:-0.48 [[ 9.91377983e-01 1.31022482e-01 1.67475053e-03 1.52534224e+02] [-1.31022278e-01 9.91379397e-01 -2.31163986e-04 -1.29545382e+01] [-1.69060085e-03 9.74125643e-06 9.99998571e-01 -4.80931580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-12.97, Z:-0.48 [[ 9.91915696e-01 1.26887539e-01 1.67473770e-03 1.52564802e+02] [-1.26887329e-01 9.91917110e-01 -2.31256902e-04 -1.29677699e+01] [-1.69054459e-03 1.68843571e-05 9.99998571e-01 -4.79084658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-12.98, Z:-0.48 [[ 9.92043184e-01 1.25886920e-01 1.67469943e-03 1.52594947e+02] [-1.25886709e-01 9.92044597e-01 -2.31533679e-04 -1.29758423e+01] [-1.69052358e-03 1.88690081e-05 9.99998571e-01 -4.78131467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.63, Y:-12.98, Z:-0.48 [[ 9.92051419e-01 1.25822005e-01 1.67466398e-03 1.52625215e+02] [-1.25821793e-01 9.92052833e-01 -2.31789773e-04 -1.29829167e+01] [-1.69051940e-03 1.92381483e-05 9.99998571e-01 -4.76602651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:-12.99, Z:-0.48 [[ 9.91762946e-01 1.28075969e-01 1.67462893e-03 1.52656523e+02] [-1.28075760e-01 9.91764360e-01 -2.32042784e-04 -1.29926647e+01] [-1.69055639e-03 1.56520632e-05 9.99998571e-01 -4.77303424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:-13.00, Z:-0.48 [[ 9.91238175e-01 1.32076025e-01 1.67459111e-03 1.52686336e+02] [-1.32075821e-01 9.91239589e-01 -2.32315404e-04 -1.30024200e+01] [-1.69060429e-03 9.10690226e-06 9.99998571e-01 -4.82284818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:-13.01, Z:-0.48 [[ 9.90872937e-01 1.34788793e-01 1.67456981e-03 1.52718281e+02] [-1.34788593e-01 9.90874352e-01 -2.32468777e-04 -1.30088963e+01] [-1.69062246e-03 4.63411113e-06 9.99998571e-01 -4.83550920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:-13.02, Z:-0.48 [[ 9.90211688e-01 1.39563639e-01 1.67453224e-03 1.52748294e+02] [-1.39563445e-01 9.90213104e-01 -2.32739146e-04 -1.30171619e+01] [-1.69062568e-03 -3.24246472e-06 9.99998571e-01 -4.83122290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:-13.02, Z:-0.48 [[ 9.90006753e-01 1.41010018e-01 1.67449751e-03 1.52780520e+02] [-1.41009826e-01 9.90008169e-01 -2.32988710e-04 -1.30236871e+01] [-1.69061996e-03 -5.46020615e-06 9.99998571e-01 -4.81262584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:-13.03, Z:-0.48 [[ 9.89668618e-01 1.43363949e-01 1.67445495e-03 1.52812433e+02] [-1.43363759e-01 9.89670035e-01 -2.33294175e-04 -1.30292781e+01] [-1.69060387e-03 -9.17223318e-06 9.99998571e-01 -4.80093088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-13.03, Z:-0.48 [[ 9.89456841e-01 1.44818358e-01 1.67441530e-03 1.52844259e+02] [-1.44818170e-01 9.89458257e-01 -2.33578435e-04 -1.30333720e+01] [-1.69059049e-03 -1.13699791e-05 9.99998571e-01 -4.82183317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:-13.04, Z:-0.49 [[ 9.88955884e-01 1.48200731e-01 1.67437854e-03 1.52875397e+02] [-1.48200547e-01 9.88957301e-01 -2.33841667e-04 -1.30370206e+01] [-1.69054438e-03 -1.68847231e-05 9.99998571e-01 -4.85011672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:-13.04, Z:-0.48 [[ 9.88144647e-01 1.53516619e-01 1.67434445e-03 1.52907047e+02] [-1.53516443e-01 9.88146066e-01 -2.34085443e-04 -1.30388079e+01] [-1.69043289e-03 -2.57291275e-05 9.99998571e-01 -4.82987479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.94, Y:-13.04, Z:-0.48 [[ 9.87531658e-01 1.57411632e-01 1.67433924e-03 1.52938680e+02] [-1.57411461e-01 9.87533076e-01 -2.34122703e-04 -1.30401924e+01] [-1.69031902e-03 -3.23566052e-05 9.99998571e-01 -4.82598632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:-13.04, Z:-0.48 [[ 9.86028626e-01 1.66567541e-01 1.67433396e-03 1.52967968e+02] [-1.66567383e-01 9.86030046e-01 -2.34160475e-04 -1.30373632e+01] [-1.68994713e-03 -4.80004950e-05 9.99998571e-01 -4.84614849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-13.04, Z:-0.49 [[ 9.85301880e-01 1.70813942e-01 1.67434184e-03 1.52997217e+02] [-1.70813790e-01 9.85303301e-01 -2.34104123e-04 -1.30379708e+01] [-1.68972279e-03 -5.53374435e-05 9.99998571e-01 -4.85543776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:-13.03, Z:-0.48 [[ 9.84483423e-01 1.75469618e-01 1.67434965e-03 1.53027968e+02] [-1.75469474e-01 9.84484844e-01 -2.34048250e-04 -1.30332234e+01] [-1.68944021e-03 -6.33806304e-05 9.99998571e-01 -4.81600441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-13.03, Z:-0.48 [[ 9.84352233e-01 1.76204082e-01 1.67435531e-03 1.53056609e+02] [-1.76203938e-01 9.84353655e-01 -2.34007781e-04 -1.30325107e+01] [-1.68939089e-03 -6.46819179e-05 9.99998571e-01 -4.80539532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-13.03, Z:-0.48 [[ 9.84292214e-01 1.76539042e-01 1.67436111e-03 1.53085739e+02] [-1.76538899e-01 9.84293636e-01 -2.33966250e-04 -1.30281004e+01] [-1.68936716e-03 -6.52987089e-05 9.99998571e-01 -4.76439846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:-13.03, Z:-0.47 [[ 9.84265117e-01 1.76690054e-01 1.67436927e-03 1.53114229e+02] [-1.76689911e-01 9.84266539e-01 -2.33907809e-04 -1.30267347e+01] [-1.68935483e-03 -6.56168617e-05 9.99998571e-01 -4.73643026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-13.03, Z:-0.47 [[ 9.84272629e-01 1.76648204e-01 1.67438274e-03 1.53143292e+02] [-1.76648061e-01 9.84274051e-01 -2.33811375e-04 -1.30306993e+01] [-1.68935384e-03 -6.56423280e-05 9.99998571e-01 -4.73692609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:-13.02, Z:-0.47 [[ 9.84273352e-01 1.76644177e-01 1.67439268e-03 1.53172780e+02] [-1.76644035e-01 9.84274774e-01 -2.33740182e-04 -1.30224758e+01] [-1.68935132e-03 -6.57072460e-05 9.99998571e-01 -4.72033805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:-13.01, Z:-0.48 [[ 9.84530396e-01 1.75205867e-01 1.67440602e-03 1.53202178e+02] [-1.75205723e-01 9.84531818e-01 -2.33644607e-04 -1.30142563e+01] [-1.68944190e-03 -6.33352994e-05 9.99998571e-01 -4.75615017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.23, Y:-13.01, Z:-0.48 [[ 9.84721655e-01 1.74127710e-01 1.67441831e-03 1.53230813e+02] [-1.74127564e-01 9.84723076e-01 -2.33556476e-04 -1.30122196e+01] [-1.68950700e-03 -6.15742626e-05 9.99998571e-01 -4.76617472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:-13.00, Z:-0.47 [[ 9.85343523e-01 1.70573553e-01 1.67443315e-03 1.53259256e+02] [-1.70573403e-01 9.85344945e-01 -2.33450000e-04 -1.30048003e+01] [-1.68971464e-03 -5.55853148e-05 9.99998571e-01 -4.74956382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:-13.00, Z:-0.47 [[ 9.85860136e-01 1.67561894e-01 1.67445039e-03 1.53288108e+02] [-1.67561739e-01 9.85861557e-01 -2.33326272e-04 -1.30040382e+01] [-1.68987286e-03 -5.05467496e-05 9.99998571e-01 -4.74170701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:-13.00, Z:-0.48 [[ 9.87269495e-01 1.59047604e-01 1.67446512e-03 1.53316769e+02] [-1.59047438e-01 9.87270914e-01 -2.33220571e-04 -1.30012849e+01] [-1.69024388e-03 -3.60678309e-05 9.99998571e-01 -4.76403900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:-13.00, Z:-0.48 [[ 9.88723648e-01 1.49742260e-01 1.67447734e-03 1.53346344e+02] [-1.49742080e-01 9.88725066e-01 -2.33132788e-04 -1.30011288e+01] [-1.69050755e-03 -2.02358186e-05 9.99998571e-01 -4.78661028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:-13.00, Z:-0.48 [[ 9.89322507e-01 1.45733229e-01 1.67448825e-03 1.53374784e+02] [-1.45733044e-01 9.89323924e-01 -2.33054380e-04 -1.30036829e+01] [-1.69057505e-03 -1.34623260e-05 9.99998571e-01 -4.79719946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:-13.01, Z:-0.48 [[ 9.90082705e-01 1.40475738e-01 1.67449925e-03 1.53402696e+02] [-1.40475545e-01 9.90084121e-01 -2.32975308e-04 -1.30082078e+01] [-1.69062250e-03 -4.56137199e-06 9.99998571e-01 -4.82008401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:-13.01, Z:-0.48 [[ 9.90198272e-01 1.39658795e-01 1.67451397e-03 1.53430570e+02] [-1.39658601e-01 9.90199687e-01 -2.32869451e-04 -1.30131209e+01] [-1.69062548e-03 -3.27335136e-06 9.99998571e-01 -4.82821376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:-13.02, Z:-0.48 [[ 9.90078662e-01 1.40504230e-01 1.67452760e-03 1.53459254e+02] [-1.40504037e-01 9.90080078e-01 -2.32771400e-04 -1.30183637e+01] [-1.69062179e-03 -4.81589233e-06 9.99998571e-01 -4.81277219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:-13.02, Z:-0.48 [[ 9.89978366e-01 1.41209177e-01 1.67453838e-03 1.53487335e+02] [-1.41208986e-01 9.89979782e-01 -2.32693823e-04 -1.30232890e+01] [-1.69061765e-03 -6.09801612e-06 9.99998571e-01 -4.81256107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:-13.03, Z:-0.48 [[ 9.89823028e-01 1.42293952e-01 1.67454978e-03 1.53514648e+02] [-1.42293762e-01 9.89824445e-01 -2.32611760e-04 -1.30319406e+01] [-1.69060955e-03 -8.03351105e-06 9.99998571e-01 -4.82560846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:-13.04, Z:-0.48 [[ 9.89787464e-01 1.42541122e-01 1.67456397e-03 1.53542588e+02] [-1.42540933e-01 9.89788881e-01 -2.32509565e-04 -1.30380485e+01] [-1.69060697e-03 -8.55885797e-06 9.99998571e-01 -4.79602464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:-13.04, Z:-0.47 [[ 9.89350482e-01 1.45543188e-01 1.67457368e-03 1.53570956e+02] [-1.45543003e-01 9.89351899e-01 -2.32439618e-04 -1.30408136e+01] [-1.69057265e-03 -1.37582352e-05 9.99998571e-01 -4.74033860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:-13.04, Z:-0.48 [[ 9.88760368e-01 1.49499601e-01 1.67458338e-03 1.53599097e+02] [-1.49499422e-01 9.88761786e-01 -2.32369709e-04 -1.30406467e+01] [-1.69050323e-03 -2.05912887e-05 9.99998571e-01 -4.77251299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.63, Y:-13.04, Z:-0.48 [[ 9.88617816e-01 1.50439386e-01 1.67459792e-03 1.53627347e+02] [-1.50439209e-01 9.88619234e-01 -2.32264893e-04 -1.30427495e+01] [-1.69048150e-03 -2.23039739e-05 9.99998571e-01 -4.79416068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-13.04, Z:-0.48 [[ 9.88752132e-01 1.49554060e-01 1.67461243e-03 1.53656329e+02] [-1.49553881e-01 9.88753550e-01 -2.32160192e-04 -1.30424903e+01] [-1.69049949e-03 -2.08959039e-05 9.99998571e-01 -4.81193931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:-13.04, Z:-0.48 [[ 9.89055406e-01 1.47535082e-01 1.67462346e-03 1.53683985e+02] [-1.47534900e-01 9.89056823e-01 -2.32080635e-04 -1.30439488e+01] [-1.69053780e-03 -1.75247987e-05 9.99998571e-01 -4.81620840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:-13.04, Z:-0.48 [[ 9.89957726e-01 1.41353801e-01 1.67463720e-03 1.53713162e+02] [-1.41353611e-01 9.89959142e-01 -2.31981452e-04 -1.30429086e+01] [-1.69061387e-03 -7.06418482e-06 9.99998571e-01 -4.77924574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:-13.04, Z:-0.48 [[ 9.90466972e-01 1.37740236e-01 1.67464814e-03 1.53741456e+02] [-1.37740041e-01 9.90468388e-01 -2.31902444e-04 -1.30447402e+01] [-1.69062834e-03 -9.74391875e-07 9.99998571e-01 -4.76723534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:-13.05, Z:-0.48 [[ 9.91547441e-01 1.29733835e-01 1.67466176e-03 1.53769900e+02] [-1.29733629e-01 9.91548855e-01 -2.31804034e-04 -1.30474633e+01] [-1.69058178e-03 1.25847489e-05 9.99998571e-01 -4.77795453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:-13.05, Z:-0.48 [[ 9.91989076e-01 1.26312581e-01 1.67467252e-03 1.53797351e+02] [-1.26312370e-01 9.91990490e-01 -2.31726265e-04 -1.30514263e+01] [-1.69052916e-03 1.83380680e-05 9.99998571e-01 -4.79711882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:-13.06, Z:-0.48 [[ 9.92638972e-01 1.21099411e-01 1.67468701e-03 1.53825947e+02] [-1.21099192e-01 9.92640384e-01 -2.31621555e-04 -1.30566733e+01] [-1.69041119e-03 2.71133384e-05 9.99998571e-01 -4.79383620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.85, Y:-13.06, Z:-0.48 [[ 9.92932172e-01 1.18671385e-01 1.67469749e-03 1.53853598e+02] [-1.18671164e-01 9.92933584e-01 -2.31545730e-04 -1.30644956e+01] [-1.69034123e-03 3.11709049e-05 9.99998571e-01 -4.78936060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:-13.07, Z:-0.48 [[ 9.92992748e-01 1.18163437e-01 1.67470877e-03 1.53881221e+02] [-1.18163214e-01 9.92994160e-01 -2.31464094e-04 -1.30710281e+01] [-1.69032662e-03 3.19531953e-05 9.99998571e-01 -4.81220608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:-13.08, Z:-0.49 [[ 9.93017188e-01 1.17957872e-01 1.67472282e-03 1.53909121e+02] [-1.17957649e-01 9.93018600e-01 -2.31362422e-04 -1.30810203e+01] [-1.69032193e-03 3.22004948e-05 9.99998571e-01 -4.85587518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:-13.09, Z:-0.48 [[ 9.92974011e-01 1.18320791e-01 1.67473388e-03 1.53936215e+02] [-1.18320569e-01 9.92975422e-01 -2.31282328e-04 -1.30873974e+01] [-1.69033509e-03 3.15018752e-05 9.99998571e-01 -4.84863735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-13.10, Z:-0.48 [[ 9.92690354e-01 1.20677486e-01 1.67474763e-03 1.53964061e+02] [-1.20677267e-01 9.92691767e-01 -2.31182722e-04 -1.30960411e+01] [-1.69040673e-03 2.73888914e-05 9.99998571e-01 -4.79559134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:-13.10, Z:-0.48 [[ 9.92527403e-01 1.22010447e-01 1.67475847e-03 1.53992474e+02] [-1.22010231e-01 9.92528816e-01 -2.31104156e-04 -1.31020896e+01] [-1.69044316e-03 2.50395409e-05 9.99998571e-01 -4.79907521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:-13.11, Z:-0.49 [[ 9.92159270e-01 1.24968708e-01 1.67476954e-03 1.54019405e+02] [-1.24968496e-01 9.92160683e-01 -2.31023942e-04 -1.31088693e+01] [-1.69051125e-03 1.99191147e-05 9.99998571e-01 -4.86354720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:-13.11, Z:-0.49 [[ 9.91950325e-01 1.26616542e-01 1.67478327e-03 1.54048306e+02] [-1.26616333e-01 9.91951738e-01 -2.30924299e-04 -1.31139831e+01] [-1.69054302e-03 1.70105176e-05 9.99998571e-01 -4.86736610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:-13.12, Z:-0.48 [[ 9.91510454e-01 1.30016207e-01 1.67479151e-03 1.54076370e+02] [-1.30016002e-01 9.91511869e-01 -2.30864539e-04 -1.31202534e+01] [-1.69059179e-03 1.11549066e-05 9.99998571e-01 -4.81551123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:-13.13, Z:-0.48 [[ 9.91347444e-01 1.31253346e-01 1.67479971e-03 1.54104482e+02] [-1.31253144e-01 9.91348858e-01 -2.30805024e-04 -1.31253267e+01] [-1.69060472e-03 8.98524321e-06 9.99998571e-01 -4.79173570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:-13.13, Z:-0.48 [[ 9.91319018e-01 1.31467862e-01 1.67481068e-03 1.54133309e+02] [-1.31467660e-01 9.91320433e-01 -2.30725436e-04 -1.31305456e+01] [-1.69060703e-03 8.53907196e-06 9.99998571e-01 -4.80460477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.16, Y:-13.13, Z:-0.48 [[ 9.91496910e-01 1.30119452e-01 1.67482164e-03 1.54161585e+02] [-1.30119248e-01 9.91498325e-01 -2.30645846e-04 -1.31348630e+01] [-1.69059436e-03 1.07581110e-05 9.99998571e-01 -4.79800916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.19, Y:-13.14, Z:-0.48 [[ 9.91944623e-01 1.26661200e-01 1.67483283e-03 1.54190112e+02] [-1.26660991e-01 9.91946037e-01 -2.30564588e-04 -1.31431656e+01] [-1.69054737e-03 1.65713179e-05 9.99998571e-01 -4.77779985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:-13.15, Z:-0.48 [[ 9.92159307e-01 1.24968417e-01 1.67483843e-03 1.54219196e+02] [-1.24968206e-01 9.92160720e-01 -2.30523859e-04 -1.31513542e+01] [-1.69051711e-03 1.94148379e-05 9.99998571e-01 -4.79597280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.25, Y:-13.16, Z:-0.48 [[ 9.92069360e-01 1.25680468e-01 1.67483514e-03 1.54247677e+02] [-1.25680258e-01 9.92070774e-01 -2.30547762e-04 -1.31550069e+01] [-1.69053034e-03 1.82256589e-05 9.99998571e-01 -4.81485263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.28, Y:-13.16, Z:-0.48 [[ 9.91633198e-01 1.29076704e-01 1.67484593e-03 1.54275296e+02] [-1.29076498e-01 9.91634612e-01 -2.30469354e-04 -1.31583753e+01] [-1.69058342e-03 1.23578145e-05 9.99998571e-01 -4.82898862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.30, Y:-13.16, Z:-0.48 [[ 9.91417083e-01 1.30726291e-01 1.67485930e-03 1.54303394e+02] [-1.30726088e-01 9.91418497e-01 -2.30372187e-04 -1.31632821e+01] [-1.69060219e-03 9.44711775e-06 9.99998571e-01 -4.81169614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-13.17, Z:-0.48 [[ 9.91064369e-01 1.33373955e-01 1.67487015e-03 1.54331358e+02] [-1.33373756e-01 9.91065784e-01 -2.30293240e-04 -1.31667420e+01] [-1.69062162e-03 4.85170115e-06 9.99998571e-01 -4.83443447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:-13.17, Z:-0.49 [[ 9.91000679e-01 1.33846360e-01 1.67488367e-03 1.54360581e+02] [-1.33846162e-01 9.91002095e-01 -2.30194851e-04 -1.31702803e+01] [-1.69062397e-03 3.94650206e-06 9.99998571e-01 -4.86317522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:-13.18, Z:-0.49 [[ 9.91070574e-01 1.33327834e-01 1.67488903e-03 1.54390268e+02] [-1.33327636e-01 9.91071990e-01 -2.30155848e-04 -1.31751000e+01] [-1.69062179e-03 4.79169345e-06 9.99998571e-01 -4.87885926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.425769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.42, Y:-13.19, Z:-0.49 [[ 9.91453097e-01 1.30452871e-01 1.67489445e-03 1.54419839e+02] [-1.30452668e-01 9.91454512e-01 -2.30116388e-04 -1.31855886e+01] [-1.69060101e-03 9.65515545e-06 9.99998571e-01 -4.86550197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:-13.20, Z:-0.48 [[ 9.92013963e-01 1.26116978e-01 1.67489445e-03 1.54447429e+02] [-1.26116770e-01 9.92015377e-01 -2.30116388e-04 -1.31980425e+01] [-1.69054264e-03 1.70463924e-05 9.99998571e-01 -4.84060843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:-13.21, Z:-0.48 [[ 9.92233295e-01 1.24379589e-01 1.67489723e-03 1.54477444e+02] [-1.24379378e-01 9.92234709e-01 -2.30096159e-04 -1.32057795e+01] [-1.69051043e-03 1.99863940e-05 9.99998571e-01 -4.83408154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:-13.22, Z:-0.48 [[ 9.92348726e-01 1.23455259e-01 1.67489723e-03 1.54506106e+02] [-1.23455047e-01 9.92350139e-01 -2.30096159e-04 -1.32180174e+01] [-1.69049108e-03 2.15611141e-05 9.99998571e-01 -4.82520637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.54, Y:-13.23, Z:-0.48 [[ 9.92244936e-01 1.24286693e-01 1.67489453e-03 1.54536030e+02] [-1.24286481e-01 9.92246349e-01 -2.30115847e-04 -1.32269302e+01] [-1.69050832e-03 2.01645363e-05 9.99998571e-01 -4.81765152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:-13.24, Z:-0.48 [[ 9.91708912e-01 1.28493692e-01 1.67488908e-03 1.54565746e+02] [-1.28493487e-01 9.91710326e-01 -2.30155475e-04 -1.32398222e+01] [-1.69057833e-03 1.30348973e-05 9.99998571e-01 -4.83544381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-13.25, Z:-0.49 [[ 9.90933875e-01 1.34340057e-01 1.67488367e-03 1.54595455e+02] [-1.34339860e-01 9.90935290e-01 -2.30194878e-04 -1.32508423e+01] [-1.69062573e-03 3.10426502e-06 9.99998571e-01 -4.86971642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-13.26, Z:-0.49 [[ 9.90478848e-01 1.37654810e-01 1.67487817e-03 1.54626871e+02] [-1.37654617e-01 9.90480264e-01 -2.30234904e-04 -1.32574186e+01] [-1.69062671e-03 -2.51191047e-06 9.99998571e-01 -4.87478570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-13.26, Z:-0.49 [[ 9.90033255e-01 1.40823825e-01 1.67483948e-03 1.54657736e+02] [-1.40823637e-01 9.90034671e-01 -2.30515972e-04 -1.32633403e+01] [-1.69061130e-03 -7.63850889e-06 9.99998571e-01 -4.87123816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:-13.27, Z:-0.48 [[ 9.89277870e-01 1.46035926e-01 1.67480384e-03 1.54687073e+02] [-1.46035744e-01 9.89279287e-01 -2.30774644e-04 -1.32698758e+01] [-1.69055014e-03 -1.62809767e-05 9.99998571e-01 -4.81705284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.72, Y:-13.28, Z:-0.48 [[ 9.88813782e-01 1.49145901e-01 1.67480113e-03 1.54717470e+02] [-1.49145724e-01 9.88815200e-01 -2.30794267e-04 -1.32765009e+01] [-1.69049084e-03 -2.15768761e-05 9.99998571e-01 -4.76304317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:-13.28, Z:-0.47 [[ 9.88602248e-01 1.50541658e-01 1.67479584e-03 1.54747170e+02] [-1.50541483e-01 9.88603666e-01 -2.30832680e-04 -1.32811955e+01] [-1.69045924e-03 -2.39245420e-05 9.99998571e-01 -4.74979213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:-13.28, Z:-0.48 [[ 9.87987521e-01 1.54524606e-01 1.67479321e-03 1.54777444e+02] [-1.54524436e-01 9.87988940e-01 -2.30851772e-04 -1.32845244e+01] [-1.69034944e-03 -3.07178064e-05 9.99998571e-01 -4.77143091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:-13.29, Z:-0.48 [[ 9.87668966e-01 1.56547783e-01 1.67479321e-03 1.54808174e+02] [-1.56547617e-01 9.87670385e-01 -2.30851772e-04 -1.32868545e+01] [-1.69028299e-03 -3.41797543e-05 9.99998571e-01 -4.80009987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:-13.29, Z:-0.49 [[ 9.87184116e-01 1.59576676e-01 1.67479321e-03 1.54838079e+02] [-1.59576514e-01 9.87185536e-01 -2.30851772e-04 -1.32852187e+01] [-1.69017019e-03 -3.93644589e-05 9.99998571e-01 -4.85318942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-13.29, Z:-0.49 [[ 9.87011328e-01 1.60641943e-01 1.67479579e-03 1.54867962e+02] [-1.60641782e-01 9.87012748e-01 -2.30833020e-04 -1.32858502e+01] [-1.69012626e-03 -4.12073757e-05 9.99998571e-01 -4.85290983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-13.28, Z:-0.48 [[ 9.86876535e-01 1.61467952e-01 1.67479326e-03 1.54898425e+02] [-1.61467792e-01 9.86877955e-01 -2.30851414e-04 -1.32837159e+01] [-1.69009165e-03 -4.26033263e-05 9.99998571e-01 -4.82200906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:-13.28, Z:-0.48 [[ 9.86939359e-01 1.61083506e-01 1.67479838e-03 1.54928320e+02] [-1.61083346e-01 9.86940780e-01 -2.30814230e-04 -1.32844595e+01] [-1.69010719e-03 -4.19824787e-05 9.99998571e-01 -4.81296478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-13.28, Z:-0.48 [[ 9.87222234e-01 1.59340691e-01 1.67480366e-03 1.54957158e+02] [-1.59340529e-01 9.87223654e-01 -2.30775932e-04 -1.32818597e+01] [-1.69017778e-03 -3.90369701e-05 9.99998571e-01 -4.81676270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:-13.29, Z:-0.48 [[ 9.87225741e-01 1.59318963e-01 1.67481153e-03 1.54987048e+02] [-1.59318801e-01 9.87227161e-01 -2.30718795e-04 -1.32859303e+01] [-1.69017731e-03 -3.90574303e-05 9.99998571e-01 -4.81727265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.02, Y:-13.29, Z:-0.48 [[ 9.87497563e-01 1.57625372e-01 1.67481661e-03 1.55017274e+02] [-1.57625208e-01 9.87498983e-01 -2.30681933e-04 -1.32868219e+01] [-1.69024102e-03 -3.61954685e-05 9.99998571e-01 -4.82434509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:-13.28, Z:-0.48 [[ 9.88089652e-01 1.53870189e-01 1.67482189e-03 1.55047388e+02] [-1.53870019e-01 9.88091071e-01 -2.30643601e-04 -1.32844511e+01] [-1.69036572e-03 -2.98083198e-05 9.99998571e-01 -4.83574344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.085769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.08, Y:-13.28, Z:-0.48 [[ 9.88280284e-01 1.52641002e-01 1.67482459e-03 1.55075828e+02] [-1.52640830e-01 9.88281703e-01 -2.30623940e-04 -1.32847783e+01] [-1.69040117e-03 -2.77255231e-05 9.99998571e-01 -4.83949691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:-13.28, Z:-0.48 [[ 9.88622191e-01 1.50410631e-01 1.67483272e-03 1.55104007e+02] [-1.50410456e-01 9.88623610e-01 -2.30564925e-04 -1.32813790e+01] [-1.69045858e-03 -2.39707512e-05 9.99998571e-01 -4.82605478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:-13.28, Z:-0.48 [[ 9.89075178e-01 1.47402469e-01 1.67484675e-03 1.55133598e+02] [-1.47402290e-01 9.89076596e-01 -2.30462958e-04 -1.32802175e+01] [-1.69052253e-03 -1.89310545e-05 9.99998571e-01 -4.81815055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.16, Y:-13.28, Z:-0.48 [[ 9.89290888e-01 1.45947708e-01 1.67485702e-03 1.55162013e+02] [-1.45947527e-01 9.89292306e-01 -2.30388313e-04 -1.32830965e+01] [-1.69054781e-03 -1.65201805e-05 9.99998571e-01 -4.82942228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.19, Y:-13.28, Z:-0.48 [[ 9.89846320e-01 1.42131834e-01 1.67486723e-03 1.55191504e+02] [-1.42131647e-01 9.89847737e-01 -2.30314022e-04 -1.32839053e+01] [-1.69059849e-03 -1.00761511e-05 9.99998571e-01 -4.84966147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:-13.29, Z:-0.49 [[ 9.90213398e-01 1.39551500e-01 1.67487523e-03 1.55219780e+02] [-1.39551310e-01 9.90214814e-01 -2.30255813e-04 -1.32859916e+01] [-1.69061881e-03 -5.72864273e-06 9.99998571e-01 -4.85249921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:-13.29, Z:-0.48 [[ 9.91122296e-01 1.32942801e-01 1.67488853e-03 1.55249368e+02] [-1.32942602e-01 9.91123712e-01 -2.30159040e-04 -1.32893990e+01] [-1.69061973e-03 5.45171691e-06 9.99998571e-01 -4.82532180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:-13.29, Z:-0.48 [[ 9.91513966e-01 1.29989419e-01 1.67489382e-03 1.55277748e+02] [-1.29989216e-01 9.91515381e-01 -2.30120551e-04 -1.32937830e+01] [-1.69059622e-03 1.04496060e-05 9.99998571e-01 -4.81549487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.325769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:155.31, Y:-13.30, Z:-0.48 [[ 9.92055264e-01 1.25791685e-01 1.67490433e-03 1.55307398e+02] [-1.25791476e-01 9.92056678e-01 -2.30044014e-04 -1.32993977e+01] [-1.69053765e-03 1.75276875e-05 9.99998571e-01 -4.80098387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.34, Y:-13.31, Z:-0.48 [[ 9.92445859e-01 1.22671965e-01 1.67490979e-03 1.55335780e+02] [-1.22671751e-01 9.92447272e-01 -2.30004255e-04 -1.33078004e+01] [-1.69047473e-03 2.28026531e-05 9.99998571e-01 -4.79394251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.37, Y:-13.31, Z:-0.48 [[ 9.92637701e-01 1.21109827e-01 1.67490736e-03 1.55365630e+02] [-1.21109611e-01 9.92639113e-01 -2.30021952e-04 -1.33143940e+01] [-1.69043648e-03 2.54810826e-05 9.99998571e-01 -4.79370108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.40, Y:-13.32, Z:-0.48 [[ 9.92789573e-01 1.19858495e-01 1.67490736e-03 1.55395115e+02] [-1.19858277e-01 9.92790985e-01 -2.30021952e-04 -1.33208600e+01] [-1.69040302e-03 2.76118848e-05 9.99998571e-01 -4.79768925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:-13.33, Z:-0.48 [[ 9.93053678e-01 1.17650279e-01 1.67491290e-03 1.55424796e+02] [-1.17650058e-01 9.93055090e-01 -2.29981596e-04 -1.33300181e+01] [-1.69033818e-03 3.13304690e-05 9.99998571e-01 -4.82588901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:-13.34, Z:-0.48 [[ 9.93179152e-01 1.16586303e-01 1.67491290e-03 1.55454453e+02] [-1.16586081e-01 9.93180564e-01 -2.29981596e-04 -1.33375587e+01] [-1.69030365e-03 3.31413953e-05 9.99998571e-01 -4.83222508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:-13.35, Z:-0.48 [[ 9.93313190e-01 1.15438733e-01 1.67491016e-03 1.55484672e+02] [-1.15438509e-01 9.93314602e-01 -2.30001571e-04 -1.33480933e+01] [-1.69026381e-03 3.51144617e-05 9.99998571e-01 -4.80805718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.52, Y:-13.36, Z:-0.48 [[ 9.93290906e-01 1.15630318e-01 1.67490476e-03 1.55515081e+02] [-1.15630094e-01 9.93292318e-01 -2.30040882e-04 -1.33563545e+01] [-1.69026973e-03 3.48281210e-05 9.99998571e-01 -4.79340536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.55, Y:-13.36, Z:-0.48 [[ 9.93204492e-01 1.16370232e-01 1.67489939e-03 1.55545627e+02] [-1.16370010e-01 9.93205904e-01 -2.30079994e-04 -1.33624675e+01] [-1.69029442e-03 3.36084252e-05 9.99998571e-01 -4.79349480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:-13.37, Z:-0.48 [[ 9.92920994e-01 1.18764870e-01 1.67489378e-03 1.55575998e+02] [-1.18764650e-01 9.92922406e-01 -2.30120817e-04 -1.33718057e+01] [-1.69036983e-03 2.95736160e-05 9.99998571e-01 -4.81489159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:-13.38, Z:-0.48 [[ 9.92783206e-01 1.19911220e-01 1.67487183e-03 1.55606450e+02] [-1.19911002e-01 9.92784618e-01 -2.30280438e-04 -1.33787031e+01] [-1.69040020e-03 2.77829928e-05 9.99998571e-01 -4.84435457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:-13.39, Z:-0.49 [[ 9.92491172e-01 1.22304817e-01 1.67486638e-03 1.55636905e+02] [-1.22304602e-01 9.92492585e-01 -2.30320104e-04 -1.33863642e+01] [-1.69046172e-03 2.37468046e-05 9.99998571e-01 -4.88737733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:-13.39, Z:-0.49 [[ 9.92295469e-01 1.23882592e-01 1.67483102e-03 1.55667412e+02] [-1.23882380e-01 9.92296882e-01 -2.30576917e-04 -1.33920905e+01] [-1.69049407e-03 2.13183771e-05 9.99998571e-01 -4.87756579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:-13.40, Z:-0.48 [[ 9.91886490e-01 1.27115643e-01 1.67479594e-03 1.55697806e+02] [-1.27115435e-01 9.91887903e-01 -2.30831465e-04 -1.33983583e+01] [-1.69055212e-03 1.60661974e-05 9.99998571e-01 -4.82862198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:-13.40, Z:-0.48 [[ 9.91604291e-01 1.29298593e-01 1.67479054e-03 1.55728503e+02] [-1.29298387e-01 9.91605705e-01 -2.30870598e-04 -1.34031826e+01] [-1.69058310e-03 1.23845597e-05 9.99998571e-01 -4.82122861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:-13.41, Z:-0.48 [[ 9.91293532e-01 1.31659897e-01 1.67475569e-03 1.55759603e+02] [-1.31659695e-01 9.91294947e-01 -2.31123145e-04 -1.34074075e+01] [-1.69060650e-03 8.61305586e-06 9.99998571e-01 -4.82003708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:-13.41, Z:-0.48 [[ 9.90618728e-01 1.36644545e-01 1.67475032e-03 1.55790692e+02] [-1.36644349e-01 9.90620143e-01 -2.31162069e-04 -1.34110425e+01] [-1.69062844e-03 1.48306867e-07 9.99998571e-01 -4.79372301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:-13.41, Z:-0.48 [[ 9.90115728e-01 1.40242793e-01 1.67474477e-03 1.55820684e+02] [-1.40242603e-01 9.90117144e-01 -2.31202264e-04 -1.34146640e+01] [-1.69061796e-03 -5.95356800e-06 9.99998571e-01 -4.76362279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:-13.42, Z:-0.47 [[ 9.89844535e-01 1.42144263e-01 1.67474201e-03 1.55851052e+02] [-1.42144075e-01 9.89845952e-01 -2.31222224e-04 -1.34177268e+01] [-1.69060352e-03 -9.18059949e-06 9.99998571e-01 -4.74649782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:-13.42, Z:-0.47 [[ 9.89500867e-01 1.44517230e-01 1.67474201e-03 1.55880174e+02] [-1.44517045e-01 9.89502284e-01 -2.31222224e-04 -1.34202322e+01] [-1.69057664e-03 -1.32341768e-05 9.99998571e-01 -4.74711037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:-13.42, Z:-0.48 [[ 9.88838706e-01 1.48980564e-01 1.67474472e-03 1.55910598e+02] [-1.48980386e-01 9.88840124e-01 -2.31202617e-04 -1.34203239e+01] [-1.69049947e-03 -2.08820187e-05 9.99998571e-01 -4.76735468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:-13.42, Z:-0.48 [[ 9.88346261e-01 1.52213218e-01 1.67474472e-03 1.55939920e+02] [-1.52213045e-01 9.88347679e-01 -2.31202617e-04 -1.34209234e+01] [-1.69042215e-03 -2.64097514e-05 9.99998571e-01 -4.80532370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:-13.42, Z:-0.48 [[ 9.88111127e-01 1.53732221e-01 1.67475276e-03 1.55969756e+02] [-1.53732050e-01 9.88112546e-01 -2.31144405e-04 -1.34234664e+01] [-1.69037855e-03 -2.90668158e-05 9.99998571e-01 -4.81554029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:-13.42, Z:-0.48 [[ 9.87640891e-01 1.56724806e-01 1.67475812e-03 1.55999382e+02] [-1.56724639e-01 9.87642311e-01 -2.31105552e-04 -1.34231141e+01] [-1.69028195e-03 -3.42265680e-05 9.99998571e-01 -4.81829614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:-13.42, Z:-0.48 [[ 9.87432363e-01 1.58033302e-01 1.67476351e-03 1.56028322e+02] [-1.58033137e-01 9.87433782e-01 -2.31066493e-04 -1.34248587e+01] [-1.69023426e-03 -3.65055981e-05 9.99998571e-01 -4.82556270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-13.42, Z:-0.48 [[ 9.87030825e-01 1.60522106e-01 1.67477151e-03 1.56057742e+02] [-1.60521945e-01 9.87032245e-01 -2.31008486e-04 -1.34249258e+01] [-1.69013545e-03 -4.08250831e-05 9.99998571e-01 -4.82164741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.09, Y:-13.43, Z:-0.48 [[ 9.86833420e-01 1.61731245e-01 1.67478193e-03 1.56086502e+02] [-1.61731086e-01 9.86834841e-01 -2.30932924e-04 -1.34257959e+01] [-1.69008222e-03 -4.29719726e-05 9.99998571e-01 -4.81205588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:-13.42, Z:-0.48 [[ 9.86538797e-01 1.63518798e-01 1.67479235e-03 1.56115816e+02] [-1.63518642e-01 9.86540217e-01 -2.30857316e-04 -1.34249441e+01] [-1.68999952e-03 -4.61100713e-05 9.99998571e-01 -4.82128950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.14, Y:-13.43, Z:-0.48 [[ 9.86547681e-01 1.63465187e-01 1.67480331e-03 1.56143710e+02] [-1.63465031e-01 9.86549102e-01 -2.30777772e-04 -1.34273299e+01] [-1.68999983e-03 -4.60984982e-05 9.99998571e-01 -4.83560998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:-13.43, Z:-0.48 [[ 9.86957978e-01 1.60969390e-01 1.67481697e-03 1.56172046e+02] [-1.60969230e-01 9.86959398e-01 -2.30678551e-04 -1.34284100e+01] [-1.69010854e-03 -4.19239626e-05 9.99998571e-01 -4.84477424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:-13.43, Z:-0.48 [[ 9.87267544e-01 1.59059708e-01 1.67483039e-03 1.56201183e+02] [-1.59059546e-01 9.87268964e-01 -2.30581120e-04 -1.34299116e+01] [-1.69018423e-03 -3.87525053e-05 9.99998571e-01 -4.83223089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-13.43, Z:-0.48 [[ 9.87723496e-01 1.56203359e-01 1.67484101e-03 1.56230588e+02] [-1.56203193e-01 9.87724916e-01 -2.30503980e-04 -1.34305848e+01] [-1.69028769e-03 -3.39413153e-05 9.99998571e-01 -4.84215081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:-13.43, Z:-0.49 [[ 9.87923995e-01 1.54930225e-01 1.67484903e-03 1.56258620e+02] [-1.54930057e-01 9.87925414e-01 -2.30445684e-04 -1.34332285e+01] [-1.69032892e-03 -3.18216345e-05 9.99998571e-01 -4.85131122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.29, Y:-13.43, Z:-0.48 [[ 9.88296116e-01 1.52538461e-01 1.67486239e-03 1.56287466e+02] [-1.52538290e-01 9.88297535e-01 -2.30348484e-04 -1.34340464e+01] [-1.69039938e-03 -2.78281330e-05 9.99998571e-01 -4.84346129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:-13.43, Z:-0.49 [[ 9.88490086e-01 1.51276386e-01 1.67487316e-03 1.56316302e+02] [-1.51276213e-01 9.88491504e-01 -2.30270198e-04 -1.34349011e+01] [-1.69043233e-03 -2.57486605e-05 9.99998571e-01 -4.86834241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-13.44, Z:-0.49 [[ 9.88545984e-01 1.50910679e-01 1.67488418e-03 1.56344114e+02] [-1.50910506e-01 9.88547402e-01 -2.30190001e-04 -1.34378579e+01] [-1.69044053e-03 -2.52042173e-05 9.99998571e-01 -4.88664960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.37, Y:-13.44, Z:-0.48 [[ 9.88690485e-01 1.49961060e-01 1.67489789e-03 1.56372520e+02] [-1.49960886e-01 9.88691903e-01 -2.30090205e-04 -1.34392297e+01] [-1.69046255e-03 -2.36811745e-05 9.99998571e-01 -4.83146266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:-13.44, Z:-0.48 [[ 9.88813377e-01 1.49148585e-01 1.67491129e-03 1.56400678e+02] [-1.49148409e-01 9.88814795e-01 -2.29992629e-04 -1.34406061e+01] [-1.69048014e-03 -2.23905656e-05 9.99998571e-01 -4.79161402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-13.44, Z:-0.48 [[ 9.88907036e-01 1.48526326e-01 1.67492457e-03 1.56429230e+02] [-1.48526150e-01 9.88908454e-01 -2.29895854e-04 -1.34428415e+01] [-1.69049265e-03 -2.14244700e-05 9.99998571e-01 -4.78411351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.495769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:-13.45, Z:-0.48 [[ 9.89096482e-01 1.47259446e-01 1.67493533e-03 1.56457470e+02] [-1.47259268e-01 9.89097900e-01 -2.29817442e-04 -1.34459330e+01] [-1.69051781e-03 -1.93381264e-05 9.99998571e-01 -4.81351625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:-13.45, Z:-0.48 [[ 9.89156678e-01 1.46854560e-01 1.67494615e-03 1.56484896e+02] [-1.46854382e-01 9.89158095e-01 -2.29738585e-04 -1.34493444e+01] [-1.69052470e-03 -1.87257251e-05 9.99998571e-01 -4.81664987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-13.45, Z:-0.48 [[ 9.89218970e-01 1.46434368e-01 1.67495960e-03 1.56512584e+02] [-1.46434189e-01 9.89220388e-01 -2.29640455e-04 -1.34526734e+01] [-1.69053144e-03 -1.81066562e-05 9.99998571e-01 -4.79473070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:-13.46, Z:-0.48 [[ 9.89279257e-01 1.46026529e-01 1.67497282e-03 1.56541609e+02] [-1.46026349e-01 9.89280674e-01 -2.29544018e-04 -1.34566059e+01] [-1.69053775e-03 -1.75070299e-05 9.99998571e-01 -4.80448403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.57, Y:-13.46, Z:-0.48 [[ 9.89383926e-01 1.45315664e-01 1.67498370e-03 1.56569216e+02] [-1.45315484e-01 9.89385343e-01 -2.29464543e-04 -1.34607460e+01] [-1.69054912e-03 -1.63725376e-05 9.99998571e-01 -4.81621859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.645769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.60, Y:-13.47, Z:-0.48 [[ 9.89552008e-01 1.44166635e-01 1.67499728e-03 1.56597522e+02] [-1.44166454e-01 9.89553425e-01 -2.29365435e-04 -1.34654493e+01] [-1.69056613e-03 -1.45093903e-05 9.99998571e-01 -4.81259301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:-13.47, Z:-0.48 [[ 9.89877858e-01 1.41912014e-01 1.67500811e-03 1.56624364e+02] [-1.41911829e-01 9.89879276e-01 -2.29286317e-04 -1.34719247e+01] [-1.69059429e-03 -1.07380148e-05 9.99998571e-01 -4.81557346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:-13.48, Z:-0.48 [[ 9.90114073e-01 1.40254471e-01 1.67502158e-03 1.56652762e+02] [-1.40254284e-01 9.90115490e-01 -2.29187825e-04 -1.34771566e+01] [-1.69060943e-03 -8.00686151e-06 9.99998571e-01 -4.81489732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:-13.48, Z:-0.48 [[ 9.90659475e-01 1.36348815e-01 1.67503236e-03 1.56680483e+02] [-1.36348622e-01 9.90660891e-01 -2.29109034e-04 -1.34834482e+01] [-1.69062779e-03 -1.41931931e-06 9.99998571e-01 -4.81827203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.71, Y:-13.49, Z:-0.48 [[ 9.91195592e-01 1.32395211e-01 1.67504037e-03 1.56709001e+02] [-1.32395013e-01 9.91197008e-01 -2.29050417e-04 -1.34885800e+01] [-1.69062018e-03 5.26677215e-06 9.99998571e-01 -4.82624494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.74, Y:-13.49, Z:-0.48 [[ 9.91436715e-01 1.30577315e-01 1.67505063e-03 1.56736392e+02] [-1.30577115e-01 9.91438130e-01 -2.28975355e-04 -1.34926558e+01] [-1.69060806e-03 8.29129481e-06 9.99998571e-01 -4.84156281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:-13.50, Z:-0.49 [[ 9.91806832e-01 1.27735672e-01 1.67506082e-03 1.56764591e+02] [-1.27735468e-01 9.91808247e-01 -2.28900828e-04 -1.34993271e+01] [-1.69057793e-03 1.30607274e-05 9.99998571e-01 -4.88060721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:-13.51, Z:-0.49 [[ 9.91981341e-01 1.26373308e-01 1.67506843e-03 1.56794040e+02] [-1.26373102e-01 9.91982755e-01 -2.28845120e-04 -1.35057300e+01] [-1.69055891e-03 1.53264963e-05 9.99998571e-01 -4.87600090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:-13.51, Z:-0.49 [[ 9.91987117e-01 1.26327963e-01 1.67507364e-03 1.56823114e+02] [-1.26327757e-01 9.91988531e-01 -2.28806982e-04 -1.35096070e+01] [-1.69055856e-03 1.53652834e-05 9.99998571e-01 -4.87649676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:-13.52, Z:-0.48 [[ 9.92358191e-01 1.23379154e-01 1.67508409e-03 1.56853008e+02] [-1.23378944e-01 9.92359604e-01 -2.28730411e-04 -1.35179143e+01] [-1.69050635e-03 2.03123907e-05 9.99998571e-01 -4.84188083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-13.52, Z:-0.48 [[ 9.92557406e-01 1.21766129e-01 1.67508409e-03 1.56881904e+02] [-1.21765917e-01 9.92558819e-01 -2.28730411e-04 -1.35236684e+01] [-1.69047111e-03 2.30599133e-05 9.99998571e-01 -4.83093884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:-13.53, Z:-0.48 [[ 9.92808213e-01 1.19703994e-01 1.67508182e-03 1.56911674e+02] [-1.19703779e-01 9.92809626e-01 -2.28747074e-04 -1.35326192e+01] [-1.69041929e-03 2.65883500e-05 9.99998571e-01 -4.80296079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-13.54, Z:-0.48 [[ 9.92849549e-01 1.19360658e-01 1.67508182e-03 1.56941185e+02] [-1.19360442e-01 9.92850962e-01 -2.28747074e-04 -1.35393141e+01] [-1.69041000e-03 2.71729227e-05 9.99998571e-01 -4.79830566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-13.55, Z:-0.48 [[ 9.92837639e-01 1.19459686e-01 1.67508182e-03 1.56970597e+02] [-1.19459470e-01 9.92839052e-01 -2.28747074e-04 -1.35473997e+01] [-1.69041270e-03 2.70043182e-05 9.99998571e-01 -4.81421081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-13.55, Z:-0.48 [[ 9.92797618e-01 1.19791832e-01 1.67507912e-03 1.57000485e+02] [-1.19791616e-01 9.92799031e-01 -2.28766852e-04 -1.35537514e+01] [-1.69042133e-03 2.64587518e-05 9.99998571e-01 -4.82107288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:-13.56, Z:-0.48 [[ 9.92732521e-01 1.20330109e-01 1.67506562e-03 1.57030481e+02] [-1.20329894e-01 9.92733934e-01 -2.28865624e-04 -1.35609154e+01] [-1.69043391e-03 2.56418798e-05 9.99998571e-01 -4.82633547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:-13.57, Z:-0.48 [[ 9.92503038e-01 1.22208485e-01 1.67506562e-03 1.57060072e+02] [-1.22208273e-01 9.92504451e-01 -2.28865624e-04 -1.35726934e+01] [-1.69047941e-03 2.24429502e-05 9.99998571e-01 -4.81009016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:-13.58, Z:-0.48 [[ 9.92021631e-01 1.26056648e-01 1.67506020e-03 1.57090862e+02] [-1.26056441e-01 9.92023045e-01 -2.28905328e-04 -1.35820182e+01] [-1.69055336e-03 1.59269094e-05 9.99998571e-01 -4.78800338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.12, Y:-13.59, Z:-0.48 [[ 9.91648795e-01 1.28956822e-01 1.67505457e-03 1.57121008e+02] [-1.28956619e-01 9.91650209e-01 -2.28946527e-04 -1.35882314e+01] [-1.69059243e-03 1.10251733e-05 9.99998571e-01 -4.79039721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:-13.60, Z:-0.48 [[ 9.90798561e-01 1.35334425e-01 1.67505178e-03 1.57150222e+02] [-1.35334232e-01 9.90799976e-01 -2.28966944e-04 -1.35969654e+01] [-1.69062837e-03 1.68273431e-07 9.99998571e-01 -4.82916264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.245769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.18, Y:-13.60, Z:-0.49 [[ 9.90440094e-01 1.37933367e-01 1.67505178e-03 1.57180788e+02] [-1.37933177e-01 9.90441511e-01 -2.28966944e-04 -1.36031952e+01] [-1.69062299e-03 -4.26717246e-06 9.99998571e-01 -4.85406650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:-13.61, Z:-0.49 [[ 9.90135263e-01 1.40104797e-01 1.67504641e-03 1.57211777e+02] [-1.40104610e-01 9.90136680e-01 -2.29006186e-04 -1.36091071e+01] [-1.69060976e-03 -7.93462489e-06 9.99998571e-01 -4.87518496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.24, Y:-13.62, Z:-0.49 [[ 9.89570758e-01 1.44037876e-01 1.67504076e-03 1.57241842e+02] [-1.44037695e-01 9.89572175e-01 -2.29047473e-04 -1.36180145e+01] [-1.69056524e-03 -1.46103283e-05 9.99998571e-01 -4.90984102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:-13.63, Z:-0.49 [[ 9.89239312e-01 1.46296880e-01 1.67500410e-03 1.57272944e+02] [-1.46296702e-01 9.89240730e-01 -2.29315284e-04 -1.36274496e+01] [-1.69053039e-03 -1.81998811e-05 9.99998571e-01 -4.89064087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.365769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.30, Y:-13.63, Z:-0.49 [[ 9.89063896e-01 1.47478147e-01 1.67496585e-03 1.57304428e+02] [-1.47477970e-01 9.89065314e-01 -2.29594329e-04 -1.36338511e+01] [-1.69051077e-03 -1.99371021e-05 9.99998571e-01 -4.88808282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-13.64, Z:-0.49 [[ 9.88596676e-01 1.50578239e-01 1.67492652e-03 1.57334944e+02] [-1.50578066e-01 9.88598095e-01 -2.29880923e-04 -1.36406860e+01] [-1.69044423e-03 -2.49476786e-05 9.99998571e-01 -4.90949832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:-13.65, Z:-0.49 [[ 9.88286558e-01 1.52600371e-01 1.67489000e-03 1.57365631e+02] [-1.52600200e-01 9.88287977e-01 -2.30146641e-04 -1.36455681e+01] [-1.69039412e-03 -2.81377188e-05 9.99998571e-01 -4.89888911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:-13.65, Z:-0.49 [[ 9.87482798e-01 1.57717847e-01 1.67488483e-03 1.57396761e+02] [-1.57717683e-01 9.87484217e-01 -2.30184297e-04 -1.36499681e+01] [-1.69022651e-03 -3.68559211e-05 9.99998571e-01 -4.85941517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:-13.65, Z:-0.49 [[ 9.87004217e-01 1.60685625e-01 1.67487938e-03 1.57426597e+02] [-1.60685465e-01 9.87005637e-01 -2.30223917e-04 -1.36530170e+01] [-1.69010907e-03 -4.18967966e-05 9.99998571e-01 -4.87723620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:-13.65, Z:-0.49 [[ 9.86331667e-01 1.64763583e-01 1.67487667e-03 1.57456964e+02] [-1.64763429e-01 9.86333087e-01 -2.30243616e-04 -1.36538644e+01] [-1.68992204e-03 -4.88618544e-05 9.99998571e-01 -4.92165943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:-13.66, Z:-0.49 [[ 9.86259413e-01 1.65195538e-01 1.67487667e-03 1.57487328e+02] [-1.65195385e-01 9.86260834e-01 -2.30243616e-04 -1.36564812e+01] [-1.68990048e-03 -4.96019632e-05 9.99998571e-01 -4.91679942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-13.66, Z:-0.49 [[ 9.86580133e-01 1.63269215e-01 1.67487667e-03 1.57519147e+02] [-1.63269059e-01 9.86581553e-01 -2.30243616e-04 -1.36578172e+01] [-1.68999413e-03 -4.63017611e-05 9.99998571e-01 -4.86857674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-13.66, Z:-0.48 [[ 9.86788068e-01 1.62007727e-01 1.67487119e-03 1.57549341e+02] [-1.62007569e-01 9.86789488e-01 -2.30283521e-04 -1.36601076e+01] [-1.69005299e-03 -4.41007788e-05 9.99998571e-01 -4.84671532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-13.66, Z:-0.48 [[ 9.87083610e-01 1.60197198e-01 1.67486845e-03 1.57580225e+02] [-1.60197038e-01 9.87085030e-01 -2.30303399e-04 -1.36600325e+01] [-1.69013154e-03 -4.09802544e-05 9.99998571e-01 -4.80894362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.665769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.61, Y:-13.66, Z:-0.48 [[ 9.87085712e-01 1.60184241e-01 1.67486845e-03 1.57609955e+02] [-1.60184081e-01 9.87087133e-01 -2.30303399e-04 -1.36613415e+01] [-1.69013208e-03 -4.09580682e-05 9.99998571e-01 -4.80282647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.64, Y:-13.66, Z:-0.48 [[ 9.87182098e-01 1.59589161e-01 1.67487116e-03 1.57640637e+02] [-1.59589000e-01 9.87183518e-01 -2.30283733e-04 -1.36585557e+01] [-1.69015599e-03 -3.99590342e-05 9.99998571e-01 -4.81515006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:-13.66, Z:-0.48 [[ 9.87354789e-01 1.58517239e-01 1.67487116e-03 1.57670011e+02] [-1.58517077e-01 9.87356209e-01 -2.30283733e-04 -1.36591710e+01] [-1.69019838e-03 -3.81239333e-05 9.99998571e-01 -4.81828801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.70, Y:-13.66, Z:-0.48 [[ 9.87783980e-01 1.55820422e-01 1.67487653e-03 1.57700598e+02] [-1.55820256e-01 9.87785399e-01 -2.30244623e-04 -1.36571039e+01] [-1.69029540e-03 -3.35477393e-05 9.99998571e-01 -4.80182761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.73, Y:-13.66, Z:-0.48 [[ 9.88001719e-01 1.54433797e-01 1.67488193e-03 1.57729440e+02] [-1.54433628e-01 9.88003138e-01 -2.30205341e-04 -1.36578057e+01] [-1.69034009e-03 -3.12148211e-05 9.99998571e-01 -4.80464546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.76, Y:-13.66, Z:-0.48 [[ 9.88167321e-01 1.53370597e-01 1.67488998e-03 1.57758763e+02] [-1.53370427e-01 9.88168740e-01 -2.30146814e-04 -1.36587987e+01] [-1.69037167e-03 -2.94550307e-05 9.99998571e-01 -4.81445422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.79, Y:-13.66, Z:-0.48 [[ 9.88556325e-01 1.50842924e-01 1.67489520e-03 1.57789181e+02] [-1.50842750e-01 9.88557743e-01 -2.30108756e-04 -1.36572954e+01] [-1.69044090e-03 -2.51703330e-05 9.99998571e-01 -4.83682908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:-13.66, Z:-0.48 [[ 9.89424519e-01 1.45039015e-01 1.67490049e-03 1.57819065e+02] [-1.45038833e-01 9.89425937e-01 -2.30070298e-04 -1.36582599e+01] [-1.69055915e-03 -1.52884180e-05 9.99998571e-01 -4.84470550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.85, Y:-13.66, Z:-0.48 [[ 9.89863673e-01 1.42010925e-01 1.67490322e-03 1.57848144e+02] [-1.42010739e-01 9.89865090e-01 -2.30050427e-04 -1.36607474e+01] [-1.69059790e-03 -1.01356828e-05 9.99998571e-01 -4.84855798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:-13.66, Z:-0.49 [[ 9.90324195e-01 1.38763050e-01 1.67491141e-03 1.57878334e+02] [-1.38762859e-01 9.90325611e-01 -2.29990785e-04 -1.36620568e+01] [-1.69062188e-03 -4.65005678e-06 9.99998571e-01 -4.86724535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.91, Y:-13.67, Z:-0.49 [[ 9.90378746e-01 1.38373170e-01 1.67491680e-03 1.57907971e+02] [-1.38372979e-01 9.90380162e-01 -2.29951512e-04 -1.36660267e+01] [-1.69062349e-03 -4.02413565e-06 9.99998571e-01 -4.89238044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.995769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:-13.67, Z:-0.49 [[ 9.90361044e-01 1.38499811e-01 1.67492220e-03 1.57937452e+02] [-1.38499620e-01 9.90362460e-01 -2.29912159e-04 -1.36705173e+01] [-1.69062286e-03 -4.28004286e-06 9.99998571e-01 -4.91830219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.97, Y:-13.67, Z:-0.49 [[ 9.90345193e-01 1.38613106e-01 1.67492760e-03 1.57966005e+02] [-1.38612916e-01 9.90346609e-01 -2.29872805e-04 -1.36740818e+01] [-1.69062225e-03 -4.51317075e-06 9.99998571e-01 -4.90420264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:-13.68, Z:-0.49 [[ 9.90243471e-01 1.39337945e-01 1.67493566e-03 1.57995590e+02] [-1.39337756e-01 9.90244887e-01 -2.29814051e-04 -1.36772881e+01] [-1.69061829e-03 -5.80991313e-06 9.99998571e-01 -4.87864987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:-13.68, Z:-0.49 [[ 9.89815708e-01 1.42344856e-01 1.67494100e-03 1.58023623e+02] [-1.42344671e-01 9.89817125e-01 -2.29775182e-04 -1.36808601e+01] [-1.69059260e-03 -1.09838402e-05 9.99998571e-01 -4.86231947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:-13.68, Z:-0.48 [[ 9.89304237e-01 1.45857195e-01 1.67495545e-03 1.58051445e+02] [-1.45857015e-01 9.89305655e-01 -2.29669759e-04 -1.36824830e+01] [-1.69054189e-03 -1.70907371e-05 9.99998571e-01 -4.83420349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.08, Y:-13.68, Z:-0.48 [[ 9.89103576e-01 1.47211789e-01 1.67496844e-03 1.58079938e+02] [-1.47211611e-01 9.89104994e-01 -2.29574989e-04 -1.36837950e+01] [-1.69051579e-03 -1.95013595e-05 9.99998571e-01 -4.80451061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:-13.68, Z:-0.48 [[ 9.88878274e-01 1.48717696e-01 1.67497893e-03 1.58108191e+02] [-1.48717521e-01 9.88879693e-01 -2.29498403e-04 -1.36846397e+01] [-1.69048313e-03 -2.21527293e-05 9.99998571e-01 -4.81254532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:-13.69, Z:-0.48 [[ 9.89004658e-01 1.47874884e-01 1.67499200e-03 1.58136295e+02] [-1.47874707e-01 9.89006076e-01 -2.29403004e-04 -1.36884294e+01] [-1.69050021e-03 -2.08083119e-05 9.99998571e-01 -4.84535307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:-13.69, Z:-0.49 [[ 9.89313070e-01 1.45797271e-01 1.67500303e-03 1.58164607e+02] [-1.45797091e-01 9.89314488e-01 -2.29322410e-04 -1.36928378e+01] [-1.69053935e-03 -1.73389130e-05 9.99998571e-01 -4.87490376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.19, Y:-13.70, Z:-0.49 [[ 9.90190029e-01 1.39717219e-01 1.67501128e-03 1.58192750e+02] [-1.39717031e-01 9.90191445e-01 -2.29262162e-04 -1.36966099e+01] [-1.69061371e-03 -7.01449575e-06 9.99998571e-01 -4.89604192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.22, Y:-13.70, Z:-0.48 [[ 9.90801238e-01 1.35314821e-01 1.67501910e-03 1.58222343e+02] [-1.35314627e-01 9.90802654e-01 -2.29205019e-04 -1.37002996e+01] [-1.69062820e-03 4.42032741e-07 9.99998571e-01 -4.83829439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.25, Y:-13.70, Z:-0.48 [[ 9.90931235e-01 1.34359528e-01 1.67502424e-03 1.58250879e+02] [-1.34359332e-01 9.90932650e-01 -2.29167416e-04 -1.37044317e+01] [-1.69062704e-03 2.03401104e-06 9.99998571e-01 -4.80758508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:-13.71, Z:-0.48 [[ 9.91183724e-01 1.32484038e-01 1.67503451e-03 1.58279276e+02] [-1.32483840e-01 9.91185139e-01 -2.29092340e-04 -1.37068474e+01] [-1.69062039e-03 5.15759393e-06 9.99998571e-01 -4.80418811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.31, Y:-13.71, Z:-0.48 [[ 9.91406562e-01 1.30806053e-01 1.67504218e-03 1.58308678e+02] [-1.30805852e-01 9.91407977e-01 -2.29036253e-04 -1.37100335e+01] [-1.69060951e-03 7.96272352e-06 9.99998571e-01 -4.80644745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.34, Y:-13.72, Z:-0.48 [[ 9.91983335e-01 1.26357657e-01 1.67504729e-03 1.58336803e+02] [-1.26357450e-01 9.91984749e-01 -2.28998863e-04 -1.37150290e+01] [-1.69055713e-03 1.55083510e-05 9.99998571e-01 -4.78618564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.445769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:158.36, Y:-13.72, Z:-0.48 [[ 9.92299818e-01 1.23847754e-01 1.67505491e-03 1.58364925e+02] [-1.23847543e-01 9.92301231e-01 -2.28943123e-04 -1.37211476e+01] [-1.69051314e-03 1.97287834e-05 9.99998571e-01 -4.78953865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47576923100002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:158.39, Y:-13.73, Z:-0.48 [[ 9.92886263e-01 1.19054869e-01 1.67506251e-03 1.58394769e+02] [-1.19054653e-01 9.92887676e-01 -2.28887509e-04 -1.37300788e+01] [-1.69039910e-03 2.78352788e-05 9.99998571e-01 -4.82084975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.42, Y:-13.74, Z:-0.49 [[ 9.93033387e-01 1.17821414e-01 1.67506251e-03 1.58424242e+02] [-1.17821196e-01 9.93034800e-01 -2.28887509e-04 -1.37357587e+01] [-1.69036321e-03 2.99350711e-05 9.99998571e-01 -4.85039747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:-13.74, Z:-0.49 [[ 9.92952776e-01 1.18498854e-01 1.67506517e-03 1.58452576e+02] [-1.18498636e-01 9.92954189e-01 -2.28868010e-04 -1.37431846e+01] [-1.69038358e-03 2.87621875e-05 9.99998571e-01 -4.89680755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:-13.75, Z:-0.49 [[ 9.92824920e-01 1.19565347e-01 1.67506764e-03 1.58482551e+02] [-1.19565131e-01 9.92826333e-01 -2.28849926e-04 -1.37490721e+01] [-1.69041379e-03 2.69282281e-05 9.99998571e-01 -4.89154480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:-13.76, Z:-0.49 [[ 9.92509915e-01 1.22152621e-01 1.67506764e-03 1.58510977e+02] [-1.22152408e-01 9.92511328e-01 -2.28849926e-04 -1.37569020e+01] [-1.69047823e-03 2.25222740e-05 9.99998571e-01 -4.86951730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:-13.76, Z:-0.49 [[ 9.92289620e-01 1.23929433e-01 1.67507023e-03 1.58540566e+02] [-1.23929224e-01 9.92291034e-01 -2.28831027e-04 -1.37631052e+01] [-1.69051607e-03 1.94765000e-05 9.99998571e-01 -4.87278758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.57, Y:-13.77, Z:-0.49 [[ 9.91890464e-01 1.27084623e-01 1.67507023e-03 1.58569324e+02] [-1.27084418e-01 9.91891878e-01 -2.28831027e-04 -1.37727520e+01] [-1.69056946e-03 1.40999893e-05 9.99998571e-01 -4.89192241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:-13.78, Z:-0.49 [[ 9.91727076e-01 1.28353422e-01 1.67507279e-03 1.58598774e+02] [-1.28353218e-01 9.91728491e-01 -2.28812230e-04 -1.37801690e+01] [-1.69058625e-03 1.19182995e-05 9.99998571e-01 -4.89356504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-13.79, Z:-0.49 [[ 9.91450017e-01 1.30476276e-01 1.67507279e-03 1.58627228e+02] [-1.30476076e-01 9.91451432e-01 -2.28812230e-04 -1.37901890e+01] [-1.69060789e-03 8.29896369e-06 9.99998571e-01 -4.88162742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:-13.80, Z:-0.49 [[ 9.91221133e-01 1.32203856e-01 1.67507535e-03 1.58657278e+02] [-1.32203658e-01 9.91222548e-01 -2.28793545e-04 -1.37970178e+01] [-1.69061984e-03 5.33390771e-06 9.99998571e-01 -4.88213412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:-13.80, Z:-0.49 [[ 9.91221133e-01 1.32203856e-01 1.67507535e-03 1.58687993e+02] [-1.32203658e-01 9.91222548e-01 -2.28793545e-04 -1.38012130e+01] [-1.69061984e-03 5.33390771e-06 9.99998571e-01 -4.88265822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:-13.81, Z:-0.49 [[ 9.90924946e-01 1.34405898e-01 1.67507535e-03 1.58717443e+02] [-1.34405703e-01 9.90926362e-01 -2.28793545e-04 -1.38073945e+01] [-1.69062752e-03 1.57755170e-06 9.99998571e-01 -4.87784144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:-13.82, Z:-0.49 [[ 9.90054123e-01 1.40677032e-01 1.67507535e-03 1.58747278e+02] [-1.40676846e-01 9.90055540e-01 -2.28793545e-04 -1.38150991e+01] [-1.69060362e-03 -9.12632446e-06 9.99998571e-01 -4.86446574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:-13.82, Z:-0.49 [[ 9.89259836e-01 1.46158031e-01 1.67507535e-03 1.58776273e+02] [-1.46157853e-01 9.89261254e-01 -2.28793545e-04 -1.38221768e+01] [-1.69052715e-03 -1.84891525e-05 9.99998571e-01 -4.87018655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.81, Y:-13.83, Z:-0.49 [[ 9.88875396e-01 1.48736836e-01 1.67507785e-03 1.58805732e+02] [-1.48736661e-01 9.88876814e-01 -2.28775214e-04 -1.38281444e+01] [-1.69047295e-03 -2.29153067e-05 9.99998571e-01 -4.86251092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:-13.83, Z:-0.48 [[ 9.88532895e-01 1.50996391e-01 1.67508032e-03 1.58835882e+02] [-1.50996221e-01 9.88534314e-01 -2.28757130e-04 -1.38336901e+01] [-1.69041587e-03 -2.67968495e-05 9.99998571e-01 -4.84849444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.87, Y:-13.84, Z:-0.48 [[ 9.87927404e-01 1.54908484e-01 1.67508032e-03 1.58865291e+02] [-1.54908319e-01 9.87928824e-01 -2.28757130e-04 -1.38376839e+01] [-1.69029655e-03 -3.34884392e-05 9.99998571e-01 -4.80963361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.985769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:158.89, Y:-13.84, Z:-0.48 [[ 9.87708625e-01 1.56297363e-01 1.67508276e-03 1.58894846e+02] [-1.56297200e-01 9.87710045e-01 -2.28739277e-04 -1.38413827e+01] [-1.69024741e-03 -3.58829879e-05 9.99998571e-01 -4.80409425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:-13.85, Z:-0.48 [[ 9.87500021e-01 1.57609969e-01 1.67508759e-03 1.58924860e+02] [-1.57609808e-01 9.87501441e-01 -2.28703916e-04 -1.38454681e+01] [-1.69019742e-03 -3.81651101e-05 9.99998571e-01 -4.80580175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:-13.85, Z:-0.48 [[ 9.87476676e-01 1.57756170e-01 1.67508759e-03 1.58955863e+02] [-1.57756009e-01 9.87478096e-01 -2.28703916e-04 -1.38486692e+01] [-1.69019175e-03 -3.84153494e-05 9.99998571e-01 -4.81488871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:-13.85, Z:-0.48 [[ 9.87439431e-01 1.57989125e-01 1.67508214e-03 1.58986154e+02] [-1.57988964e-01 9.87440851e-01 -2.28743792e-04 -1.38467888e+01] [-1.69018357e-03 -3.87738523e-05 9.99998571e-01 -4.82261384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:-13.85, Z:-0.48 [[ 9.87437655e-01 1.58000229e-01 1.67508484e-03 1.59015444e+02] [-1.58000068e-01 9.87439075e-01 -2.28723988e-04 -1.38473787e+01] [-1.69018267e-03 -3.88128416e-05 9.99998571e-01 -4.82000890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.05, Y:-13.85, Z:-0.48 [[ 9.87454214e-01 1.57896705e-01 1.67508220e-03 1.59045250e+02] [-1.57896544e-01 9.87455634e-01 -2.28743361e-04 -1.38491206e+01] [-1.69018718e-03 -3.86160938e-05 9.99998571e-01 -4.81762614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-13.85, Z:-0.48 [[ 9.87825806e-01 1.55555044e-01 1.67508756e-03 1.59074827e+02] [-1.55554880e-01 9.87827225e-01 -2.28704109e-04 -1.38492133e+01] [-1.69027317e-03 -3.46482229e-05 9.99998571e-01 -4.83770547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.195769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.11, Y:-13.85, Z:-0.49 [[ 9.88422721e-01 1.51715915e-01 1.67509022e-03 1.59105637e+02] [-1.51715745e-01 9.88424140e-01 -2.28684587e-04 -1.38484055e+01] [-1.69039470e-03 -2.81005200e-05 9.99998571e-01 -4.86811687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:-13.85, Z:-0.49 [[ 9.88680107e-01 1.50029461e-01 1.67509022e-03 1.59135554e+02] [-1.50029289e-01 9.88681526e-01 -2.28684587e-04 -1.38503948e+01] [-1.69044018e-03 -2.52166928e-05 9.99998571e-01 -4.88787940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:-13.85, Z:-0.49 [[ 9.88949710e-01 1.48241916e-01 1.67509293e-03 1.59165722e+02] [-1.48241741e-01 9.88951128e-01 -2.28664740e-04 -1.38522942e+01] [-1.69048274e-03 -2.21807647e-05 9.99998571e-01 -4.87181982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-13.85, Z:-0.49 [[ 9.89416637e-01 1.45092769e-01 1.67509826e-03 1.59195393e+02] [-1.45092590e-01 9.89418055e-01 -2.28625719e-04 -1.38526262e+01] [-1.69054440e-03 -1.68382539e-05 9.99998571e-01 -4.85392761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.23, Y:-13.86, Z:-0.49 [[ 9.89724235e-01 1.42979484e-01 1.67510370e-03 1.59225142e+02] [-1.42979302e-01 9.89725652e-01 -2.28585846e-04 -1.38559357e+01] [-1.69057619e-03 -1.32682049e-05 9.99998571e-01 -4.86732567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:-13.86, Z:-0.49 [[ 9.89983471e-01 1.41173375e-01 1.67510640e-03 1.59254697e+02] [-1.41173190e-01 9.89984888e-01 -2.28566029e-04 -1.38597856e+01] [-1.69059746e-03 -1.02035239e-05 9.99998571e-01 -4.87113171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.28, Y:-13.86, Z:-0.49 [[ 9.90323574e-01 1.38767479e-01 1.67511178e-03 1.59283839e+02] [-1.38767291e-01 9.90324990e-01 -2.28526598e-04 -1.38625398e+01] [-1.69061712e-03 -6.13544704e-06 9.99998571e-01 -4.85682579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.31, Y:-13.87, Z:-0.48 [[ 9.90394053e-01 1.38263569e-01 1.67511446e-03 1.59313119e+02] [-1.38263380e-01 9.90395469e-01 -2.28506994e-04 -1.38657847e+01] [-1.69061996e-03 -5.29502006e-06 9.99998571e-01 -4.84898420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.34, Y:-13.87, Z:-0.49 [[ 9.90382445e-01 1.38346690e-01 1.67511962e-03 1.59342944e+02] [-1.38346502e-01 9.90383862e-01 -2.28469105e-04 -1.38696454e+01] [-1.69061939e-03 -5.47514838e-06 9.99998571e-01 -4.86985457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.37, Y:-13.87, Z:-0.49 [[ 9.90376850e-01 1.38386740e-01 1.67512495e-03 1.59371082e+02] [-1.38386552e-01 9.90378266e-01 -2.28430014e-04 -1.38732567e+01] [-1.69061903e-03 -5.58296812e-06 9.99998571e-01 -4.89583964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.495769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:159.40, Y:-13.88, Z:-0.49 [[ 9.90307947e-01 1.38878952e-01 1.67513290e-03 1.59400783e+02] [-1.38878765e-01 9.90309364e-01 -2.28371738e-04 -1.38760315e+01] [-1.69061582e-03 -6.48204080e-06 9.99998571e-01 -4.88149805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.525769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.43, Y:-13.88, Z:-0.49 [[ 9.90207692e-01 1.39591977e-01 1.67513799e-03 1.59430049e+02] [-1.39591790e-01 9.90209109e-01 -2.28334398e-04 -1.38792322e+01] [-1.69061055e-03 -7.73703409e-06 9.99998571e-01 -4.85188453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:-13.88, Z:-0.48 [[ 9.89833089e-01 1.42223943e-01 1.67514322e-03 1.59458960e+02] [-1.42223760e-01 9.89834506e-01 -2.28296014e-04 -1.38814863e+01] [-1.69058372e-03 -1.22702185e-05 9.99998571e-01 -4.83283296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:-13.88, Z:-0.49 [[ 9.89723172e-01 1.42986843e-01 1.67515366e-03 1.59487608e+02] [-1.42986661e-01 9.89724589e-01 -2.28219358e-04 -1.38831589e+01] [-1.69057314e-03 -1.36506430e-05 9.99998571e-01 -4.85950577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.52, Y:-13.88, Z:-0.49 [[ 9.89675880e-01 1.43313806e-01 1.67516145e-03 1.59516717e+02] [-1.43313625e-01 9.89677297e-01 -2.28162194e-04 -1.38842686e+01] [-1.69056805e-03 -1.42668403e-05 9.99998571e-01 -4.89123238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-13.89, Z:-0.49 [[ 9.89628197e-01 1.43642702e-01 1.67517181e-03 1.59544769e+02] [-1.43642522e-01 9.89629614e-01 -2.28086131e-04 -1.38850815e+01] [-1.69056254e-03 -1.49054370e-05 9.99998571e-01 -4.91436013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:-13.89, Z:-0.49 [[ 9.89828787e-01 1.42253881e-01 1.67518468e-03 1.59573805e+02] [-1.42253699e-01 9.89830204e-01 -2.27991513e-04 -1.38876806e+01] [-1.69058108e-03 -1.26286558e-05 9.99998571e-01 -4.89863142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:-13.89, Z:-0.49 [[ 9.89998809e-01 1.41065774e-01 1.67519488e-03 1.59602740e+02] [-1.41065591e-01 9.90000226e-01 -2.27916558e-04 -1.38904294e+01] [-1.69059454e-03 -1.06752350e-05 9.99998571e-01 -4.90056018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.63, Y:-13.89, Z:-0.49 [[ 9.90195215e-01 1.39680457e-01 1.67520524e-03 1.59630552e+02] [-1.39680271e-01 9.90196632e-01 -2.27840406e-04 -1.38931292e+01] [-1.69060744e-03 -8.38664208e-06 9.99998571e-01 -4.90357031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.66, Y:-13.90, Z:-0.49 [[ 9.90580233e-01 1.36923317e-01 1.67521814e-03 1.59659332e+02] [-1.36923128e-01 9.90581650e-01 -2.27745490e-04 -1.38974814e+01] [-1.69062402e-03 -3.77592741e-06 9.99998571e-01 -4.88374525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.69, Y:-13.90, Z:-0.49 [[ 9.90802678e-01 1.35304274e-01 1.67522846e-03 1.59687266e+02] [-1.35304083e-01 9.90804094e-01 -2.27669560e-04 -1.39014518e+01] [-1.69062788e-03 -1.08964021e-06 9.99998571e-01 -4.90070256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.825769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:159.72, Y:-13.90, Z:-0.49 [[ 9.90793051e-01 1.35374750e-01 1.67523367e-03 1.59716325e+02] [-1.35374559e-01 9.90794468e-01 -2.27631248e-04 -1.39043676e+01] [-1.69062777e-03 -1.24856038e-06 9.99998571e-01 -4.90192587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.855769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.74, Y:-13.91, Z:-0.49 [[ 9.90632482e-01 1.36544789e-01 1.67524382e-03 1.59744437e+02] [-1.36544599e-01 9.90633898e-01 -2.27556502e-04 -1.39066920e+01] [-1.69062497e-03 -3.32063331e-06 9.99998571e-01 -4.88247543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.77, Y:-13.91, Z:-0.48 [[ 9.90130181e-01 1.40140707e-01 1.67525647e-03 1.59771973e+02] [-1.40140522e-01 9.90131598e-01 -2.27463352e-04 -1.39074488e+01] [-1.69060124e-03 -9.55298684e-06 9.99998571e-01 -4.82493496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.915769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.80, Y:-13.91, Z:-0.48 [[ 9.89995293e-01 1.41090445e-01 1.67526873e-03 1.59800492e+02] [-1.41090262e-01 9.89996710e-01 -2.27373017e-04 -1.39094342e+01] [-1.69059069e-03 -1.12658872e-05 9.99998571e-01 -4.81258362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.945769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:159.83, Y:-13.91, Z:-0.48 [[ 9.89897951e-01 1.41771789e-01 1.67527944e-03 1.59828341e+02] [-1.41771608e-01 9.89899368e-01 -2.27294078e-04 -1.39088235e+01] [-1.69058195e-03 -1.25091169e-05 9.99998571e-01 -4.83511169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:159.86, Y:-13.91, Z:-0.49 [[ 9.89996873e-01 1.41079357e-01 1.67529278e-03 1.59857597e+02] [-1.41079175e-01 9.89998290e-01 -2.27195692e-04 -1.39108182e+01] [-1.69058961e-03 -1.14258986e-05 9.99998571e-01 -4.85516850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.89, Y:-13.91, Z:-0.49 [[ 9.90162609e-01 1.39911408e-01 1.67530248e-03 1.59885620e+02] [-1.39911224e-01 9.90164026e-01 -2.27124192e-04 -1.39125306e+01] [-1.69060151e-03 -9.50373765e-06 9.99998571e-01 -4.86917082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.92, Y:-13.91, Z:-0.49 [[ 9.90547866e-01 1.37157279e-01 1.67531457e-03 1.59915050e+02] [-1.37157091e-01 9.90549282e-01 -2.27034957e-04 -1.39115451e+01] [-1.69062114e-03 -4.89227965e-06 9.99998571e-01 -4.87653217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.94, Y:-13.91, Z:-0.49 [[ 9.90610150e-01 1.36706705e-01 1.67532533e-03 1.59944183e+02] [-1.36706516e-01 9.90611567e-01 -2.26955516e-04 -1.39130948e+01] [-1.69062299e-03 -4.20345201e-06 9.99998571e-01 -4.88596835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.97, Y:-13.91, Z:-0.49 [[ 9.90636734e-01 1.36513935e-01 1.67533610e-03 1.59972140e+02] [-1.36513747e-01 9.90638151e-01 -2.26875952e-04 -1.39132944e+01] [-1.69062359e-03 -3.95475626e-06 9.99998571e-01 -4.88978912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.00, Y:-13.91, Z:-0.49 [[ 9.90664239e-01 1.36314188e-01 1.67534948e-03 1.60000016e+02] [-1.36313999e-01 9.90665656e-01 -2.26777174e-04 -1.39149440e+01] [-1.69062413e-03 -3.71355071e-06 9.99998571e-01 -4.89326857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.03, Y:-13.92, Z:-0.49 [[ 9.90987507e-01 1.33943848e-01 1.67536269e-03 1.60028959e+02] [-1.33943657e-01 9.90988923e-01 -2.26679538e-04 -1.39158196e+01] [-1.69062819e-03 2.32386388e-07 9.99998571e-01 -4.87210912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:160.06, Y:-13.92, Z:-0.49 [[ 9.91292687e-01 1.31666251e-01 1.67537213e-03 1.60057523e+02] [-1.31666056e-01 9.91294103e-01 -2.26609704e-04 -1.39190673e+01] [-1.69062336e-03 4.04690136e-06 9.99998571e-01 -4.85237356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:-13.92, Z:-0.49 [[ 9.91932777e-01 1.26753929e-01 1.67538273e-03 1.60084925e+02] [-1.26753727e-01 9.91934192e-01 -2.26531298e-04 -1.39225879e+01] [-1.69058315e-03 1.23428139e-05 9.99998571e-01 -4.86005763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.245769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:-13.93, Z:-0.49 [[ 9.92186606e-01 1.24751481e-01 1.67539590e-03 1.60113182e+02] [-1.24751276e-01 9.92188020e-01 -2.26433867e-04 -1.39256084e+01] [-1.69055570e-03 1.56568731e-05 9.99998571e-01 -4.87081664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.275769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.14, Y:-13.93, Z:-0.49 [[ 9.92373388e-01 1.23256852e-01 1.67540531e-03 1.60141435e+02] [-1.23256646e-01 9.92374802e-01 -2.26364214e-04 -1.39281709e+01] [-1.69053096e-03 1.81329832e-05 9.99998571e-01 -4.87246340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.305769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:160.17, Y:-13.93, Z:-0.49 [[ 9.92497111e-01 1.22256604e-01 1.67541578e-03 1.60169698e+02] [-1.22256397e-01 9.92498525e-01 -2.26286681e-04 -1.39294607e+01] [-1.69051274e-03 1.97585807e-05 9.99998571e-01 -4.86785027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.20, Y:-13.93, Z:-0.48 [[ 9.92458940e-01 1.22566083e-01 1.67542875e-03 1.60198093e+02] [-1.22565875e-01 9.92460354e-01 -2.26190640e-04 -1.39320458e+01] [-1.69051991e-03 1.91345316e-05 9.99998571e-01 -4.84902670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:-13.93, Z:-0.48 [[ 9.92360429e-01 1.23361145e-01 1.67543811e-03 1.60227155e+02] [-1.23360939e-01 9.92361843e-01 -2.26121262e-04 -1.39324435e+01] [-1.69053543e-03 1.77101731e-05 9.99998571e-01 -4.82074519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.395769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:160.26, Y:-13.93, Z:-0.48 [[ 9.92377856e-01 1.23220870e-01 1.67544824e-03 1.60255844e+02] [-1.23220664e-01 9.92379271e-01 -2.26046227e-04 -1.39346959e+01] [-1.69053371e-03 1.78734255e-05 9.99998571e-01 -4.78453270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.425769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.29, Y:-13.93, Z:-0.49 [[ 9.92655929e-01 1.20960323e-01 1.67545927e-03 1.60285296e+02] [-1.20960114e-01 9.92657343e-01 -2.25964426e-04 -1.39346761e+01] [-1.69048968e-03 2.16411832e-05 9.99998571e-01 -4.87002398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-13.94, Z:-0.49 [[ 9.92820106e-01 1.19605308e-01 1.67547031e-03 1.60313433e+02] [-1.19605097e-01 9.92821520e-01 -2.25882524e-04 -1.39374802e+01] [-1.69045973e-03 2.38659214e-05 9.99998571e-01 -4.90236455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-13.94, Z:-0.49 [[ 9.93030734e-01 1.17843766e-01 1.67548405e-03 1.60341240e+02] [-1.17843553e-01 9.93032148e-01 -2.25780558e-04 -1.39395754e+01] [-1.69041636e-03 2.67620402e-05 9.99998571e-01 -4.90532006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:-13.94, Z:-0.49 [[ 9.93085039e-01 1.17385251e-01 1.67549648e-03 1.60369982e+02] [-1.17385037e-01 9.93086452e-01 -2.25688287e-04 -1.39419264e+01] [-1.69040533e-03 2.74494441e-05 9.99998571e-01 -4.87791671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.545769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.40, Y:-13.94, Z:-0.48 [[ 9.93121757e-01 1.17074205e-01 1.67550656e-03 1.60398287e+02] [-1.17073990e-01 9.93123170e-01 -2.25613446e-04 -1.39429833e+01] [-1.69039790e-03 2.79033827e-05 9.99998571e-01 -4.83979445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-13.95, Z:-0.48 [[ 9.93104920e-01 1.17216940e-01 1.67551911e-03 1.60426593e+02] [-1.17216727e-01 9.93106333e-01 -2.25520202e-04 -1.39453791e+01] [-1.69040342e-03 2.75663565e-05 9.99998571e-01 -4.83797275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.45, Y:-13.95, Z:-0.49 [[ 9.93061827e-01 1.17581467e-01 1.67552911e-03 1.60454360e+02] [-1.17581254e-01 9.93063240e-01 -2.25445882e-04 -1.39479172e+01] [-1.69041462e-03 2.68708865e-05 9.99998571e-01 -4.86060367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.48, Y:-13.95, Z:-0.49 [[ 9.93043958e-01 1.17732282e-01 1.67554276e-03 1.60483496e+02] [-1.17732070e-01 9.93045371e-01 -2.25344351e-04 -1.39502691e+01] [-1.69042029e-03 2.65117293e-05 9.99998571e-01 -4.93358669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.51, Y:-13.95, Z:-0.49 [[ 9.93020197e-01 1.17932524e-01 1.67555263e-03 1.60511861e+02] [-1.17932312e-01 9.93021611e-01 -2.25270968e-04 -1.39520977e+01] [-1.69042674e-03 2.60968257e-05 9.99998571e-01 -4.92561822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.54, Y:-13.96, Z:-0.49 [[ 9.93025707e-01 1.17886122e-01 1.67556314e-03 1.60540940e+02] [-1.17885910e-01 9.93027120e-01 -2.25192736e-04 -1.39559143e+01] [-1.69042674e-03 2.60968909e-05 9.99998571e-01 -4.92611406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.57, Y:-13.96, Z:-0.49 [[ 9.92956120e-01 1.18470822e-01 1.67557366e-03 1.60569436e+02] [-1.18470611e-01 9.92957534e-01 -2.25114439e-04 -1.39575821e+01] [-1.69044298e-03 2.50225246e-05 9.99998571e-01 -4.91193635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.60, Y:-13.96, Z:-0.49 [[ 9.92878819e-01 1.19116930e-01 1.67558435e-03 1.60597467e+02] [-1.19116719e-01 9.92880233e-01 -2.25034841e-04 -1.39585993e+01] [-1.69046004e-03 2.38422162e-05 9.99998571e-01 -4.90740467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.63, Y:-13.96, Z:-0.49 [[ 9.92925051e-01 1.18730938e-01 1.67559758e-03 1.60626787e+02] [-1.18730728e-01 9.92926464e-01 -2.24936287e-04 -1.39555785e+01] [-1.69045208e-03 2.43999544e-05 9.99998571e-01 -4.90660647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.66, Y:-13.95, Z:-0.49 [[ 9.93190133e-01 1.16492716e-01 1.67560725e-03 1.60655673e+02] [-1.16492502e-01 9.93191546e-01 -2.24864268e-04 -1.39534744e+01] [-1.69039400e-03 2.81372919e-05 9.99998571e-01 -4.91711266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:-13.95, Z:-0.49 [[ 9.93397392e-01 1.14711871e-01 1.67561764e-03 1.60683685e+02] [-1.14711655e-01 9.93398805e-01 -2.24786799e-04 -1.39545252e+01] [-1.69034228e-03 3.10897480e-05 9.99998571e-01 -4.92522410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.71, Y:-13.96, Z:-0.49 [[ 9.93616989e-01 1.12793934e-01 1.67563056e-03 1.60712582e+02] [-1.12793715e-01 9.93618401e-01 -2.24690468e-04 -1.39550830e+01] [-1.69028108e-03 3.42556697e-05 9.99998571e-01 -4.90702209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:160.74, Y:-13.95, Z:-0.49 [[ 9.94059513e-01 1.08824982e-01 1.67564082e-03 1.60742347e+02] [-1.08824758e-01 9.94060925e-01 -2.24613944e-04 -1.39513468e+01] [-1.69013267e-03 4.09284220e-05 9.99998571e-01 -4.88181557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.77, Y:-13.95, Z:-0.49 [[ 9.94235559e-01 1.07204686e-01 1.67565110e-03 1.60770383e+02] [-1.07204459e-01 9.94236970e-01 -2.24537172e-04 -1.39520441e+01] [-1.69006571e-03 4.36055701e-05 9.99998571e-01 -4.88135909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:160.80, Y:-13.95, Z:-0.49 [[ 9.94535662e-01 1.04383949e-01 1.67566529e-03 1.60799446e+02] [-1.04383719e-01 9.94537073e-01 -2.24431227e-04 -1.39514815e+01] [-1.68993827e-03 4.82926837e-05 9.99998571e-01 -4.88105047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.995769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.83, Y:-13.95, Z:-0.49 [[ 9.94643128e-01 1.03354926e-01 1.67567542e-03 1.60826475e+02] [-1.03354695e-01 9.94644538e-01 -2.24355605e-04 -1.39526160e+01] [-1.68988966e-03 4.99648393e-05 9.99998571e-01 -4.88658801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.86, Y:-13.95, Z:-0.49 [[ 9.94800889e-01 1.01825262e-01 1.67569692e-03 1.60855917e+02] [-1.01825029e-01 9.94802299e-01 -2.24194885e-04 -1.39518328e+01] [-1.68981585e-03 5.24013832e-05 9.99998571e-01 -4.86773312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:-13.95, Z:-0.49 [[ 9.94981342e-01 1.00046596e-01 1.67570692e-03 1.60883702e+02] [-1.00046360e-01 9.94982751e-01 -2.24120158e-04 -1.39545510e+01] [-1.68972194e-03 5.53469975e-05 9.99998571e-01 -4.87050370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:-13.96, Z:-0.49 [[ 9.95227998e-01 9.75624123e-02 1.67572181e-03 1.60912199e+02] [-9.75621733e-02 9.95229407e-01 -2.24008698e-04 -1.39585595e+01] [-1.68958246e-03 5.94526663e-05 9.99998571e-01 -4.87407876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:-13.97, Z:-0.49 [[ 9.95791760e-01 9.16294804e-02 1.67573208e-03 1.60940855e+02] [-9.16292331e-02 9.95793168e-01 -2.23931876e-04 -1.39654487e+01] [-1.68920132e-03 6.94434721e-05 9.99998571e-01 -4.90482928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.97, Y:-13.97, Z:-0.49 [[ 9.96254857e-01 8.64491259e-02 1.67574229e-03 1.60968714e+02] [-8.64488714e-02 9.96256263e-01 -2.23855476e-04 -1.39729699e+01] [-1.68882086e-03 7.81510758e-05 9.99998571e-01 -4.93706205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.175769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.00, Y:-13.98, Z:-0.49 [[ 9.96384500e-01 8.49418650e-02 1.67575249e-03 1.60996597e+02] [-8.49416085e-02 9.96385906e-01 -2.23779059e-04 -1.39789841e+01] [-1.68870437e-03 8.06288742e-05 9.99998571e-01 -4.94160743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:-13.99, Z:-0.49 [[ 9.96416143e-01 8.45698592e-02 1.67576268e-03 1.61024548e+02] [-8.45696023e-02 9.96417549e-01 -2.23702729e-04 -1.39852609e+01] [-1.68867785e-03 8.11824274e-05 9.99998571e-01 -4.92850428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:-13.99, Z:-0.49 [[ 9.96215460e-01 8.69019528e-02 1.67577316e-03 1.61051183e+02] [-8.69016993e-02 9.96216866e-01 -2.23624191e-04 -1.39949166e+01] [-1.68886687e-03 7.71503413e-05 9.99998571e-01 -4.90976015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:-14.00, Z:-0.49 [[ 9.96047444e-01 8.88069879e-02 1.67578732e-03 1.61078732e+02] [-8.88067373e-02 9.96048851e-01 -2.23518030e-04 -1.40012392e+01] [-1.68901600e-03 7.38133585e-05 9.99998571e-01 -4.90217638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-14.01, Z:-0.49 [[ 9.95667228e-01 9.29729160e-02 1.67580013e-03 1.61105690e+02] [-9.29726714e-02 9.95668636e-01 -2.23421942e-04 -1.40093161e+01] [-1.68931382e-03 6.66502908e-05 9.99998571e-01 -4.92171233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.13, Y:-14.02, Z:-0.49 [[ 9.95465784e-01 9.51055454e-02 1.67581281e-03 1.61133835e+02] [-9.51053040e-02 9.95467192e-01 -2.23326822e-04 -1.40159845e+01] [-1.68945629e-03 6.29355230e-05 9.99998571e-01 -4.94324362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:-14.03, Z:-0.50 [[ 9.95218391e-01 9.76603571e-02 1.67582329e-03 1.61160820e+02] [-9.76601194e-02 9.95219800e-01 -2.23248140e-04 -1.40264026e+01] [-1.68961501e-03 5.85195525e-05 9.99998571e-01 -4.96261493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:-14.03, Z:-0.50 [[ 9.95173513e-01 9.81166136e-02 1.67583373e-03 1.61188163e+02] [-9.81163767e-02 9.95174923e-01 -2.23169756e-04 -1.40335335e+01] [-1.68964436e-03 5.76658971e-05 9.99998571e-01 -4.95429819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:-14.04, Z:-0.49 [[ 9.95182669e-01 9.80237040e-02 1.67584665e-03 1.61215092e+02] [-9.80234671e-02 9.95184079e-01 -2.23072704e-04 -1.40402250e+01] [-1.68964231e-03 5.77257903e-05 9.99998571e-01 -4.94399496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:-14.05, Z:-0.49 [[ 9.95182782e-01 9.80225548e-02 1.67585944e-03 1.61241725e+02] [-9.80223181e-02 9.95184192e-01 -2.22976580e-04 -1.40516474e+01] [-1.68964555e-03 5.76308268e-05 9.99998571e-01 -4.88613593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.27, Y:-14.06, Z:-0.49 [[ 9.95030900e-01 9.95524982e-02 1.67587176e-03 1.61269396e+02] [-9.95522638e-02 9.95032310e-01 -2.22883899e-04 -1.40628505e+01] [-1.68973520e-03 5.49395383e-05 9.99998571e-01 -4.87638080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:-14.07, Z:-0.49 [[ 9.94856430e-01 1.01281167e-01 1.67588191e-03 1.61297204e+02] [-1.01280935e-01 9.94857840e-01 -2.22807563e-04 -1.40701162e+01] [-1.68983047e-03 5.19266500e-05 9.99998571e-01 -4.91105298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.33, Y:-14.08, Z:-0.49 [[ 9.94614435e-01 1.03630677e-01 1.67588947e-03 1.61325207e+02] [-1.03630449e-01 9.94615846e-01 -2.22750690e-04 -1.40768798e+01] [-1.68995003e-03 4.78778735e-05 9.99998571e-01 -4.94226842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:-14.09, Z:-0.50 [[ 9.93949350e-01 1.09826595e-01 1.67589995e-03 1.61352480e+02] [-1.09826376e-01 9.93950762e-01 -2.22671815e-04 -1.40852870e+01] [-1.69021732e-03 3.72664879e-05 9.99998571e-01 -4.95913632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:-14.09, Z:-0.49 [[ 9.93544301e-01 1.13432415e-01 1.67591324e-03 1.61380856e+02] [-1.13432201e-01 9.93545714e-01 -2.22571718e-04 -1.40903125e+01] [-1.69034327e-03 3.10323353e-05 9.99998571e-01 -4.93637866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:-14.09, Z:-0.50 [[ 9.92832514e-01 1.19502258e-01 1.67592382e-03 1.61408525e+02] [-1.19502053e-01 9.92833929e-01 -2.22492032e-04 -1.40935394e+01] [-1.69050233e-03 2.06209863e-05 9.99998571e-01 -4.95269840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.44, Y:-14.10, Z:-0.50 [[ 9.92588178e-01 1.21515022e-01 1.67593701e-03 1.61436912e+02] [-1.21514820e-01 9.92589592e-01 -2.22392689e-04 -1.40971907e+01] [-1.69054168e-03 1.70931701e-05 9.99998571e-01 -4.96883176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:-14.10, Z:-0.50 [[ 9.92489401e-01 1.22319170e-01 1.67594477e-03 1.61464297e+02] [-1.22318969e-01 9.92490816e-01 -2.22334131e-04 -1.41020290e+01] [-1.69055552e-03 1.56644312e-05 9.99998571e-01 -4.95714241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:-14.11, Z:-0.49 [[ 9.92592614e-01 1.21478776e-01 1.67595772e-03 1.61492861e+02] [-1.21478574e-01 9.92594029e-01 -2.22236494e-04 -1.41067729e+01] [-1.69054264e-03 1.69973482e-05 9.99998571e-01 -4.92980589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.745769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:-14.11, Z:-0.49 [[ 9.92779782e-01 1.19939554e-01 1.67596811e-03 1.61520853e+02] [-1.19939349e-01 9.92781196e-01 -2.22158088e-04 -1.41107683e+01] [-1.69051517e-03 1.95395323e-05 9.99998571e-01 -4.90734233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:-14.12, Z:-0.49 [[ 9.92998868e-01 1.18111979e-01 1.67598099e-03 1.61549638e+02] [-1.18111772e-01 9.93000282e-01 -2.22060908e-04 -1.41158891e+01] [-1.69047765e-03 2.25531462e-05 9.99998571e-01 -4.88019138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:-14.12, Z:-0.49 [[ 9.93171454e-01 1.16651851e-01 1.67599129e-03 1.61576757e+02] [-1.16651642e-01 9.93172868e-01 -2.21983121e-04 -1.41221679e+01] [-1.69044382e-03 2.49601622e-05 9.99998571e-01 -4.86320631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:-14.13, Z:-0.48 [[ 9.93243879e-01 1.16033561e-01 1.67600408e-03 1.61603747e+02] [-1.16033351e-01 9.93245293e-01 -2.21886566e-04 -1.41267895e+01] [-1.69042945e-03 2.59151037e-05 9.99998571e-01 -4.84932050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.63, Y:-14.13, Z:-0.48 [[ 9.93297336e-01 1.15575052e-01 1.67601681e-03 1.61632340e+02] [-1.15574842e-01 9.93298750e-01 -2.21790355e-04 -1.41318403e+01] [-1.69041883e-03 2.65983908e-05 9.99998571e-01 -4.84184638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:-14.14, Z:-0.49 [[ 9.93280320e-01 1.15721204e-01 1.67602688e-03 1.61659482e+02] [-1.15720995e-01 9.93281734e-01 -2.21714186e-04 -1.41401990e+01] [-1.69042392e-03 2.62728395e-05 9.99998571e-01 -4.87311112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:-14.15, Z:-0.49 [[ 9.93258336e-01 1.15909741e-01 1.67603942e-03 1.61688142e+02] [-1.15909532e-01 9.93259750e-01 -2.21619382e-04 -1.41467721e+01] [-1.69043034e-03 2.58563543e-05 9.99998571e-01 -4.89989149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:-14.16, Z:-0.49 [[ 9.93154015e-01 1.16800229e-01 1.67604940e-03 1.61715469e+02] [-1.16800022e-01 9.93155429e-01 -2.21543888e-04 -1.41566266e+01] [-1.69045394e-03 2.42645954e-05 9.99998571e-01 -4.94192323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:-14.16, Z:-0.49 [[ 9.93050352e-01 1.17678333e-01 1.67605436e-03 1.61744712e+02] [-1.17678127e-01 9.93051766e-01 -2.21506360e-04 -1.41639698e+01] [-1.69047524e-03 2.27320317e-05 9.99998571e-01 -4.94976364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:-14.17, Z:-0.49 [[ 9.92949622e-01 1.18525269e-01 1.67605933e-03 1.61773356e+02] [-1.18525064e-01 9.92951036e-01 -2.21468768e-04 -1.41710535e+01] [-1.69049449e-03 2.12522907e-05 9.99998571e-01 -4.93864347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:-14.18, Z:-0.49 [[ 9.92840127e-01 1.19438992e-01 1.67606429e-03 1.61802149e+02] [-1.19438788e-01 9.92841542e-01 -2.21431208e-04 -1.41816821e+01] [-1.69051377e-03 1.96587007e-05 9.99998571e-01 -4.90122808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:-14.19, Z:-0.49 [[ 9.92739568e-01 1.20271945e-01 1.67606675e-03 1.61829971e+02] [-1.20271743e-01 9.92740983e-01 -2.21412580e-04 -1.41934722e+01] [-1.69052987e-03 1.82215606e-05 9.99998571e-01 -4.90391782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:-14.20, Z:-0.49 [[ 9.92628650e-01 1.21183968e-01 1.67606920e-03 1.61860181e+02] [-1.21183767e-01 9.92630065e-01 -2.21394042e-04 -1.42012349e+01] [-1.69054608e-03 1.66496902e-05 9.99998571e-01 -4.92799475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:-14.21, Z:-0.50 [[ 9.92421255e-01 1.22870838e-01 1.67606920e-03 1.61889912e+02] [-1.22870640e-01 9.92422670e-01 -2.21394042e-04 -1.42081060e+01] [-1.69057194e-03 1.37764585e-05 9.99998571e-01 -4.95016873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:-14.22, Z:-0.50 [[ 9.91886558e-01 1.27115094e-01 1.67606920e-03 1.61918527e+02] [-1.27114902e-01 9.91887974e-01 -2.21394042e-04 -1.42152280e+01] [-1.69061540e-03 6.54440299e-06 9.99998571e-01 -4.95359161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:-14.22, Z:-0.49 [[ 9.91643332e-01 1.28998812e-01 1.67606687e-03 1.61948981e+02] [-1.28998622e-01 9.91644748e-01 -2.21411623e-04 -1.42205941e+01] [-1.69062475e-03 3.35104196e-06 9.99998571e-01 -4.94689885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:-14.23, Z:-0.49 [[ 9.91193555e-01 1.32410451e-01 1.67606687e-03 1.61977907e+02] [-1.32410266e-01 9.91194972e-01 -2.21411623e-04 -1.42288648e+01] [-1.69062627e-03 -2.46668741e-06 9.99998571e-01 -4.93456566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:-14.24, Z:-0.49 [[ 9.90942284e-01 1.34277999e-01 1.67606928e-03 1.62006900e+02] [-1.34277816e-01 9.90943701e-01 -2.21393419e-04 -1.42354349e+01] [-1.69061856e-03 -5.67082272e-06 9.99998571e-01 -4.92474735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:-14.24, Z:-0.49 [[ 9.90723880e-01 1.35880038e-01 1.67607406e-03 1.62036687e+02] [-1.35879858e-01 9.90725298e-01 -2.21357220e-04 -1.42415340e+01] [-1.69060700e-03 -8.44082219e-06 9.99998571e-01 -4.91793041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:-14.25, Z:-0.49 [[ 9.90383027e-01 1.38342515e-01 1.67607406e-03 1.62065823e+02] [-1.38342338e-01 9.90384445e-01 -2.21357220e-04 -1.42465796e+01] [-1.69058079e-03 -1.26435710e-05 9.99998571e-01 -4.92771377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:-14.25, Z:-0.49 [[ 9.90081650e-01 1.40483154e-01 1.67607162e-03 1.62095004e+02] [-1.40482981e-01 9.90083069e-01 -2.21375705e-04 -1.42500354e+01] [-1.69054969e-03 -1.62795136e-05 9.99998571e-01 -4.92954000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:-14.25, Z:-0.49 [[ 9.89688457e-01 1.43226911e-01 1.67607398e-03 1.62124567e+02] [-1.43226742e-01 9.89689876e-01 -2.21357812e-04 -1.42531978e+01] [-1.69049785e-03 -2.09833447e-05 9.99998571e-01 -4.92276769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.15, Y:-14.26, Z:-0.49 [[ 9.88818797e-01 1.49112635e-01 1.67607868e-03 1.62153018e+02] [-1.49112474e-01 9.88820217e-01 -2.21322258e-04 -1.42552728e+01] [-1.69034243e-03 -3.10766302e-05 9.99998571e-01 -4.91731761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.18, Y:-14.26, Z:-0.49 [[ 9.88077023e-01 1.53951252e-01 1.67608335e-03 1.62180950e+02] [-1.53951098e-01 9.88078444e-01 -2.21286853e-04 -1.42557653e+01] [-1.69016922e-03 -3.93864163e-05 9.99998571e-01 -4.87366530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-14.26, Z:-0.48 [[ 9.87892025e-01 1.55133933e-01 1.67609598e-03 1.62208316e+02] [-1.55133781e-01 9.87893446e-01 -2.21191184e-04 -1.42577640e+01] [-1.69011849e-03 -4.15060996e-05 9.99998571e-01 -4.83981924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:-14.26, Z:-0.48 [[ 9.87729013e-01 1.56168459e-01 1.67610838e-03 1.62237015e+02] [-1.56168309e-01 9.87730434e-01 -2.21097175e-04 -1.42596336e+01] [-1.69007166e-03 -4.33709153e-05 9.99998571e-01 -4.82878084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.27, Y:-14.26, Z:-0.49 [[ 9.87302834e-01 1.58840502e-01 1.67611753e-03 1.62266408e+02] [-1.58840356e-01 9.87304255e-01 -2.21027773e-04 -1.42564724e+01] [-1.68994613e-03 -4.80137584e-05 9.99998571e-01 -4.87006318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:-14.26, Z:-0.49 [[ 9.87074966e-01 1.60250433e-01 1.67612663e-03 1.62295140e+02] [-1.60250288e-01 9.87076388e-01 -2.20958731e-04 -1.42555950e+01] [-1.68987375e-03 -5.04969437e-05 9.99998571e-01 -4.89249620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:-14.26, Z:-0.49 [[ 9.87081589e-01 1.60209636e-01 1.67613574e-03 1.62324232e+02] [-1.60209491e-01 9.87083011e-01 -2.20889597e-04 -1.42593314e+01] [-1.68987376e-03 -5.04967997e-05 9.99998571e-01 -4.89299204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:-14.25, Z:-0.49 [[ 9.86536424e-01 1.63533097e-01 1.67614487e-03 1.62354257e+02] [-1.63532958e-01 9.86537847e-01 -2.20820320e-04 -1.42549162e+01] [-1.68969178e-03 -5.62576390e-05 9.99998571e-01 -4.88623065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:-14.25, Z:-0.49 [[ 9.86345861e-01 1.64678577e-01 1.67615399e-03 1.62382383e+02] [-1.64678439e-01 9.86347283e-01 -2.20751043e-04 -1.42549146e+01] [-1.68962290e-03 -5.82895457e-05 9.99998571e-01 -4.89208804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:-14.26, Z:-0.49 [[ 9.86264096e-01 1.65167560e-01 1.67616762e-03 1.62411402e+02] [-1.65167424e-01 9.86265519e-01 -2.20647507e-04 -1.42554662e+01] [-1.68959014e-03 -5.92315737e-05 9.99998571e-01 -4.90990749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.44, Y:-14.25, Z:-0.49 [[ 9.86652963e-01 1.62828503e-01 1.67617670e-03 1.62440091e+02] [-1.62828363e-01 9.86654385e-01 -2.20578480e-04 -1.42537784e+01] [-1.68972356e-03 -5.52946986e-05 9.99998571e-01 -4.92433525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:-14.25, Z:-0.49 [[ 9.87414359e-01 1.58145734e-01 1.67619034e-03 1.62469382e+02] [-1.58145587e-01 9.87415781e-01 -2.20474804e-04 -1.42524445e+01] [-1.68996395e-03 -4.73821185e-05 9.99998571e-01 -4.91646499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:-14.25, Z:-0.49 [[ 9.87801705e-01 1.55708002e-01 1.67620066e-03 1.62497304e+02] [-1.55707852e-01 9.87803126e-01 -2.20396338e-04 -1.42533586e+01] [-1.69007372e-03 -4.32897252e-05 9.99998571e-01 -4.94856028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:-14.25, Z:-0.50 [[ 9.88122862e-01 1.53656757e-01 1.67621354e-03 1.62526467e+02] [-1.53656605e-01 9.88124283e-01 -2.20298337e-04 -1.42549583e+01] [-1.69015763e-03 -3.98794575e-05 9.99998571e-01 -4.96979059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:-14.26, Z:-0.49 [[ 9.88695285e-01 1.49929392e-01 1.67622267e-03 1.62555764e+02] [-1.49929234e-01 9.88696706e-01 -2.20228799e-04 -1.42569841e+01] [-1.69029461e-03 -3.35756067e-05 9.99998571e-01 -4.94956637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:-14.26, Z:-0.50 [[ 9.88886199e-01 1.48664980e-01 1.67623307e-03 1.62583846e+02] [-1.48664821e-01 9.88887619e-01 -2.20149646e-04 -1.42599175e+01] [-1.69033467e-03 -3.14939426e-05 9.99998571e-01 -4.95248395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:-14.26, Z:-0.49 [[ 9.88894333e-01 1.48610863e-01 1.67624606e-03 1.62612973e+02] [-1.48610704e-01 9.88895753e-01 -2.20050698e-04 -1.42588404e+01] [-1.69033453e-03 -3.15012179e-05 9.99998571e-01 -4.92362867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:-14.26, Z:-0.49 [[ 9.88738108e-01 1.49646731e-01 1.67625519e-03 1.62641380e+02] [-1.49646574e-01 9.88739528e-01 -2.19981159e-04 -1.42592780e+01] [-1.69029922e-03 -3.33420901e-05 9.99998571e-01 -4.91665480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.67, Y:-14.26, Z:-0.49 [[ 9.88265331e-01 1.52737769e-01 1.67626889e-03 1.62669428e+02] [-1.52737615e-01 9.88266752e-01 -2.19876681e-04 -1.42586510e+01] [-1.69018428e-03 -3.87328122e-05 9.99998571e-01 -4.93014942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-14.26, Z:-0.49 [[ 9.88057181e-01 1.54078540e-01 1.67628258e-03 1.62698711e+02] [-1.54078389e-01 9.88058602e-01 -2.19772291e-04 -1.42604975e+01] [-1.69012761e-03 -4.11313284e-05 9.99998571e-01 -4.94878883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-14.26, Z:-0.50 [[ 9.87919165e-01 1.54961008e-01 1.67629172e-03 1.62726864e+02] [-1.54960859e-01 9.87920586e-01 -2.19702551e-04 -1.42612263e+01] [-1.69008842e-03 -4.27112433e-05 9.99998571e-01 -4.95483075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:-14.26, Z:-0.49 [[ 9.87884197e-01 1.55183775e-01 1.67630540e-03 1.62756719e+02] [-1.55183626e-01 9.87885618e-01 -2.19598071e-04 -1.42570894e+01] [-1.69007606e-03 -4.31976869e-05 9.99998571e-01 -4.92224293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:-14.26, Z:-0.49 [[ 9.87965319e-01 1.54666474e-01 1.67631559e-03 1.62784976e+02] [-1.54666324e-01 9.87966740e-01 -2.19520268e-04 -1.42569780e+01] [-1.69009648e-03 -4.23911589e-05 9.99998571e-01 -4.91175061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:-14.25, Z:-0.49 [[ 9.88176547e-01 1.53311129e-01 1.67632830e-03 1.62815070e+02] [-1.53310977e-01 9.88177968e-01 -2.19423214e-04 -1.42528709e+01] [-1.69015071e-03 -4.01706549e-05 9.99998571e-01 -4.87459603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:-14.25, Z:-0.49 [[ 9.88218010e-01 1.53043634e-01 1.67633873e-03 1.62842985e+02] [-1.53043482e-01 9.88219431e-01 -2.19343503e-04 -1.42513021e+01] [-1.69015963e-03 -3.97935151e-05 9.99998571e-01 -4.85086101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.87, Y:-14.24, Z:-0.48 [[ 9.88024146e-01 1.54290234e-01 1.67636206e-03 1.62872011e+02] [-1.54290084e-01 9.88025567e-01 -2.19165046e-04 -1.42437994e+01] [-1.69010360e-03 -4.21056853e-05 9.99998571e-01 -4.82002725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:162.90, Y:-14.24, Z:-0.48 [[ 9.87843775e-01 1.55440878e-01 1.67637774e-03 1.62899634e+02] [-1.55440730e-01 9.87845196e-01 -2.19045037e-04 -1.42422103e+01] [-1.69005025e-03 -4.41951032e-05 9.99998571e-01 -4.83022418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.93, Y:-14.24, Z:-0.49 [[ 9.87587810e-01 1.57058927e-01 1.67639601e-03 1.62929073e+02] [-1.57058782e-01 9.87589232e-01 -2.18905145e-04 -1.42356656e+01] [-1.68997165e-03 -4.71046611e-05 9.99998571e-01 -4.87425800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:-14.23, Z:-0.49 [[ 9.87605991e-01 1.56944566e-01 1.67641074e-03 1.62956235e+02] [-1.56944421e-01 9.87607412e-01 -2.18792272e-04 -1.42332980e+01] [-1.68997393e-03 -4.70227538e-05 9.99998571e-01 -4.86898326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.275769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.98, Y:-14.23, Z:-0.48 [[ 9.87631566e-01 1.56783541e-01 1.67642785e-03 1.62983541e+02] [-1.56783395e-01 9.87632988e-01 -2.18661064e-04 -1.42308572e+01] [-1.68997790e-03 -4.68794806e-05 9.99998571e-01 -4.84748168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.01, Y:-14.22, Z:-0.48 [[ 9.87591748e-01 1.57034167e-01 1.67645440e-03 1.63013115e+02] [-1.57034022e-01 9.87593169e-01 -2.18457326e-04 -1.42234990e+01] [-1.68996018e-03 -4.75137243e-05 9.99998571e-01 -4.79219790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.04, Y:-14.22, Z:-0.48 [[ 9.87555736e-01 1.57260475e-01 1.67646896e-03 1.63041052e+02] [-1.57260331e-01 9.87557158e-01 -2.18345504e-04 -1.42211292e+01] [-1.68994604e-03 -4.80137090e-05 9.99998571e-01 -4.78343262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.365769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.07, Y:-14.21, Z:-0.48 [[ 9.87630559e-01 1.56789888e-01 1.67648583e-03 1.63070480e+02] [-1.56789743e-01 9.87631981e-01 -2.18215952e-04 -1.42119109e+01] [-1.68996507e-03 -4.73390391e-05 9.99998571e-01 -4.80527032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.395769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.10, Y:-14.21, Z:-0.48 [[ 9.87693090e-01 1.56395491e-01 1.67650161e-03 1.63097980e+02] [-1.56395345e-01 9.87694512e-01 -2.18094614e-04 -1.42092186e+01] [-1.68998045e-03 -4.67865050e-05 9.99998571e-01 -4.83846177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:-14.20, Z:-0.49 [[ 9.87907587e-01 1.55034800e-01 1.67651992e-03 1.63127281e+02] [-1.55034653e-01 9.87909008e-01 -2.17953815e-04 -1.42018676e+01] [-1.69003955e-03 -4.46004564e-05 9.99998571e-01 -4.90669079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:-14.20, Z:-0.49 [[ 9.88096163e-01 1.53828350e-01 1.67653249e-03 1.63155846e+02] [-1.53828201e-01 9.88097585e-01 -2.17857059e-04 -1.41994615e+01] [-1.69009029e-03 -4.26342530e-05 9.99998571e-01 -4.91577046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:-14.19, Z:-0.49 [[ 9.88717647e-01 1.49781853e-01 1.67657234e-03 1.63184737e+02] [-1.49781699e-01 9.88719068e-01 -2.17549903e-04 -1.41923147e+01] [-1.69024407e-03 -3.60244261e-05 9.99998571e-01 -4.91016538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:-14.19, Z:-0.49 [[ 9.89125620e-01 1.47063578e-01 1.67661389e-03 1.63211969e+02] [-1.47063421e-01 9.89127041e-01 -2.17229277e-04 -1.41915805e+01] [-1.69033065e-03 -3.17015298e-05 9.99998571e-01 -4.92280739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:-14.19, Z:-0.49 [[ 9.89715895e-01 1.43037183e-01 1.67664208e-03 1.63239272e+02] [-1.43037021e-01 9.89717315e-01 -2.17011470e-04 -1.41891937e+01] [-1.69044240e-03 -2.50421864e-05 9.99998571e-01 -4.90713058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:-14.19, Z:-0.49 [[ 9.89937573e-01 1.41494843e-01 1.67665939e-03 1.63268299e+02] [-1.41494679e-01 9.89938992e-01 -2.16877650e-04 -1.41892068e+01] [-1.69047757e-03 -2.25430469e-05 9.99998571e-01 -4.88105486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-14.19, Z:-0.49 [[ 9.90140714e-01 1.40066256e-01 1.67666948e-03 1.63295550e+02] [-1.40066090e-01 9.90142133e-01 -2.16799629e-04 -1.41882070e+01] [-1.69050740e-03 -2.01823981e-05 9.99998571e-01 -4.87193718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.635769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.32, Y:-14.18, Z:-0.49 [[ 9.90420848e-01 1.38071478e-01 1.67669696e-03 1.63324100e+02] [-1.38071309e-01 9.90422267e-01 -2.16586875e-04 -1.41833966e+01] [-1.69054247e-03 -1.69915879e-05 9.99998571e-01 -4.88420115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.35, Y:-14.18, Z:-0.49 [[ 9.90619444e-01 1.36639327e-01 1.67673724e-03 1.63351123e+02] [-1.36639156e-01 9.90620863e-01 -2.16274548e-04 -1.41830114e+01] [-1.69056250e-03 -1.48621893e-05 9.99998571e-01 -4.88764150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.38, Y:-14.18, Z:-0.49 [[ 9.91108700e-01 1.33044100e-01 1.67675468e-03 1.63379885e+02] [-1.33043925e-01 9.91110119e-01 -2.16139316e-04 -1.41799129e+01] [-1.69060459e-03 -8.86446668e-06 9.99998571e-01 -4.87250950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.41, Y:-14.18, Z:-0.49 [[ 9.91369128e-01 1.31089440e-01 1.67679414e-03 1.63407589e+02] [-1.31089263e-01 9.91370546e-01 -2.15832706e-04 -1.41802372e+01] [-1.69061771e-03 -5.83982644e-06 9.99998571e-01 -4.87592400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.44, Y:-14.18, Z:-0.49 [[ 9.91630661e-01 1.29096166e-01 1.67683317e-03 1.63436024e+02] [-1.29095986e-01 9.91632079e-01 -2.15529053e-04 -1.41806819e+01] [-1.69062554e-03 -2.74721411e-06 9.99998571e-01 -4.88547887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.46, Y:-14.18, Z:-0.49 [[ 9.92255786e-01 1.24200016e-01 1.67684834e-03 1.63464128e+02] [-1.24199829e-01 9.92257203e-01 -2.15410956e-04 -1.41787458e+01] [-1.69061889e-03 5.47848967e-06 9.99998571e-01 -4.90037444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.49, Y:-14.18, Z:-0.49 [[ 9.92606114e-01 1.21368405e-01 1.67686360e-03 1.63492150e+02] [-1.21368214e-01 9.92607531e-01 -2.15292111e-04 -1.41796741e+01] [-1.69059710e-03 1.01823253e-05 9.99998571e-01 -4.89905641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-14.18, Z:-0.49 [[ 9.93261756e-01 1.15880424e-01 1.67687901e-03 1.63519555e+02] [-1.15880226e-01 9.93263171e-01 -2.15172032e-04 -1.41793148e+01] [-1.69051639e-03 1.94050320e-05 9.99998571e-01 -4.86412267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.55, Y:-14.18, Z:-0.48 [[ 9.93594089e-01 1.12995465e-01 1.67689688e-03 1.63546947e+02] [-1.12995263e-01 9.93595503e-01 -2.15032694e-04 -1.41819367e+01] [-1.69045492e-03 2.41738094e-05 9.99998571e-01 -4.84705886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.57, Y:-14.19, Z:-0.49 [[ 9.94220890e-01 1.07340629e-01 1.67691215e-03 1.63573385e+02] [-1.07340419e-01 9.94222303e-01 -2.14913557e-04 -1.41860184e+01] [-1.69029241e-03 3.36710958e-05 9.99998571e-01 -4.85796141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.60, Y:-14.19, Z:-0.49 [[ 9.94538257e-01 1.04359206e-01 1.67693970e-03 1.63600620e+02] [-1.04358993e-01 9.94539670e-01 -2.14698359e-04 -1.41910253e+01] [-1.69018880e-03 3.85219939e-05 9.99998571e-01 -4.88698581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.63, Y:-14.20, Z:-0.49 [[ 9.94856379e-01 1.01281651e-01 1.67695458e-03 1.63627083e+02] [-1.01281434e-01 9.94857791e-01 -2.14582059e-04 -1.41961022e+01] [-1.69006455e-03 4.36339667e-05 9.99998571e-01 -4.90793231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.65, Y:-14.20, Z:-0.49 [[ 9.95312844e-01 9.66929686e-02 1.67697181e-03 1.63653342e+02] [-9.66927444e-02 9.95314255e-01 -2.14447320e-04 -1.42033653e+01] [-1.68984950e-03 5.12911660e-05 9.99998571e-01 -4.91604310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:-14.21, Z:-0.49 [[ 9.95414016e-01 9.56458271e-02 1.67698891e-03 1.63681153e+02] [-9.56456016e-02 9.95415427e-01 -2.14313519e-04 -1.42077140e+01] [-1.68979882e-03 5.29340676e-05 9.99998571e-01 -4.90758169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.055769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.71, Y:-14.21, Z:-0.49 [[ 9.95380085e-01 9.59983053e-02 1.67700366e-03 1.63709042e+02] [-9.59980806e-02 9.95381496e-01 -2.14198063e-04 -1.42129934e+01] [-1.68982106e-03 5.22193542e-05 9.99998571e-01 -4.89685412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.085769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.74, Y:-14.22, Z:-0.49 [[ 9.95319505e-01 9.66243751e-02 1.67701839e-03 1.63736821e+02] [-9.66241514e-02 9.95320917e-01 -2.14082637e-04 -1.42185360e+01] [-1.68985708e-03 5.10401459e-05 9.99998571e-01 -4.89130617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.115769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.76, Y:-14.23, Z:-0.49 [[ 9.95266393e-01 9.71699307e-02 1.67703303e-03 1.63763775e+02] [-9.71697080e-02 9.95267804e-01 -2.13967922e-04 -1.42273652e+01] [-1.68988823e-03 4.99982722e-05 9.99998571e-01 -4.86093294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.145769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.79, Y:-14.23, Z:-0.49 [[ 9.95319617e-01 9.66232253e-02 1.67704798e-03 1.63789622e+02] [-9.66230020e-02 9.95321028e-01 -2.13850676e-04 -1.42344047e+01] [-1.68986406e-03 5.08083631e-05 9.99998571e-01 -4.85840448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.175769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.82, Y:-14.24, Z:-0.49 [[ 9.95417615e-01 9.56083602e-02 1.67706525e-03 1.63816790e+02] [-9.56081357e-02 9.95419027e-01 -2.13715098e-04 -1.42427672e+01] [-1.68981561e-03 5.23946905e-05 9.99998571e-01 -4.85971178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.84, Y:-14.26, Z:-0.49 [[ 9.95567016e-01 9.40399089e-02 1.67708029e-03 1.63841948e+02] [-9.40396824e-02 9.95568427e-01 -2.13597049e-04 -1.42550421e+01] [-1.68973483e-03 5.49380794e-05 9.99998571e-01 -4.85373512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.235769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.87, Y:-14.26, Z:-0.49 [[ 9.95566645e-01 9.40438359e-02 1.67709765e-03 1.63869128e+02] [-9.40436096e-02 9.95568056e-01 -2.13460626e-04 -1.42617283e+01] [-1.68973951e-03 5.47939619e-05 9.99998571e-01 -4.86210085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:-14.27, Z:-0.49 [[ 9.95429701e-01 9.54824509e-02 1.67711244e-03 1.63895995e+02] [-9.54822268e-02 9.95431112e-01 -2.13344418e-04 -1.42730459e+01] [-1.68982054e-03 5.22349398e-05 9.99998571e-01 -4.89607197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.92, Y:-14.28, Z:-0.49 [[ 9.95328089e-01 9.65359116e-02 1.67712722e-03 1.63923407e+02] [-9.65356892e-02 9.95329501e-01 -2.13228098e-04 -1.42817650e+01] [-1.68987837e-03 5.03292833e-05 9.99998571e-01 -4.91270003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:-14.29, Z:-0.49 [[ 9.95020569e-01 9.96556812e-02 1.67714200e-03 1.63949287e+02] [-9.96554634e-02 9.95021981e-01 -2.13111849e-04 -1.42944447e+01] [-1.69003096e-03 4.49143106e-05 9.99998571e-01 -4.90133058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.98, Y:-14.30, Z:-0.49 [[ 9.94819082e-01 1.01647335e-01 1.67715920e-03 1.63977003e+02] [-1.01647120e-01 9.94820495e-01 -2.12976346e-04 -1.43018929e+01] [-1.69012083e-03 4.13945294e-05 9.99998571e-01 -4.89001557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.00, Y:-14.31, Z:-0.49 [[ 9.94619310e-01 1.03583858e-01 1.67717419e-03 1.64003085e+02] [-1.03583647e-01 9.94620723e-01 -2.12858258e-04 -1.43091186e+01] [-1.69020089e-03 3.79851149e-05 9.99998571e-01 -4.88843478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.03, Y:-14.32, Z:-0.49 [[ 9.94253163e-01 1.07041280e-01 1.67719796e-03 1.64029471e+02] [-1.07041073e-01 9.94254577e-01 -2.12670774e-04 -1.43196980e+01] [-1.69032630e-03 3.19195203e-05 9.99998571e-01 -4.90506145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:-14.33, Z:-0.49 [[ 9.94084250e-01 1.08598765e-01 1.67721328e-03 1.64055877e+02] [-1.08598561e-01 9.94085664e-01 -2.12549942e-04 -1.43256188e+01] [-1.69037633e-03 2.91496016e-05 9.99998571e-01 -4.90469452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:-14.33, Z:-0.49 [[ 9.93880981e-01 1.10443568e-01 1.67723754e-03 1.64082284e+02] [-1.10443367e-01 9.93882396e-01 -2.12358271e-04 -1.43343354e+01] [-1.69043047e-03 2.58190846e-05 9.99998571e-01 -4.89620140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:-14.34, Z:-0.49 [[ 9.93888478e-01 1.10376089e-01 1.67726144e-03 1.64110564e+02] [-1.10375888e-01 9.93889892e-01 -2.12169338e-04 -1.43377765e+01] [-1.69043162e-03 2.57434383e-05 9.99998571e-01 -4.89668320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.14, Y:-14.34, Z:-0.49 [[ 9.93847305e-01 1.10746199e-01 1.67727584e-03 1.64137554e+02] [-1.10745999e-01 9.93848720e-01 -2.12055460e-04 -1.43443949e+01] [-1.69044278e-03 2.49991592e-05 9.99998571e-01 -4.90795029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:-14.35, Z:-0.50 [[ 9.93707538e-01 1.11993374e-01 1.67729085e-03 1.64164824e+02] [-1.11993176e-01 9.93708953e-01 -2.11936685e-04 -1.43543155e+01] [-1.69047444e-03 2.27579524e-05 9.99998571e-01 -4.95267835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.19, Y:-14.36, Z:-0.49 [[ 9.93631359e-01 1.12667252e-01 1.67730082e-03 1.64192582e+02] [-1.12667055e-01 9.93632774e-01 -2.11857717e-04 -1.43597970e+01] [-1.69049050e-03 2.15319269e-05 9.99998571e-01 -4.93918026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.22, Y:-14.36, Z:-0.49 [[ 9.93572346e-01 1.13186486e-01 1.67731810e-03 1.64220804e+02] [-1.13186290e-01 9.93573761e-01 -2.11720868e-04 -1.43648678e+01] [-1.69050319e-03 2.05105879e-05 9.99998571e-01 -4.91261681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.25, Y:-14.37, Z:-0.49 [[ 9.93590259e-01 1.13029126e-01 1.67732781e-03 1.64248704e+02] [-1.13028929e-01 9.93591675e-01 -2.11643885e-04 -1.43703630e+01] [-1.69050087e-03 2.07007357e-05 9.99998571e-01 -4.88613001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.28, Y:-14.37, Z:-0.49 [[ 9.93620236e-01 1.12765300e-01 1.67734262e-03 1.64275127e+02] [-1.12765104e-01 9.93621652e-01 -2.11526482e-04 -1.43749951e+01] [-1.69049679e-03 2.10312791e-05 9.99998571e-01 -4.92345313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.30, Y:-14.38, Z:-0.50 [[ 9.93661761e-01 1.12398804e-01 1.67735980e-03 1.64304117e+02] [-1.12398608e-01 9.93663177e-01 -2.11390112e-04 -1.43787491e+01] [-1.69049067e-03 2.15173646e-05 9.99998571e-01 -4.95075351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.33, Y:-14.38, Z:-0.50 [[ 9.93694342e-01 1.12110397e-01 1.67736961e-03 1.64331262e+02] [-1.12110200e-01 9.93695757e-01 -2.11312260e-04 -1.43820462e+01] [-1.69048537e-03 2.19295555e-05 9.99998571e-01 -4.96232988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.36, Y:-14.39, Z:-0.49 [[ 9.93765785e-01 1.11475335e-01 1.67738670e-03 1.64359769e+02] [-1.11475137e-01 9.93767201e-01 -2.11176490e-04 -1.43853746e+01] [-1.69047286e-03 2.28730575e-05 9.99998571e-01 -4.91575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.805769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.39, Y:-14.39, Z:-0.49 [[ 9.93812057e-01 1.11062059e-01 1.67739634e-03 1.64387602e+02] [-1.11061861e-01 9.93813473e-01 -2.11099881e-04 -1.43885706e+01] [-1.69046427e-03 2.34988468e-05 9.99998571e-01 -4.88995400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:-14.39, Z:-0.49 [[ 9.93908438e-01 1.10196199e-01 1.67741075e-03 1.64415461e+02] [-1.10196000e-01 9.93909854e-01 -2.10985332e-04 -1.43921588e+01] [-1.69044486e-03 2.48561468e-05 9.99998571e-01 -4.91072551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-14.40, Z:-0.50 [[ 9.94006959e-01 1.09303944e-01 1.67742556e-03 1.64442755e+02] [-1.09303744e-01 9.94008374e-01 -2.10867536e-04 -1.43964744e+01] [-1.69042371e-03 2.62549043e-05 9.99998571e-01 -4.95622302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.47, Y:-14.40, Z:-0.50 [[ 9.94144750e-01 1.08043516e-01 1.67743782e-03 1.64471127e+02] [-1.08043315e-01 9.94146165e-01 -2.10769959e-04 -1.44015720e+01] [-1.69039070e-03 2.82999064e-05 9.99998571e-01 -5.00285939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.925769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.50, Y:-14.41, Z:-0.50 [[ 9.94385603e-01 1.05803872e-01 1.67744739e-03 1.64498357e+02] [-1.05803667e-01 9.94387017e-01 -2.10693747e-04 -1.44089246e+01] [-1.69032412e-03 3.20307419e-05 9.99998571e-01 -5.01772426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.955769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.53, Y:-14.41, Z:-0.49 [[ 9.94213556e-01 1.07408528e-01 1.67745929e-03 1.64526004e+02] [-1.07408326e-01 9.94214970e-01 -2.10599000e-04 -1.44125437e+01] [-1.69037527e-03 2.92072866e-05 9.99998571e-01 -4.87919977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.55, Y:-14.41, Z:-0.49 [[ 9.93935665e-01 1.09950349e-01 1.67747103e-03 1.64554745e+02] [-1.09950151e-01 9.93937081e-01 -2.10505415e-04 -1.44149168e+01] [-1.69044580e-03 2.47906467e-05 9.99998571e-01 -4.87925541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.015769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.58, Y:-14.42, Z:-0.49 [[ 9.93568407e-01 1.13221056e-01 1.67748045e-03 1.64582355e+02] [-1.13220862e-01 9.93569823e-01 -2.10430353e-04 -1.44164123e+01] [-1.69051910e-03 1.91511686e-05 9.99998571e-01 -4.86535015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:-14.42, Z:-0.49 [[ 9.92751198e-01 1.20175889e-01 1.67749459e-03 1.64609171e+02] [-1.20175705e-01 9.92752616e-01 -2.10317534e-04 -1.44156397e+01] [-1.69061224e-03 7.19888732e-06 9.99998571e-01 -4.91435990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-14.42, Z:-0.49 [[ 9.92440239e-01 1.22717388e-01 1.67751101e-03 1.64636852e+02] [-1.22717208e-01 9.92441657e-01 -2.10186542e-04 -1.44172017e+01] [-1.69062535e-03 2.73811485e-06 9.99998571e-01 -4.93677510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.67, Y:-14.42, Z:-0.49 [[ 9.92036123e-01 1.25942514e-01 1.67752491e-03 1.64665337e+02] [-1.25942339e-01 9.92037541e-01 -2.10075498e-04 -1.44150890e+01] [-1.69062513e-03 -2.86892803e-06 9.99998571e-01 -4.94517716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.69, Y:-14.42, Z:-0.50 [[ 9.91913993e-01 1.26900816e-01 1.67753885e-03 1.64694455e+02] [-1.26900642e-01 9.91915411e-01 -2.09964136e-04 -1.44154123e+01] [-1.69062126e-03 -4.61439323e-06 9.99998571e-01 -4.95512122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.165769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.72, Y:-14.42, Z:-0.50 [[ 9.91882549e-01 1.27146351e-01 1.67754813e-03 1.64723383e+02] [-1.27146178e-01 9.91883968e-01 -2.09889963e-04 -1.44156979e+01] [-1.69061984e-03 -5.10764134e-06 9.99998571e-01 -4.97668079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.195769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.75, Y:-14.41, Z:-0.50 [[ 9.92130846e-01 1.25194134e-01 1.67755738e-03 1.64750397e+02] [-1.25193958e-01 9.92132264e-01 -2.09816040e-04 -1.44148332e+01] [-1.69062654e-03 -1.85508310e-06 9.99998571e-01 -4.99981095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:-14.41, Z:-0.50 [[ 9.92911058e-01 1.18847872e-01 1.67757349e-03 1.64778420e+02] [-1.18847687e-01 9.92912475e-01 -2.09687089e-04 -1.44147428e+01] [-1.69060452e-03 8.82489994e-06 9.99998571e-01 -4.98172798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.81, Y:-14.42, Z:-0.50 [[ 9.93354086e-01 1.15086251e-01 1.67759015e-03 1.64807555e+02] [-1.15086061e-01 9.93355503e-01 -2.09553739e-04 -1.44165568e+01] [-1.69056016e-03 1.50938193e-05 9.99998571e-01 -4.96431478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.84, Y:-14.42, Z:-0.50 [[ 9.93749822e-01 1.11617548e-01 1.67759917e-03 1.64835650e+02] [-1.11617353e-01 9.93751238e-01 -2.09481493e-04 -1.44183255e+01] [-1.69049807e-03 2.09230162e-05 9.99998571e-01 -4.95329482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.86, Y:-14.42, Z:-0.50 [[ 9.94349925e-01 1.06138647e-01 1.67761400e-03 1.64863818e+02] [-1.06138444e-01 9.94351340e-01 -2.09362661e-04 -1.44205479e+01] [-1.69035920e-03 3.01204060e-05 9.99998571e-01 -5.00124162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.89, Y:-14.42, Z:-0.50 [[ 9.94592594e-01 1.03840056e-01 1.67762625e-03 1.64891229e+02] [-1.03839850e-01 9.94594008e-01 -2.09264463e-04 -1.44232125e+01] [-1.69028705e-03 3.39284263e-05 9.99998571e-01 -4.99783350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.92, Y:-14.43, Z:-0.50 [[ 9.95031499e-01 9.95464805e-02 1.67764055e-03 1.64920470e+02] [-9.95462693e-02 9.95032912e-01 -2.09149768e-04 -1.44252609e+01] [-1.69012769e-03 4.11077489e-05 9.99998571e-01 -4.95645546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:164.95, Y:-14.43, Z:-0.50 [[ 9.95239909e-01 9.74407973e-02 1.67765024e-03 1.64947037e+02] [-9.74405832e-02 9.95241322e-01 -2.09072041e-04 -1.44288385e+01] [-1.69003899e-03 4.46056216e-05 9.99998571e-01 -4.96055482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:-14.43, Z:-0.50 [[ 9.95798122e-01 9.15602858e-02 1.67767154e-03 1.64974233e+02] [-9.15600636e-02 9.95799534e-01 -2.08900933e-04 -1.44348842e+01] [-1.68975157e-03 5.44154439e-05 9.99998571e-01 -4.97724440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.00, Y:-14.44, Z:-0.50 [[ 9.96151524e-01 8.76317658e-02 1.67768586e-03 1.65001405e+02] [-8.76315383e-02 9.96152935e-01 -2.08785873e-04 -1.44394041e+01] [-1.68952797e-03 6.09641722e-05 9.99998571e-01 -4.98602781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.03, Y:-14.45, Z:-0.50 [[ 9.96753390e-01 8.04976089e-02 1.67769769e-03 1.65029002e+02] [-8.04973715e-02 9.96754799e-01 -2.08690784e-04 -1.44483288e+01] [-1.68905233e-03 7.29629926e-05 9.99998571e-01 -4.95916187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.06, Y:-14.46, Z:-0.49 [[ 9.96993546e-01 7.74664737e-02 1.67770692e-03 1.65055816e+02] [-7.74662321e-02 9.96994955e-01 -2.08616557e-04 -1.44558918e+01] [-1.68882612e-03 7.80237269e-05 9.99998571e-01 -4.93953377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:-14.46, Z:-0.49 [[ 9.97157990e-01 7.53201683e-02 1.67771837e-03 1.65083689e+02] [-7.53199238e-02 9.97159398e-01 -2.08524449e-04 -1.44636208e+01] [-1.68865874e-03 8.15662011e-05 9.99998571e-01 -4.91720786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.11, Y:-14.47, Z:-0.49 [[ 9.97295847e-01 7.34722929e-02 1.67772761e-03 1.65110922e+02] [-7.34720459e-02 9.97297255e-01 -2.08450056e-04 -1.44738611e+01] [-1.68850845e-03 8.46202953e-05 9.99998571e-01 -4.93356054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.14, Y:-14.48, Z:-0.50 [[ 9.97279220e-01 7.36976390e-02 1.67773908e-03 1.65137516e+02] [-7.36973925e-02 9.97280628e-01 -2.08357739e-04 -1.44818977e+01] [-1.68853215e-03 8.41458486e-05 9.99998571e-01 -4.96582622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.16, Y:-14.50, Z:-0.50 [[ 9.97123860e-01 7.57706617e-02 1.67774807e-03 1.65164910e+02] [-7.57704183e-02 9.97125268e-01 -2.08285331e-04 -1.44970130e+01] [-1.68870691e-03 8.05626005e-05 9.99998571e-01 -4.99211883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.675769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.19, Y:-14.51, Z:-0.50 [[ 9.97024583e-01 7.70659852e-02 1.67775806e-03 1.65192339e+02] [-7.70657437e-02 9.97025992e-01 -2.08204775e-04 -1.45059374e+01] [-1.68881390e-03 7.82876064e-05 9.99998571e-01 -5.00736785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.705769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.22, Y:-14.52, Z:-0.50 [[ 9.96666657e-01 8.15644545e-02 1.67777147e-03 1.65219527e+02] [-8.15642195e-02 9.96668067e-01 -2.08096690e-04 -1.45199081e+01] [-1.68915454e-03 7.05569124e-05 9.99998571e-01 -4.95881403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.25, Y:-14.53, Z:-0.49 [[ 9.96460713e-01 8.40430362e-02 1.67778091e-03 1.65247451e+02] [-8.40428049e-02 9.96462124e-01 -2.08020508e-04 -1.45288590e+01] [-1.68932781e-03 6.62788500e-05 9.99998571e-01 -4.94408112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.27, Y:-14.54, Z:-0.50 [[ 9.96271162e-01 8.62609759e-02 1.67779101e-03 1.65274747e+02] [-8.62607479e-02 9.96272573e-01 -2.07939049e-04 -1.45375583e+01] [-1.68947419e-03 6.24361707e-05 9.99998571e-01 -4.96605560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.30, Y:-14.55, Z:-0.50 [[ 9.95812894e-01 9.13994828e-02 1.67780358e-03 1.65302539e+02] [-9.13992622e-02 9.95814306e-01 -2.07837566e-04 -1.45490907e+01] [-1.68977705e-03 5.36173188e-05 9.99998571e-01 -5.00993715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.825769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.33, Y:-14.56, Z:-0.50 [[ 9.95550912e-01 9.42102291e-02 1.67781331e-03 1.65330052e+02] [-9.42100126e-02 9.95552324e-01 -2.07759003e-04 -1.45564679e+01] [-1.68992396e-03 4.87678517e-05 9.99998571e-01 -5.04640509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.855769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.36, Y:-14.57, Z:-0.50 [[ 9.95033054e-01 9.95309355e-02 1.67782543e-03 1.65357316e+02] [-9.95307267e-02 9.95034467e-01 -2.07661049e-04 -1.45699831e+01] [-1.69016283e-03 3.96344234e-05 9.99998571e-01 -5.03499824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.38, Y:-14.58, Z:-0.50 [[ 9.94865464e-01 1.01192358e-01 1.67783548e-03 1.65384645e+02] [-1.01192152e-01 9.94866878e-01 -2.07579843e-04 -1.45776382e+01] [-1.69022844e-03 3.67302333e-05 9.99998571e-01 -5.03748798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.915769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.41, Y:-14.58, Z:-0.50 [[ 9.94722946e-01 1.02583842e-01 1.67784803e-03 1.65412567e+02] [-1.02583638e-01 9.94724361e-01 -2.07478328e-04 -1.45842943e+01] [-1.69028024e-03 3.42636984e-05 9.99998571e-01 -5.02562712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.44, Y:-14.59, Z:-0.50 [[ 9.94373796e-01 1.05914774e-01 1.67785776e-03 1.65439930e+02] [-1.05914575e-01 9.94375211e-01 -2.07399639e-04 -1.45938188e+01] [-1.69038685e-03 2.85231748e-05 9.99998571e-01 -4.99297768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.47, Y:-14.60, Z:-0.50 [[ 9.94166618e-01 1.07842112e-01 1.67787000e-03 1.65468101e+02] [-1.07841915e-01 9.94168033e-01 -2.07300595e-04 -1.46004585e+01] [-1.69044045e-03 2.51466170e-05 9.99998571e-01 -4.97154483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.50, Y:-14.61, Z:-0.49 [[ 9.93680016e-01 1.12237292e-01 1.67787539e-03 1.65495654e+02] [-1.12237102e-01 9.93681433e-01 -2.07256948e-04 -1.46075250e+01] [-1.69053558e-03 1.76272161e-05 9.99998571e-01 -4.91522824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.52, Y:-14.61, Z:-0.50 [[ 9.93443374e-01 1.14312939e-01 1.67788914e-03 1.65524155e+02] [-1.14312752e-01 9.93444791e-01 -2.07145552e-04 -1.46110062e+01] [-1.69056964e-03 1.39832508e-05 9.99998571e-01 -4.96969398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.55, Y:-14.61, Z:-0.50 [[ 9.92858496e-01 1.19286171e-01 1.67789876e-03 1.65551753e+02] [-1.19285992e-01 9.92859914e-01 -2.07067564e-04 -1.46138646e+01] [-1.69061872e-03 5.43897220e-06 9.99998571e-01 -4.98258270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.58, Y:-14.62, Z:-0.50 [[ 9.92633010e-01 1.21148220e-01 1.67791075e-03 1.65580548e+02] [-1.21148043e-01 9.92634429e-01 -2.06970359e-04 -1.46172699e+01] [-1.69062607e-03 2.17000602e-06 9.99998571e-01 -4.96533030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:-14.62, Z:-0.50 [[ 9.92542778e-01 1.21885264e-01 1.67792054e-03 1.65607802e+02] [-1.21885089e-01 9.92544197e-01 -2.06891005e-04 -1.46212667e+01] [-1.69062726e-03 8.34679605e-07 9.99998571e-01 -4.96953890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.64, Y:-14.63, Z:-0.50 [[ 9.92665908e-01 1.20878368e-01 1.67793275e-03 1.65635448e+02] [-1.20878191e-01 9.92667326e-01 -2.06791896e-04 -1.46253891e+01] [-1.69062569e-03 2.44978859e-06 9.99998571e-01 -4.97668975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:165.66, Y:-14.63, Z:-0.50 [[ 9.93031602e-01 1.17836418e-01 1.67794478e-03 1.65664251e+02] [-1.17836237e-01 9.93033020e-01 -2.06694290e-04 -1.46293228e+01] [-1.69061068e-03 7.53126378e-06 9.99998571e-01 -4.97994729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-14.63, Z:-0.50 [[ 9.93201162e-01 1.16398611e-01 1.67795435e-03 1.65692973e+02] [-1.16398428e-01 9.93202579e-01 -2.06616528e-04 -1.46323689e+01] [-1.69059847e-03 9.90052687e-06 9.99998571e-01 -4.97699197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-14.64, Z:-0.50 [[ 9.93299016e-01 1.15560589e-01 1.67796419e-03 1.65720586e+02] [-1.15560405e-01 9.93300433e-01 -2.06536645e-04 -1.46354870e+01] [-1.69059005e-03 1.12464253e-05 9.99998571e-01 -4.98556810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.75, Y:-14.64, Z:-0.50 [[ 9.93257097e-01 1.15920333e-01 1.67797642e-03 1.65748062e+02] [-1.15920150e-01 9.93258514e-01 -2.06437174e-04 -1.46393277e+01] [-1.69059463e-03 1.05339092e-05 9.99998571e-01 -5.03842066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.305769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.78, Y:-14.64, Z:-0.51 [[ 9.93128627e-01 1.17015874e-01 1.67798881e-03 1.65777078e+02] [-1.17015692e-01 9.93130044e-01 -2.06336464e-04 -1.46430366e+01] [-1.69060574e-03 8.56762665e-06 9.99998571e-01 -5.05667582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.335769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.80, Y:-14.65, Z:-0.50 [[ 9.92697783e-01 1.20616316e-01 1.67799821e-03 1.65804548e+02] [-1.20616140e-01 9.92699201e-01 -2.06259965e-04 -1.46457682e+01] [-1.69062580e-03 2.36014343e-06 9.99998571e-01 -5.02470324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:-14.65, Z:-0.50 [[ 9.92380883e-01 1.23196459e-01 1.67801108e-03 1.65832739e+02] [-1.23196287e-01 9.92382302e-01 -2.06155191e-04 -1.46491312e+01] [-1.69062609e-03 -2.14026402e-06 9.99998571e-01 -4.99110052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-14.65, Z:-0.50 [[ 9.92386649e-01 1.23150000e-01 1.67802072e-03 1.65861861e+02] [-1.23149828e-01 9.92388068e-01 -2.06076683e-04 -1.46526151e+01] [-1.69062609e-03 -2.14021513e-06 9.99998571e-01 -4.99159637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.425769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.89, Y:-14.66, Z:-0.50 [[ 9.92042929e-01 1.25888884e-01 1.67803037e-03 1.65889677e+02] [-1.25888716e-01 9.92044348e-01 -2.05998126e-04 -1.46556478e+01] [-1.69061342e-03 -6.88610365e-06 9.99998571e-01 -4.97226994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.92, Y:-14.66, Z:-0.50 [[ 9.91543127e-01 1.29766757e-01 1.67804345e-03 1.65918391e+02] [-1.29766595e-01 9.91544547e-01 -2.05891505e-04 -1.46563704e+01] [-1.69057271e-03 -1.36036777e-05 9.99998571e-01 -4.96372229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-14.66, Z:-0.50 [[ 9.91293909e-01 1.31657019e-01 1.67805301e-03 1.65946183e+02] [-1.31656859e-01 9.91295329e-01 -2.05813553e-04 -1.46577502e+01] [-1.69054291e-03 -1.69054673e-05 9.99998571e-01 -4.96109361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:-14.66, Z:-0.49 [[ 9.90828688e-01 1.35113636e-01 1.67806490e-03 1.65975381e+02] [-1.35113482e-01 9.90830109e-01 -2.05716596e-04 -1.46575093e+01] [-1.69047234e-03 -2.28992856e-05 9.99998571e-01 -4.93129780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.00, Y:-14.66, Z:-0.49 [[ 9.90666652e-01 1.36296619e-01 1.67807430e-03 1.66004671e+02] [-1.36296466e-01 9.90668073e-01 -2.05639848e-04 -1.46589655e+01] [-1.69044265e-03 -2.49950576e-05 9.99998571e-01 -4.92049153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.03, Y:-14.66, Z:-0.49 [[ 9.90666176e-01 1.36300078e-01 1.67808367e-03 1.66033715e+02] [-1.36299925e-01 9.90667597e-01 -2.05563407e-04 -1.46599132e+01] [-1.69044142e-03 -2.50779635e-05 9.99998571e-01 -4.92399019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.605769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.06, Y:-14.66, Z:-0.50 [[ 9.90809282e-01 1.35255874e-01 1.67809300e-03 1.66062837e+02] [-1.35255720e-01 9.90810702e-01 -2.05487216e-04 -1.46580477e+01] [-1.69046585e-03 -2.33730356e-05 9.99998571e-01 -4.96798412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.635769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.09, Y:-14.66, Z:-0.50 [[ 9.91212106e-01 1.32271478e-01 1.67810230e-03 1.66091788e+02] [-1.32271320e-01 9.91213527e-01 -2.05411222e-04 -1.46577379e+01] [-1.69052774e-03 -1.83587166e-05 9.99998571e-01 -4.97228955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.12, Y:-14.66, Z:-0.50 [[ 9.91550781e-01 1.29708260e-01 1.67811252e-03 1.66119992e+02] [-1.29708099e-01 9.91552201e-01 -2.05327660e-04 -1.46597220e+01] [-1.69056886e-03 -1.40719829e-05 9.99998571e-01 -4.97887967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.15, Y:-14.66, Z:-0.50 [[ 9.91978834e-01 1.26392943e-01 1.67812521e-03 1.66148885e+02] [-1.26392777e-01 9.91980254e-01 -2.05223923e-04 -1.46617903e+01] [-1.69060593e-03 -8.52511658e-06 9.99998571e-01 -4.97556202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.18, Y:-14.67, Z:-0.50 [[ 9.92905946e-01 1.18890564e-01 1.67813434e-03 1.66177798e+02] [-1.18890387e-01 9.92907364e-01 -2.05149196e-04 -1.46654089e+01] [-1.69062225e-03 4.17981396e-06 9.99998571e-01 -4.99772734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.21, Y:-14.67, Z:-0.50 [[ 9.93387607e-01 1.14796543e-01 1.67814343e-03 1.66206378e+02] [-1.14796361e-01 9.93389024e-01 -2.05074803e-04 -1.46700917e+01] [-1.69059115e-03 1.10740094e-05 9.99998571e-01 -5.00052669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.23, Y:-14.68, Z:-0.50 [[ 9.94290816e-01 1.06690945e-01 1.67815330e-03 1.66234110e+02] [-1.06690751e-01 9.94292232e-01 -2.04994075e-04 -1.46762353e+01] [-1.69044580e-03 2.47802912e-05 9.99998571e-01 -5.01725305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.26, Y:-14.68, Z:-0.50 [[ 9.94723647e-01 1.02577040e-01 1.67816648e-03 1.66262180e+02] [-1.02576840e-01 9.94725062e-01 -2.04886105e-04 -1.46819859e+01] [-1.69033086e-03 3.16640389e-05 9.99998571e-01 -5.01951382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:-14.69, Z:-0.50 [[ 9.95461326e-01 9.51521555e-02 1.67817539e-03 1.66289365e+02] [-9.51519453e-02 9.95462739e-01 -2.04813072e-04 -1.46934453e+01] [-1.69004948e-03 4.42018388e-05 9.99998571e-01 -5.02009141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:-14.70, Z:-0.50 [[ 9.95823332e-01 9.12856766e-02 1.67818202e-03 1.66318207e+02] [-9.12854610e-02 9.95824745e-01 -2.04758764e-04 -1.47013251e+01] [-1.68986672e-03 5.07099353e-05 9.99998571e-01 -5.00372209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.35, Y:-14.71, Z:-0.50 [[ 9.96183449e-01 8.72680946e-02 1.67818673e-03 1.66346918e+02] [-8.72678734e-02 9.96184861e-01 -2.04720107e-04 -1.47089945e+01] [-1.68964975e-03 5.74869953e-05 9.99998571e-01 -5.00264931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:-14.72, Z:-0.50 [[ 9.96645746e-01 8.18195640e-02 1.67818907e-03 1.66376669e+02] [-8.18193351e-02 9.96647156e-01 -2.04700925e-04 -1.47211164e+01] [-1.68931091e-03 6.67059918e-05 9.99998571e-01 -4.98938772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:-14.73, Z:-0.50 [[ 9.96746954e-01 8.05772520e-02 1.67818907e-03 1.66406378e+02] [-8.05770214e-02 9.96748364e-01 -2.04700925e-04 -1.47296017e+01] [-1.68922645e-03 6.88115465e-05 9.99998571e-01 -4.99689244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.44, Y:-14.74, Z:-0.50 [[ 9.96665977e-01 8.15727472e-02 1.67818907e-03 1.66436581e+02] [-8.15725179e-02 9.96667388e-01 -2.04700925e-04 -1.47425560e+01] [-1.68929434e-03 6.71243390e-05 9.99998571e-01 -5.01452001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:-14.75, Z:-0.50 [[ 9.96518192e-01 8.33587271e-02 1.67818432e-03 1.66467407e+02] [-8.33585003e-02 9.96519603e-01 -2.04739857e-04 -1.47507890e+01] [-1.68941043e-03 6.41360634e-05 9.99998571e-01 -5.00803604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.055769231 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:166.50, Y:-14.76, Z:-0.50 [[ 9.96295863e-01 8.59752175e-02 1.67817958e-03 1.66497050e+02] [-8.59749944e-02 9.96297274e-01 -2.04778712e-04 -1.47640590e+01] [-1.68957164e-03 5.97387031e-05 9.99998571e-01 -4.98617398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.085769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:166.53, Y:-14.77, Z:-0.50 [[ 9.96213782e-01 8.69211379e-02 1.67817483e-03 1.66526610e+02] [-8.69209160e-02 9.96215194e-01 -2.04817678e-04 -1.47728347e+01] [-1.68962625e-03 5.81737004e-05 9.99998571e-01 -4.98461428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.115769231 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:166.56, Y:-14.79, Z:-0.50 [[ 9.96088783e-01 8.83420641e-02 1.67816376e-03 1.66556843e+02] [-8.83418441e-02 9.96090195e-01 -2.04908315e-04 -1.47854330e+01] [-1.68970449e-03 5.58547929e-05 9.99998571e-01 -4.98169682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.145769231 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:166.59, Y:-14.79, Z:-0.50 [[ 9.95980431e-01 8.95553691e-02 1.67815905e-03 1.66588506e+02] [-8.95551508e-02 9.95981844e-01 -2.04946884e-04 -1.47935103e+01] [-1.68977004e-03 5.38352988e-05 9.99998571e-01 -4.96733301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.175769231 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:166.62, Y:-14.80, Z:-0.50 [[ 9.95679102e-01 9.28456260e-02 1.67812555e-03 1.66619790e+02] [-9.28454119e-02 9.95680515e-01 -2.05220850e-04 -1.48048358e+01] [-1.68993077e-03 4.85278539e-05 9.99998571e-01 -4.95259360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.205769231 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:166.65, Y:-14.81, Z:-0.50 [[ 9.95450830e-01 9.52618989e-02 1.67809187e-03 1.66652624e+02] [-9.52616877e-02 9.95452243e-01 -2.05495873e-04 -1.48120415e+01] [-1.69003624e-03 4.47031739e-05 9.99998571e-01 -4.96362954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.235769231 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:166.68, Y:-14.82, Z:-0.50 [[ 9.94858970e-01 1.01256184e-01 1.67805297e-03 1.66683097e+02] [-1.01255981e-01 9.94860384e-01 -2.05813045e-04 -1.48211658e+01] [-1.69026826e-03 3.48420552e-05 9.99998571e-01 -4.97622960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.265769231 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:166.72, Y:-14.83, Z:-0.50 [[ 9.94561734e-01 1.04135205e-01 1.67803387e-03 1.66715155e+02] [-1.04135006e-01 9.94563149e-01 -2.05968621e-04 -1.48267702e+01] [-1.69035923e-03 3.01064422e-05 9.99998571e-01 -4.98188565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.295769231 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:166.75, Y:-14.83, Z:-0.50 [[ 9.94240239e-01 1.07161241e-01 1.67799988e-03 1.66747224e+02] [-1.07161045e-01 9.94241655e-01 -2.06245196e-04 -1.48314491e+01] [-1.69043886e-03 2.52410523e-05 9.99998571e-01 -4.98383387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.325769231 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:166.78, Y:-14.83, Z:-0.50 [[ 9.93441205e-01 1.14331780e-01 1.67796587e-03 1.66777871e+02] [-1.14331594e-01 9.93442622e-01 -2.06521475e-04 -1.48346244e+01] [-1.69057478e-03 1.33224299e-05 9.99998571e-01 -4.96104333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.355769231 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:166.81, Y:-14.84, Z:-0.50 [[ 9.92976616e-01 1.18298880e-01 1.67793436e-03 1.66809138e+02] [-1.18298699e-01 9.92978033e-01 -2.06777150e-04 -1.48371329e+01] [-1.69061347e-03 6.82742167e-06 9.99998571e-01 -4.95644417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.385769231 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:166.84, Y:-14.84, Z:-0.50 [[ 9.92540432e-01 1.21904368e-01 1.67792963e-03 1.66840555e+02] [-1.21904193e-01 9.92541851e-01 -2.06815524e-04 -1.48387467e+01] [-1.69062710e-03 7.26111728e-07 9.99998571e-01 -4.96095757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.415769231 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:166.87, Y:-14.84, Z:-0.50 [[ 9.91825915e-01 1.27587380e-01 1.67791116e-03 1.66871949e+02] [-1.27587212e-01 9.91827334e-01 -2.06965323e-04 -1.48355941e+01] [-1.69060431e-03 -8.80643613e-06 9.99998571e-01 -4.96664627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.445769231 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:166.90, Y:-14.83, Z:-0.50 [[ 9.91502557e-01 1.30076379e-01 1.67791116e-03 1.66903043e+02] [-1.30076215e-01 9.91503976e-01 -2.06965323e-04 -1.48311032e+01] [-1.69057688e-03 -1.30496858e-05 9.99998571e-01 -4.96943198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47576923100002 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:166.93, Y:-14.83, Z:-0.50 [[ 9.91495342e-01 1.30131365e-01 1.67791116e-03 1.66932890e+02] [-1.30131201e-01 9.91496761e-01 -2.06965323e-04 -1.48310614e+01] [-1.69057616e-03 -1.31434409e-05 9.99998571e-01 -4.97675704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50576923100002 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:166.96, Y:-14.83, Z:-0.50 [[ 9.91600901e-01 1.29324544e-01 1.67791366e-03 1.66963077e+02] [-1.29324379e-01 9.91602321e-01 -2.06945025e-04 -1.48314793e+01] [-1.69058615e-03 -1.17882681e-05 9.99998571e-01 -4.97316077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53576923100002 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:166.99, Y:-14.83, Z:-0.50 [[ 9.91935437e-01 1.26733081e-01 1.67791366e-03 1.66993391e+02] [-1.26732912e-01 9.91936856e-01 -2.06945025e-04 -1.48303264e+01] [-1.69061118e-03 -7.37078023e-06 9.99998571e-01 -4.96000493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56576923100002 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:167.02, Y:-14.83, Z:-0.49 [[ 9.92119115e-01 1.25287055e-01 1.67791599e-03 1.67022980e+02] [-1.25286885e-01 9.92120534e-01 -2.06926148e-04 -1.48315035e+01] [-1.69062007e-03 -4.92548019e-06 9.99998571e-01 -4.94861093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59576923100002 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:167.05, Y:-14.83, Z:-0.50 [[ 9.92453118e-01 1.22613182e-01 1.67791857e-03 1.67053141e+02] [-1.22613007e-01 9.92454537e-01 -2.06905211e-04 -1.48316728e+01] [-1.69062720e-03 -3.90919672e-07 9.99998571e-01 -4.96646766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62576923100002 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:167.08, Y:-14.83, Z:-0.50 [[ 9.92532676e-01 1.21967506e-01 1.67792115e-03 1.67082763e+02] [-1.21967331e-01 9.92534094e-01 -2.06884262e-04 -1.48347564e+01] [-1.69062711e-03 6.87826092e-07 9.99998571e-01 -4.97951263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65576923100002 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:167.11, Y:-14.84, Z:-0.50 [[ 9.92568562e-01 1.21675120e-01 1.67792358e-03 1.67112144e+02] [-1.21674944e-01 9.92569980e-01 -2.06864613e-04 -1.48379578e+01] [-1.69062685e-03 1.16605471e-06 9.99998571e-01 -4.97600520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68576923100002 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:167.14, Y:-14.84, Z:-0.50 [[ 9.92528047e-01 1.22005166e-01 1.67792860e-03 1.67140463e+02] [-1.22004991e-01 9.92529465e-01 -2.06823808e-04 -1.48387585e+01] [-1.69062715e-03 5.62766145e-07 9.99998571e-01 -4.97773348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71576923100002 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:167.17, Y:-14.84, Z:-0.50 [[ 9.92290269e-01 1.23924197e-01 1.67793611e-03 1.67169917e+02] [-1.23924024e-01 9.92291688e-01 -2.06762919e-04 -1.48391846e+01] [-1.69062498e-03 -2.76776238e-06 9.99998571e-01 -4.99849156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74576923100003 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:167.20, Y:-14.84, Z:-0.50 [[ 9.92208182e-01 1.24579727e-01 1.67794095e-03 1.67198906e+02] [-1.24579556e-01 9.92209601e-01 -2.06723622e-04 -1.48412551e+01] [-1.69062269e-03 -3.92426891e-06 9.99998571e-01 -5.01788347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.775769231 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:167.23, Y:-14.84, Z:-0.50 [[ 9.92202325e-01 1.24626367e-01 1.67794816e-03 1.67228905e+02] [-1.24626196e-01 9.92203744e-01 -2.06665040e-04 -1.48433479e+01] [-1.69062236e-03 -4.06276313e-06 9.99998571e-01 -5.00302490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.805769231 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:167.26, Y:-14.84, Z:-0.50 [[ 9.92414496e-01 1.22925397e-01 1.67795306e-03 1.67259224e+02] [-1.22925224e-01 9.92415914e-01 -2.06625294e-04 -1.48435053e+01] [-1.69062682e-03 -1.20481806e-06 9.99998571e-01 -4.97552117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.835769231 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:167.29, Y:-14.85, Z:-0.50 [[ 9.92579984e-01 1.21581904e-01 1.67795794e-03 1.67287559e+02] [-1.21581728e-01 9.92581403e-01 -2.06585678e-04 -1.48457085e+01] [-1.69062692e-03 1.04378316e-06 9.99998571e-01 -4.96638903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.865769231 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:167.32, Y:-14.85, Z:-0.50 [[ 9.93026854e-01 1.17876423e-01 1.67796520e-03 1.67317817e+02] [-1.17876242e-01 9.93028272e-01 -2.06526659e-04 -1.48475868e+01] [-1.69061151e-03 7.29428645e-06 9.99998571e-01 -4.97046887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.895769231 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:167.35, Y:-14.85, Z:-0.50 [[ 9.93314903e-01 1.15423944e-01 1.67796520e-03 1.67346247e+02] [-1.15423760e-01 9.93316321e-01 -2.06526659e-04 -1.48496643e+01] [-1.69058834e-03 1.14689553e-05 9.99998571e-01 -4.98492160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.925769231 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:167.38, Y:-14.85, Z:-0.50 [[ 9.93757585e-01 1.11548405e-01 1.67797266e-03 1.67376302e+02] [-1.11548215e-01 9.93759002e-01 -2.06466066e-04 -1.48515327e+01] [-1.69053139e-03 1.80023641e-05 9.99998571e-01 -5.01959066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.955769231 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:167.41, Y:-14.86, Z:-0.50 [[ 9.93842772e-01 1.10786865e-01 1.67797266e-03 1.67405525e+02] [-1.10786675e-01 9.93844188e-01 -2.06466066e-04 -1.48556225e+01] [-1.69051710e-03 1.92977964e-05 9.99998571e-01 -5.02688661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.985769231 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:167.43, Y:-14.86, Z:-0.50 [[ 9.93854871e-01 1.10678273e-01 1.67797755e-03 1.67433937e+02] [-1.10678082e-01 9.93856287e-01 -2.06426245e-04 -1.48603181e+01] [-1.69051544e-03 1.94423905e-05 9.99998571e-01 -5.02212012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.015769231 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:167.46, Y:-14.86, Z:-0.50 [[ 9.93774607e-01 1.11396658e-01 1.67798291e-03 1.67463409e+02] [-1.11396468e-01 9.93776023e-01 -2.06382722e-04 -1.48648354e+01] [-1.69052953e-03 1.81765387e-05 9.99998571e-01 -4.97917771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.045769231 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:167.49, Y:-14.87, Z:-0.50 [[ 9.93633566e-01 1.12647773e-01 1.67798776e-03 1.67491662e+02] [-1.12647585e-01 9.93634983e-01 -2.06343305e-04 -1.48687665e+01] [-1.69055145e-03 1.60083661e-05 9.99998571e-01 -5.01269811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.075769231 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:167.52, Y:-14.87, Z:-0.50 [[ 9.93664349e-01 1.12375917e-01 1.67799502e-03 1.67521094e+02] [-1.12375729e-01 9.93665765e-01 -2.06284232e-04 -1.48743746e+01] [-1.69054758e-03 1.64113735e-05 9.99998571e-01 -5.01579917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.105769231 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:167.55, Y:-14.88, Z:-0.50 [[ 9.93756312e-01 1.11559742e-01 1.67799982e-03 1.67550499e+02] [-1.11559553e-01 9.93757729e-01 -2.06245122e-04 -1.48802279e+01] [-1.69053395e-03 1.77604815e-05 9.99998571e-01 -5.00212656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.135769231 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:167.58, Y:-14.89, Z:-0.49 [[ 9.93979811e-01 1.09550536e-01 1.67800463e-03 1.67579449e+02] [-1.09550344e-01 9.93981227e-01 -2.06206034e-04 -1.48879740e+01] [-1.69049508e-03 2.11386501e-05 9.99998571e-01 -4.93546753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.165769231 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:167.61, Y:-14.89, Z:-0.49 [[ 9.94130307e-01 1.08176324e-01 1.67800701e-03 1.67608484e+02] [-1.08176131e-01 9.94131723e-01 -2.06186655e-04 -1.48941215e+01] [-1.69046451e-03 2.34560976e-05 9.99998571e-01 -4.92571940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.195769231 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:167.64, Y:-14.90, Z:-0.50 [[ 9.94492981e-01 1.04789765e-01 1.67801174e-03 1.67638876e+02] [-1.04789566e-01 9.94494396e-01 -2.06148128e-04 -1.49046684e+01] [-1.69037549e-03 2.91747443e-05 9.99998571e-01 -4.96645776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22576923100002 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:167.67, Y:-14.91, Z:-0.50 [[ 9.94703038e-01 1.02776703e-01 1.67800701e-03 1.67669550e+02] [-1.02776501e-01 9.94704453e-01 -2.06186613e-04 -1.49112557e+01] [-1.69031223e-03 3.26347596e-05 9.99998571e-01 -4.98459339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25576923100002 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:167.70, Y:-14.92, Z:-0.50 [[ 9.95043031e-01 9.94311338e-02 1.67800231e-03 1.67698548e+02] [-9.94309274e-02 9.95044445e-01 -2.06224885e-04 -1.49210371e+01] [-1.69019205e-03 3.83573093e-05 9.99998571e-01 -4.97448290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28576923100002 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:167.73, Y:-14.93, Z:-0.50 [[ 9.95157696e-01 9.82768807e-02 1.67799078e-03 1.67729110e+02] [-9.82766725e-02 9.95159109e-01 -2.06318629e-04 -1.49290281e+01] [-1.69014416e-03 4.04122206e-05 9.99998571e-01 -4.95889566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31576923100002 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:167.76, Y:-14.93, Z:-0.50 [[ 9.95155480e-01 9.82993113e-02 1.67798614e-03 1.67760700e+02] [-9.82991030e-02 9.95156894e-01 -2.06356378e-04 -1.49329596e+01] [-1.69014417e-03 4.04121474e-05 9.99998571e-01 -4.95943388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34576923100002 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:167.79, Y:-14.94, Z:-0.49 [[ 9.95179658e-01 9.80542313e-02 1.67798149e-03 1.67790607e+02] [-9.80540226e-02 9.95181072e-01 -2.06394199e-04 -1.49417350e+01] [-1.69013324e-03 4.08664734e-05 9.99998571e-01 -4.93889382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37576923100002 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:167.82, Y:-14.95, Z:-0.50 [[ 9.95085872e-01 9.90014788e-02 1.67795137e-03 1.67821586e+02] [-9.90012711e-02 9.95087285e-01 -2.06638807e-04 -1.49534946e+01] [-1.69016562e-03 3.95040393e-05 9.99998571e-01 -4.95734696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40576923100002 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:167.85, Y:-14.96, Z:-0.50 [[ 9.94960149e-01 1.00257104e-01 1.67791603e-03 1.67851484e+02] [-1.00256897e-01 9.94961563e-01 -2.06925333e-04 -1.49637372e+01] [-1.69020769e-03 3.76598052e-05 9.99998571e-01 -5.02347795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43576923100002 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:167.88, Y:-14.97, Z:-0.50 [[ 9.94834091e-01 1.01500322e-01 1.67788323e-03 1.67883099e+02] [-1.01500117e-01 9.94835506e-01 -2.07190992e-04 -1.49719450e+01] [-1.69024776e-03 3.58153184e-05 9.99998571e-01 -5.03879795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46576923100002 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:167.92, Y:-14.98, Z:-0.50 [[ 9.94751613e-01 1.02305494e-01 1.67784876e-03 1.67915256e+02] [-1.02305289e-01 9.94753027e-01 -2.07469696e-04 -1.49803004e+01] [-1.69027043e-03 3.47280121e-05 9.99998571e-01 -5.03899858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49576923100003 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:167.95, Y:-14.99, Z:-0.50 [[ 9.94625440e-01 1.03524972e-01 1.67781203e-03 1.67945621e+02] [-1.03524768e-01 9.94626854e-01 -2.07766309e-04 -1.49928421e+01] [-1.69030591e-03 3.29545539e-05 9.99998571e-01 -5.02996289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.525769231 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:167.98, Y:-15.00, Z:-0.50 [[ 9.94509112e-01 1.04636568e-01 1.67777552e-03 1.67977555e+02] [-1.04636366e-01 9.94510527e-01 -2.08060768e-04 -1.50007899e+01] [-1.69033618e-03 3.13619974e-05 9.99998571e-01 -5.01233723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.555769231 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:168.01, Y:-15.01, Z:-0.50 [[ 9.94032444e-01 1.09071932e-01 1.67773497e-03 1.68008042e+02] [-1.09071736e-01 9.94033859e-01 -2.08387230e-04 -1.50117356e+01] [-1.69045456e-03 2.41502021e-05 9.99998571e-01 -5.00010013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.585769231 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:168.04, Y:-15.02, Z:-0.50 [[ 9.93694653e-01 1.12107637e-01 1.67769715e-03 1.68040274e+02] [-1.12107444e-01 9.93696069e-01 -2.08691287e-04 -1.50186813e+01] [-1.69051695e-03 1.92930764e-05 9.99998571e-01 -4.99251206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.615769231 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:168.07, Y:-15.03, Z:-0.50 [[ 9.92949308e-01 1.18527872e-01 1.67765724e-03 1.68072012e+02] [-1.18527688e-01 9.92950726e-01 -2.09011564e-04 -1.50252195e+01] [-1.69060467e-03 8.68905358e-06 9.99998571e-01 -4.99274241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.645769231 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:168.10, Y:-15.03, Z:-0.50 [[ 9.92499021e-01 1.22241068e-01 1.67761992e-03 1.68104322e+02] [-1.22240889e-01 9.92500439e-01 -2.09310685e-04 -1.50298197e+01] [-1.69062487e-03 2.66689908e-06 9.99998571e-01 -5.00636209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.675769231 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:168.14, Y:-15.03, Z:-0.50 [[ 9.92030460e-01 1.25987114e-01 1.67758078e-03 1.68136516e+02] [-1.25986940e-01 9.92031878e-01 -2.09623965e-04 -1.50345481e+01] [-1.69062353e-03 -3.39991024e-06 9.99998571e-01 -5.02474030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.705769231 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:168.17, Y:-15.04, Z:-0.50 [[ 9.91205871e-01 1.32318203e-01 1.67754597e-03 1.68169064e+02] [-1.32318037e-01 9.91207291e-01 -2.09902133e-04 -1.50395146e+01] [-1.69056967e-03 -1.39133643e-05 9.99998571e-01 -5.04458589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.735769231 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:168.20, Y:-15.04, Z:-0.50 [[ 9.90929569e-01 1.34371778e-01 1.67750623e-03 1.68200489e+02] [-1.34371614e-01 9.90930989e-01 -2.10219307e-04 -1.50428349e+01] [-1.69054044e-03 -1.70966924e-05 9.99998571e-01 -5.04212728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.765769231 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:168.23, Y:-15.05, Z:-0.50 [[ 9.90956750e-01 1.34171183e-01 1.67746933e-03 1.68233862e+02] [-1.34171019e-01 9.90958169e-01 -2.10513281e-04 -1.50450132e+01] [-1.69054676e-03 -1.64582132e-05 9.99998571e-01 -5.01964093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.795769231 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:168.27, Y:-15.05, Z:-0.50 [[ 9.91054784e-01 1.33445121e-01 1.67743054e-03 1.68265377e+02] [-1.33444956e-01 9.91056204e-01 -2.10821906e-04 -1.50483892e+01] [-1.69056110e-03 -1.49085866e-05 9.99998571e-01 -5.02002480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.825769231 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:168.30, Y:-15.05, Z:-0.50 [[ 9.91066045e-01 1.33361465e-01 1.67739425e-03 1.68298768e+02] [-1.33361298e-01 9.91067465e-01 -2.11110250e-04 -1.50507625e+01] [-1.69056484e-03 -1.44752751e-05 9.99998571e-01 -5.02167416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.855769231 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:168.33, Y:-15.05, Z:-0.50 [[ 9.90834962e-01 1.35067629e-01 1.67735405e-03 1.68330699e+02] [-1.35067465e-01 9.90836382e-01 -2.11429229e-04 -1.50531297e+01] [-1.69054066e-03 -1.70644869e-05 9.99998571e-01 -5.01933961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.885769231 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:168.36, Y:-15.05, Z:-0.50 [[ 9.90224353e-01 1.39473719e-01 1.67731637e-03 1.68363534e+02] [-1.39473560e-01 9.90225773e-01 -2.11727706e-04 -1.50513204e+01] [-1.69045235e-03 -2.42833561e-05 9.99998571e-01 -4.99812956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.915769231 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:168.40, Y:-15.05, Z:-0.50 [[ 9.89845382e-01 1.42138335e-01 1.67728239e-03 1.68396336e+02] [-1.42138180e-01 9.89846803e-01 -2.11996584e-04 -1.50512843e+01] [-1.69038545e-03 -2.85620257e-05 9.99998571e-01 -4.99459213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.945769231 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:168.43, Y:-15.04, Z:-0.50 [[ 9.89237915e-01 1.46306302e-01 1.67724824e-03 1.68427181e+02] [-1.46306152e-01 9.89239336e-01 -2.12266401e-04 -1.50448113e+01] [-1.69025585e-03 -3.54097641e-05 9.99998571e-01 -4.97941955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97576923100002 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:168.46, Y:-15.04, Z:-0.50 [[ 9.89194897e-01 1.46596872e-01 1.67725067e-03 1.68457620e+02] [-1.46596722e-01 9.89196318e-01 -2.12247228e-04 -1.50436451e+01] [-1.69024496e-03 -3.59255751e-05 9.99998571e-01 -4.97640852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00576923100002 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:168.49, Y:-15.04, Z:-0.50 [[ 9.89366928e-01 1.45431322e-01 1.67725067e-03 1.68488156e+02] [-1.45431171e-01 9.89368349e-01 -2.12247228e-04 -1.50430206e+01] [-1.69028612e-03 -3.39341407e-05 9.99998571e-01 -4.98041536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03576923100002 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:168.52, Y:-15.04, Z:-0.50 [[ 9.90180642e-01 1.39783698e-01 1.67725067e-03 1.68519173e+02] [-1.39783539e-01 9.90182063e-01 -2.12247228e-04 -1.50386866e+01] [-1.69045223e-03 -2.42889365e-05 9.99998571e-01 -5.01460973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06576923100002 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:168.55, Y:-15.04, Z:-0.50 [[ 9.91297641e-01 1.31628921e-01 1.67724823e-03 1.68550098e+02] [-1.31628750e-01 9.91299060e-01 -2.12266505e-04 -1.50358027e+01] [-1.69059500e-03 -1.03548019e-05 9.99998571e-01 -5.02307808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09576923100002 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:168.58, Y:-15.04, Z:-0.50 [[ 9.91889434e-01 1.27092632e-01 1.67724823e-03 1.68580536e+02] [-1.27092455e-01 9.91890852e-01 -2.12266505e-04 -1.50366951e+01] [-1.69062468e-03 -2.62069090e-06 9.99998571e-01 -5.01082094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12576923100002 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:168.61, Y:-15.04, Z:-0.50 [[ 9.92427363e-01 1.22821476e-01 1.67724823e-03 1.68611276e+02] [-1.22821293e-01 9.92428781e-01 -2.12266505e-04 -1.50386429e+01] [-1.69062030e-03 4.65729259e-06 9.99998571e-01 -5.01230087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15576923100002 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:168.64, Y:-15.04, Z:-0.50 [[ 9.93364283e-01 1.14998209e-01 1.67723707e-03 1.68642067e+02] [-1.14998014e-01 9.93365699e-01 -2.12354584e-04 -1.50415715e+01] [-1.69053018e-03 1.80665265e-05 9.99998571e-01 -5.01197857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18576923100002 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:168.67, Y:-15.05, Z:-0.50 [[ 9.93948516e-01 1.09834126e-01 1.67723230e-03 1.68672407e+02] [-1.09833924e-01 9.93949930e-01 -2.12392281e-04 -1.50459365e+01] [-1.69041285e-03 2.68899881e-05 9.99998571e-01 -5.01406267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21576923100002 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:168.70, Y:-15.05, Z:-0.50 [[ 9.94231153e-01 1.07245520e-01 1.67722994e-03 1.68702213e+02] [-1.07245314e-01 9.94232567e-01 -2.12410941e-04 -1.50507864e+01] [-1.69033675e-03 3.13105230e-05 9.99998571e-01 -4.99907777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24576923100003 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:168.73, Y:-15.06, Z:-0.50 [[ 9.94520874e-01 1.04524723e-01 1.67722994e-03 1.68732254e+02] [-1.04524513e-01 9.94522288e-01 -2.12410941e-04 -1.50571546e+01] [-1.69024475e-03 3.59354722e-05 9.99998571e-01 -5.00284825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.275769231 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:168.76, Y:-15.07, Z:-0.50 [[ 9.95263954e-01 9.71949015e-02 1.67722765e-03 1.68764226e+02] [-9.71946814e-02 9.95265366e-01 -2.12429037e-04 -1.50697853e+01] [-1.68993361e-03 4.84053564e-05 9.99998571e-01 -5.02579207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.305769231 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:168.80, Y:-15.08, Z:-0.51 [[ 9.95578667e-01 9.39164760e-02 1.67718781e-03 1.68795427e+02] [-9.39162507e-02 9.95580078e-01 -2.12743084e-04 -1.50787915e+01] [-1.68975485e-03 5.42872848e-05 9.99998571e-01 -5.05144281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.335769231 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:168.83, Y:-15.09, Z:-0.50 [[ 9.95834528e-01 9.11634826e-02 1.67715057e-03 1.68826666e+02] [-9.11632529e-02 9.95835938e-01 -2.13036263e-04 -1.50927638e+01] [-1.68958794e-03 5.92543650e-05 9.99998571e-01 -5.04070352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.365769231 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:168.86, Y:-15.10, Z:-0.50 [[ 9.95711498e-01 9.24975687e-02 1.67711033e-03 1.68857767e+02] [-9.24973404e-02 9.95712909e-01 -2.13352610e-04 -1.51021784e+01] [-1.68965500e-03 5.73094024e-05 9.99998571e-01 -5.04108063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.395769231 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:168.89, Y:-15.12, Z:-0.50 [[ 9.95238276e-01 9.74574883e-02 1.67707266e-03 1.68889143e+02] [-9.74572665e-02 9.95239687e-01 -2.13648317e-04 -1.51171820e+01] [-1.68991089e-03 4.91880658e-05 9.99998571e-01 -5.01984671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.425769231 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:168.92, Y:-15.13, Z:-0.50 [[ 9.94956938e-01 1.00288976e-01 1.67703279e-03 1.68920173e+02] [-1.00288758e-01 9.94958351e-01 -2.13960784e-04 -1.51259443e+01] [-1.69003569e-03 4.46942316e-05 9.99998571e-01 -5.00737572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.455769231 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:168.95, Y:-15.14, Z:-0.50 [[ 9.94509920e-01 1.04628895e-01 1.67700784e-03 1.68950448e+02] [-1.04628683e-01 9.94511334e-01 -2.14156126e-04 -1.51397987e+01] [-1.69021023e-03 3.75172700e-05 9.99998571e-01 -5.00405980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.485769231 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:168.98, Y:-15.15, Z:-0.50 [[ 9.94400874e-01 1.05660253e-01 1.67697111e-03 1.68982786e+02] [-1.05660041e-01 9.94402288e-01 -2.14443391e-04 -1.51492978e+01] [-1.69024205e-03 3.60538591e-05 9.99998571e-01 -4.99555580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.515769231 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:169.01, Y:-15.16, Z:-0.50 [[ 9.94337325e-01 1.06256634e-01 1.67695303e-03 1.69013485e+02] [-1.06256423e-01 9.94338738e-01 -2.14584694e-04 -1.51587602e+01] [-1.69026041e-03 3.51825395e-05 9.99998571e-01 -4.99488115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.545769231 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:169.04, Y:-15.17, Z:-0.50 [[ 9.94227044e-01 1.07283609e-01 1.67691430e-03 1.69044666e+02] [-1.07283399e-01 9.94228458e-01 -2.14886934e-04 -1.51718750e+01] [-1.69028976e-03 3.37413362e-05 9.99998571e-01 -5.00627986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.575769231 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:169.08, Y:-15.18, Z:-0.50 [[ 9.94045415e-01 1.08953663e-01 1.67687334e-03 1.69076018e+02] [-1.08953454e-01 9.94046829e-01 -2.15206058e-04 -1.51796454e+01] [-1.69033812e-03 3.12234523e-05 9.99998571e-01 -5.01103578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.605769231 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:169.11, Y:-15.19, Z:-0.50 [[ 9.93235860e-01 1.16102172e-01 1.67683502e-03 1.69108072e+02] [-1.16101973e-01 9.93237275e-01 -2.15504227e-04 -1.51891279e+01] [-1.69051556e-03 1.93626712e-05 9.99998571e-01 -4.98744643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.635769231 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:169.14, Y:-15.20, Z:-0.50 [[ 9.92622832e-01 1.21231605e-01 1.67679565e-03 1.69140954e+02] [-1.21231413e-01 9.92624248e-01 -2.15810118e-04 -1.51956397e+01] [-1.69059103e-03 1.09377442e-05 9.99998571e-01 -4.97837664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.665769231 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:169.17, Y:-15.20, Z:-0.50 [[ 9.91339118e-01 1.31316187e-01 1.67675497e-03 1.69172031e+02] [-1.31316009e-01 9.91340536e-01 -2.16125778e-04 -1.52018878e+01] [-1.69061598e-03 -5.93083296e-06 9.99998571e-01 -4.98370003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.695769231 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:169.20, Y:-15.21, Z:-0.50 [[ 9.90702297e-01 1.36037302e-01 1.67672966e-03 1.69204052e+02] [-1.36037131e-01 9.90703716e-01 -2.16321960e-04 -1.52061304e+01] [-1.69057016e-03 -1.37868291e-05 9.99998571e-01 -4.98354065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72576923100002 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:169.24, Y:-15.21, Z:-0.50 [[ 9.90120811e-01 1.40206875e-01 1.67670464e-03 1.69236860e+02] [-1.40206709e-01 9.90122231e-01 -2.16515714e-04 -1.52093403e+01] [-1.69049953e-03 -2.07085253e-05 9.99998571e-01 -4.99337690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75576923100002 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:169.27, Y:-15.21, Z:-0.50 [[ 9.89095203e-01 1.47268014e-01 1.67666488e-03 1.69268740e+02] [-1.47267858e-01 9.89096624e-01 -2.16823117e-04 -1.52094880e+01] [-1.69031469e-03 -3.24601410e-05 9.99998571e-01 -5.03810284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78576923100002 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:169.30, Y:-15.21, Z:-0.51 [[ 9.88485379e-01 1.51307120e-01 1.67663036e-03 1.69300828e+02] [-1.51306969e-01 9.88486800e-01 -2.17089714e-04 -1.52104048e+01] [-1.69017420e-03 -3.90958512e-05 9.99998571e-01 -5.06626982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81576923100002 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:169.33, Y:-15.21, Z:-0.51 [[ 9.88375508e-01 1.52023168e-01 1.67659611e-03 1.69334051e+02] [-1.52023018e-01 9.88376929e-01 -2.17353936e-04 -1.52124851e+01] [-1.69015175e-03 -4.00538936e-05 9.99998571e-01 -5.06763405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84576923100002 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:169.37, Y:-15.21, Z:-0.51 [[ 9.88225777e-01 1.52993474e-01 1.67655584e-03 1.69366906e+02] [-1.52993324e-01 9.88227198e-01 -2.17664157e-04 -1.52142964e+01] [-1.69011927e-03 -4.14005199e-05 9.99998571e-01 -5.07058728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87576923100002 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:169.40, Y:-15.21, Z:-0.51 [[ 9.88040951e-01 1.54182579e-01 1.67651547e-03 1.69399113e+02] [-1.54182431e-01 9.88042373e-01 -2.17974595e-04 -1.52119542e+01] [-1.69007621e-03 -4.31214059e-05 9.99998571e-01 -5.09234835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90576923100002 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:169.43, Y:-15.21, Z:-0.51 [[ 9.88189226e-01 1.53229381e-01 1.67649572e-03 1.69432653e+02] [-1.53229231e-01 9.88190647e-01 -2.18126438e-04 -1.52121151e+01] [-1.69012077e-03 -4.13379545e-05 9.99998571e-01 -5.07758319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93576923100002 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:169.46, Y:-15.21, Z:-0.50 [[ 9.88394311e-01 1.51900872e-01 1.67645549e-03 1.69464664e+02] [-1.51900720e-01 9.88395732e-01 -2.18435154e-04 -1.52144383e+01] [-1.69018194e-03 -3.87547333e-05 9.99998571e-01 -5.04587260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96576923100002 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:169.50, Y:-15.21, Z:-0.50 [[ 9.89017698e-01 1.47787626e-01 1.67642039e-03 1.69496030e+02] [-1.47787468e-01 9.89019118e-01 -2.18704247e-04 -1.52147727e+01] [-1.69033359e-03 -3.14515528e-05 9.99998571e-01 -5.01008875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99576923100003 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:169.53, Y:-15.22, Z:-0.50 [[ 9.89215859e-01 1.46455367e-01 1.67640107e-03 1.69528160e+02] [-1.46455207e-01 9.89217279e-01 -2.18852249e-04 -1.52164241e+01] [-1.69037699e-03 -2.90255492e-05 9.99998571e-01 -5.01924707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.025769231 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:169.56, Y:-15.22, Z:-0.50 [[ 9.89272237e-01 1.46074062e-01 1.67636375e-03 1.69561627e+02] [-1.46073900e-01 9.89273657e-01 -2.19137710e-04 -1.52181547e+01] [-1.69039283e-03 -2.80861377e-05 9.99998571e-01 -5.01822556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.055769231 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:169.59, Y:-15.22, Z:-0.50 [[ 9.89243074e-01 1.46271430e-01 1.67632405e-03 1.69594316e+02] [-1.46271268e-01 9.89244494e-01 -2.19440971e-04 -1.52164038e+01] [-1.69039228e-03 -2.81175830e-05 9.99998571e-01 -4.99969941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.085769231 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:169.63, Y:-15.21, Z:-0.50 [[ 9.89012560e-01 1.47822010e-01 1.67628686e-03 1.69625519e+02] [-1.47821850e-01 9.89013980e-01 -2.19724697e-04 -1.52134798e+01] [-1.69035129e-03 -3.04813394e-05 9.99998571e-01 -4.97465816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.115769231 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:169.66, Y:-15.21, Z:-0.50 [[ 9.88825929e-01 1.49065330e-01 1.67628440e-03 1.69656797e+02] [-1.49065172e-01 9.88827349e-01 -2.19743458e-04 -1.52134307e+01] [-1.69031199e-03 -3.25875935e-05 9.99998571e-01 -4.97680618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.145769231 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:169.69, Y:-15.21, Z:-0.50 [[ 9.88674091e-01 1.50069090e-01 1.67627951e-03 1.69687753e+02] [-1.50068933e-01 9.88675512e-01 -2.19780727e-04 -1.52132746e+01] [-1.69027880e-03 -3.42659667e-05 9.99998571e-01 -4.99412722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.175769231 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:169.72, Y:-15.21, Z:-0.50 [[ 9.88552064e-01 1.50870825e-01 1.67627951e-03 1.69718764e+02] [-1.50870670e-01 9.88553485e-01 -2.19780727e-04 -1.52104946e+01] [-1.69025046e-03 -3.56367213e-05 9.99998571e-01 -5.02099242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.205769231 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:169.75, Y:-15.21, Z:-0.50 [[ 9.88579993e-01 1.50687718e-01 1.67627951e-03 1.69749591e+02] [-1.50687562e-01 9.88581413e-01 -2.19780727e-04 -1.52118270e+01] [-1.69025703e-03 -3.53236440e-05 9.99998571e-01 -5.00510795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.235769231 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:169.78, Y:-15.22, Z:-0.50 [[ 9.88579993e-01 1.50687718e-01 1.67627951e-03 1.69780327e+02] [-1.50687562e-01 9.88581413e-01 -2.19780727e-04 -1.52158569e+01] [-1.69025703e-03 -3.53236440e-05 9.99998571e-01 -5.00563205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.265769231 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:169.81, Y:-15.21, Z:-0.50 [[ 9.88700579e-01 1.49894481e-01 1.67627951e-03 1.69810573e+02] [-1.49894324e-01 9.88701999e-01 -2.19780727e-04 -1.52138319e+01] [-1.69028483e-03 -3.39674527e-05 9.99998571e-01 -4.98152206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.295769231 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:169.84, Y:-15.21, Z:-0.50 [[ 9.88762058e-01 1.49488404e-01 1.67628194e-03 1.69840694e+02] [-1.49488246e-01 9.88763478e-01 -2.19762260e-04 -1.52140595e+01] [-1.69029827e-03 -3.32918622e-05 9.99998571e-01 -4.97819512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.325769231 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:169.87, Y:-15.21, Z:-0.50 [[ 9.88683256e-01 1.50008698e-01 1.67628695e-03 1.69870414e+02] [-1.50008541e-01 9.88684676e-01 -2.19723984e-04 -1.52124402e+01] [-1.69027973e-03 -3.42199356e-05 9.99998571e-01 -5.00721269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.355769231 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:169.90, Y:-15.21, Z:-0.50 [[ 9.88623261e-01 1.50403583e-01 1.67629199e-03 1.69898722e+02] [-1.50403427e-01 9.88624682e-01 -2.19685572e-04 -1.52143427e+01] [-1.69026513e-03 -3.49337928e-05 9.99998571e-01 -5.02548559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.385769231 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:169.93, Y:-15.21, Z:-0.50 [[ 9.88610506e-01 1.50487397e-01 1.67631461e-03 1.69928811e+02] [-1.50487241e-01 9.88611927e-01 -2.19512929e-04 -1.52138150e+01] [-1.69025855e-03 -3.52511731e-05 9.99998571e-01 -5.03311573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.415769231 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:169.96, Y:-15.21, Z:-0.50 [[ 9.88650346e-01 1.50225441e-01 1.67630245e-03 1.69957971e+02] [-1.50225284e-01 9.88651767e-01 -2.19605768e-04 -1.52147935e+01] [-1.69026975e-03 -3.47096926e-05 9.99998571e-01 -5.03408220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.445769231 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:169.99, Y:-15.21, Z:-0.50 [[ 9.88885646e-01 1.48668657e-01 1.67630737e-03 1.69986747e+02] [-1.48668498e-01 9.88887066e-01 -2.19568180e-04 -1.52137715e+01] [-1.69032158e-03 -3.20862776e-05 9.99998571e-01 -5.04967291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47576923100002 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:170.02, Y:-15.22, Z:-0.51 [[ 9.89043313e-01 1.47616106e-01 1.67631667e-03 1.70015586e+02] [-1.47615946e-01 9.89044733e-01 -2.19497193e-04 -1.52154572e+01] [-1.69035349e-03 -3.03588395e-05 9.99998571e-01 -5.05440629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50576923100002 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:170.04, Y:-15.22, Z:-0.51 [[ 9.89210989e-01 1.46488257e-01 1.67632657e-03 1.70043320e+02] [-1.46488096e-01 9.89212409e-01 -2.19421561e-04 -1.52166026e+01] [-1.69038572e-03 -2.85076673e-05 9.99998571e-01 -5.06525130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53576923100002 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:170.07, Y:-15.22, Z:-0.51 [[ 9.89459859e-01 1.44797709e-01 1.67633888e-03 1.70072472e+02] [-1.44797546e-01 9.89461279e-01 -2.19327471e-04 -1.52156584e+01] [-1.69043052e-03 -2.57140257e-05 9.99998571e-01 -5.06729356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56576923100002 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:170.10, Y:-15.22, Z:-0.51 [[ 9.89648396e-01 1.43503458e-01 1.67634866e-03 1.70101526e+02] [-1.43503293e-01 9.89649815e-01 -2.19252632e-04 -1.52177756e+01] [-1.69046166e-03 -2.35785370e-05 9.99998571e-01 -5.07405827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59576923100002 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:170.13, Y:-15.22, Z:-0.51 [[ 9.90330478e-01 1.38718181e-01 1.67635846e-03 1.70130133e+02] [-1.38718009e-01 9.90331897e-01 -2.19177705e-04 -1.52206368e+01] [-1.69055519e-03 -1.54827470e-05 9.99998571e-01 -5.08409863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62576923100002 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:170.16, Y:-15.22, Z:-0.51 [[ 9.90791458e-01 1.35386399e-01 1.67636577e-03 1.70158860e+02] [-1.35386222e-01 9.90792876e-01 -2.19121797e-04 -1.52243237e+01] [-1.69059737e-03 -9.85282311e-06 9.99998571e-01 -5.08887667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65576923100002 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:170.19, Y:-15.23, Z:-0.51 [[ 9.91839011e-01 1.27485553e-01 1.67637548e-03 1.70189043e+02] [-1.27485364e-01 9.91840428e-01 -2.19047488e-04 -1.52292002e+01] [-1.69062236e-03 3.54650470e-06 9.99998571e-01 -5.06539208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68576923100002 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:170.22, Y:-15.23, Z:-0.51 [[ 9.92362333e-01 1.23345814e-01 1.67637548e-03 1.70218591e+02] [-1.23345620e-01 9.92363749e-01 -2.19047488e-04 -1.52342339e+01] [-1.69059284e-03 1.06009030e-05 9.99998571e-01 -5.05631274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71576923100002 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:170.25, Y:-15.24, Z:-0.50 [[ 9.93272524e-01 1.15788091e-01 1.67637314e-03 1.70247412e+02] [-1.15787886e-01 9.93273939e-01 -2.19065405e-04 -1.52431901e+01] [-1.69046291e-03 2.34879463e-05 9.99998571e-01 -5.02516546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74576923100003 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:170.28, Y:-15.25, Z:-0.50 [[ 9.93732498e-01 1.11771700e-01 1.67637569e-03 1.70276782e+02] [-1.11771489e-01 9.93733911e-01 -2.19045879e-04 -1.52511270e+01] [-1.69035450e-03 3.03020010e-05 9.99998571e-01 -4.98231474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.775769231 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:170.31, Y:-15.26, Z:-0.50 [[ 9.93779943e-01 1.11349068e-01 1.67637569e-03 1.70306837e+02] [-1.11348857e-01 9.93781356e-01 -2.19045879e-04 -1.52562783e+01] [-1.69034146e-03 3.10208834e-05 9.99998571e-01 -4.97454187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.805769231 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:170.34, Y:-15.26, Z:-0.50 [[ 9.93710127e-01 1.11970410e-01 1.67637569e-03 1.70336856e+02] [-1.11970200e-01 9.93711541e-01 -2.19045879e-04 -1.52618197e+01] [-1.69036053e-03 2.99639875e-05 9.99998571e-01 -4.97134302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.835769231 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:170.37, Y:-15.27, Z:-0.50 [[ 9.93472581e-01 1.14058849e-01 1.67637569e-03 1.70367392e+02] [-1.14058642e-01 9.93473995e-01 -2.19045879e-04 -1.52692289e+01] [-1.69041977e-03 2.64109406e-05 9.99998571e-01 -4.96520658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.865769231 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:170.40, Y:-15.27, Z:-0.50 [[ 9.93325586e-01 1.15331995e-01 1.67637040e-03 1.70397755e+02] [-1.15331790e-01 9.93327001e-01 -2.19086361e-04 -1.52744299e+01] [-1.69045165e-03 2.42852897e-05 9.99998571e-01 -4.95953431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.895769231 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:170.43, Y:-15.28, Z:-0.49 [[ 9.92948823e-01 1.18531959e-01 1.67636777e-03 1.70427485e+02] [-1.18531758e-01 9.92950238e-01 -2.19106433e-04 -1.52785490e+01] [-1.69052089e-03 1.88586549e-05 9.99998571e-01 -4.93528368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.925769231 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:170.46, Y:-15.28, Z:-0.50 [[ 9.92661888e-01 1.20911396e-01 1.67636519e-03 1.70457547e+02] [-1.20911198e-01 9.92663304e-01 -2.19126180e-04 -1.52818771e+01] [-1.69056106e-03 1.48268838e-05 9.99998571e-01 -4.95717140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.955769231 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:170.49, Y:-15.28, Z:-0.50 [[ 9.92152018e-01 1.25026252e-01 1.67636519e-03 1.70486304e+02] [-1.25026061e-01 9.92153434e-01 -2.19126180e-04 -1.52839345e+01] [-1.69060801e-03 7.81714538e-06 9.99998571e-01 -5.02433452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.985769231 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:170.52, Y:-15.29, Z:-0.50 [[ 9.91974173e-01 1.26429545e-01 1.67637297e-03 1.70517138e+02] [-1.26429356e-01 9.91975589e-01 -2.19066701e-04 -1.52871180e+01] [-1.69061756e-03 5.36575543e-06 9.99998571e-01 -5.03615466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.015769231 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:170.55, Y:-15.29, Z:-0.50 [[ 9.91737333e-01 1.28274128e-01 1.67637297e-03 1.70547051e+02] [-1.28273941e-01 9.91738750e-01 -2.19066701e-04 -1.52895379e+01] [-1.69062462e-03 2.22165957e-06 9.99998571e-01 -4.98433816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.045769231 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:170.58, Y:-15.29, Z:-0.49 [[ 9.91647383e-01 1.28967660e-01 1.67637555e-03 1.70577387e+02] [-1.28967474e-01 9.91648800e-01 -2.19046916e-04 -1.52931404e+01] [-1.69062577e-03 1.01938125e-06 9.99998571e-01 -4.94949707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.075769231 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:170.61, Y:-15.30, Z:-0.50 [[ 9.91474246e-01 1.30292012e-01 1.67637555e-03 1.70606980e+02] [-1.30291828e-01 9.91475664e-01 -2.19046916e-04 -1.52972722e+01] [-1.69062563e-03 -1.23865974e-06 9.99998571e-01 -4.97294723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.105769231 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:170.64, Y:-15.30, Z:-0.50 [[ 9.91499929e-01 1.30096428e-01 1.67637812e-03 1.70636876e+02] [-1.30096243e-01 9.91501346e-01 -2.19027226e-04 -1.53010037e+01] [-1.69062583e-03 -9.25016902e-07 9.99998571e-01 -5.01251133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.135769231 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:170.67, Y:-15.31, Z:-0.51 [[ 9.91609458e-01 1.29258938e-01 1.67637812e-03 1.70665850e+02] [-1.29258753e-01 9.91610875e-01 -2.19027226e-04 -1.53056903e+01] [-1.69062600e-03 5.02924024e-07 9.99998571e-01 -5.07634698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.165769231 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:170.70, Y:-15.31, Z:-0.51 [[ 9.91605166e-01 1.29291857e-01 1.67638078e-03 1.70695540e+02] [-1.29291672e-01 9.91606583e-01 -2.19006898e-04 -1.53107388e+01] [-1.69062603e-03 4.26298027e-07 9.99998571e-01 -5.06087826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.195769231 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:170.73, Y:-15.32, Z:-0.50 [[ 9.91476141e-01 1.30277594e-01 1.67638078e-03 1.70725544e+02] [-1.30277410e-01 9.91477558e-01 -2.19006898e-04 -1.53167337e+01] [-1.69062561e-03 -1.25443245e-06 9.99998571e-01 -5.02468712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22576923100002 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:170.76, Y:-15.32, Z:-0.50 [[ 9.91379749e-01 1.31009093e-01 1.67638078e-03 1.70755503e+02] [-1.31008910e-01 9.91381167e-01 -2.19006898e-04 -1.53212725e+01] [-1.69062423e-03 -2.50181418e-06 9.99998571e-01 -5.00819892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25576923100002 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:170.78, Y:-15.33, Z:-0.50 [[ 9.91330588e-01 1.31380577e-01 1.67638078e-03 1.70784844e+02] [-1.31380395e-01 9.91332005e-01 -2.19006898e-04 -1.53255997e+01] [-1.69062317e-03 -3.13533116e-06 9.99998571e-01 -5.01068382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28576923100002 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:170.82, Y:-15.33, Z:-0.50 [[ 9.91420839e-01 1.30697777e-01 1.67638335e-03 1.70815191e+02] [-1.30697593e-01 9.91422257e-01 -2.18987185e-04 -1.53317005e+01] [-1.69062491e-03 -1.99081081e-06 9.99998571e-01 -5.00740416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31576923100002 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:170.85, Y:-15.34, Z:-0.50 [[ 9.91556569e-01 1.29664028e-01 1.67638335e-03 1.70845401e+02] [-1.29663843e-01 9.91557986e-01 -2.18987185e-04 -1.53366876e+01] [-1.69062606e-03 -2.28126123e-07 9.99998571e-01 -5.00982513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34576923100002 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:170.87, Y:-15.34, Z:-0.50 [[ 9.91756955e-01 1.28122334e-01 1.67638335e-03 1.70874112e+02] [-1.28122147e-01 9.91758371e-01 -2.18987185e-04 -1.53438899e+01] [-1.69062437e-03 2.40022886e-06 9.99998571e-01 -5.03016538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37576923100002 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:170.90, Y:-15.35, Z:-0.50 [[ 9.91826340e-01 1.27584094e-01 1.67638591e-03 1.70904680e+02] [-1.27583907e-01 9.91827757e-01 -2.18967629e-04 -1.53488629e+01] [-1.69062286e-03 3.29799913e-06 9.99998571e-01 -5.02456378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40576923100002 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:170.93, Y:-15.35, Z:-0.50 [[ 9.91877852e-01 1.27183007e-01 1.67627575e-03 1.70934335e+02] [-1.27182818e-01 9.91879268e-01 -2.19810454e-04 -1.53535372e+01] [-1.69061932e-03 4.83164817e-06 9.99998571e-01 -5.04423382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43576923100002 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:170.96, Y:-15.36, Z:-0.51 [[ 9.91945716e-01 1.26652623e-01 1.67636010e-03 1.70964666e+02] [-1.26652434e-01 9.91947132e-01 -2.19165266e-04 -1.53581709e+01] [-1.69061845e-03 5.08495965e-06 9.99998571e-01 -5.05191748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46576923100002 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:170.99, Y:-15.36, Z:-0.51 [[ 9.92155918e-01 1.24995294e-01 1.67635748e-03 1.70994296e+02] [-1.24995102e-01 9.92157335e-01 -2.19185356e-04 -1.53643094e+01] [-1.69060750e-03 7.92957555e-06 9.99998571e-01 -5.07474459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49576923100003 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:171.02, Y:-15.37, Z:-0.51 [[ 9.92206975e-01 1.24589365e-01 1.67618637e-03 1.71024989e+02] [-1.24589171e-01 9.92208390e-01 -2.20493851e-04 -1.53698202e+01] [-1.69059737e-03 9.94086801e-06 9.99998571e-01 -5.06887317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.525769231 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:171.06, Y:-15.38, Z:-0.51 [[ 9.92405106e-01 1.23001202e-01 1.67633370e-03 1.71055400e+02] [-1.23001007e-01 9.92406522e-01 -2.19367972e-04 -1.53773208e+01] [-1.69058702e-03 1.15111619e-05 9.99998571e-01 -5.06540508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.555769231 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:171.09, Y:-15.38, Z:-0.51 [[ 9.92579341e-01 1.21587176e-01 1.67629945e-03 1.71085640e+02] [-1.21586979e-01 9.92580757e-01 -2.19629358e-04 -1.53835784e+01] [-1.69056669e-03 1.41833778e-05 9.99998571e-01 -5.05917595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.585769231 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:171.12, Y:-15.39, Z:-0.51 [[ 9.92789448e-01 1.19859512e-01 1.67627907e-03 1.71116327e+02] [-1.19859312e-01 9.92790863e-01 -2.19784851e-04 -1.53903694e+01] [-1.69053785e-03 1.72824257e-05 9.99998571e-01 -5.05725407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.615769231 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:171.15, Y:-15.40, Z:-0.50 [[ 9.93183915e-01 1.16545702e-01 1.67624560e-03 1.71148570e+02] [-1.16545496e-01 9.93185330e-01 -2.20039812e-04 -1.53991688e+01] [-1.69046723e-03 2.31811273e-05 9.99998571e-01 -5.01876015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.645769231 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:171.18, Y:-15.41, Z:-0.50 [[ 9.93350718e-01 1.15115340e-01 1.67620434e-03 1.71179642e+02] [-1.15115132e-01 9.93352132e-01 -2.20353624e-04 -1.54077635e+01] [-1.69042724e-03 2.59319454e-05 9.99998571e-01 -4.99168381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.675769231 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:171.21, Y:-15.41, Z:-0.50 [[ 9.93299266e-01 1.15558462e-01 1.67616579e-03 1.71211678e+02] [-1.15558254e-01 9.93300680e-01 -2.20646540e-04 -1.54147440e+01] [-1.69043419e-03 2.54732543e-05 9.99998571e-01 -4.99309024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.705769231 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:171.24, Y:-15.42, Z:-0.50 [[ 9.93159372e-01 1.16754666e-01 1.67612494e-03 1.71243836e+02] [-1.16754460e-01 9.93160786e-01 -2.20956357e-04 -1.54214878e+01] [-1.69045925e-03 2.37498146e-05 9.99998571e-01 -5.00407066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.735769231 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:171.27, Y:-15.43, Z:-0.50 [[ 9.92720667e-01 1.20427850e-01 1.67608191e-03 1.71274246e+02] [-1.20427648e-01 9.92722082e-01 -2.21282331e-04 -1.54276318e+01] [-1.69053208e-03 1.78249411e-05 9.99998571e-01 -5.02844971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.765769231 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:171.31, Y:-15.43, Z:-0.50 [[ 9.92409191e-01 1.22968246e-01 1.67604705e-03 1.71307131e+02] [-1.22968047e-01 9.92410606e-01 -2.21546058e-04 -1.54318856e+01] [-1.69056999e-03 1.37641117e-05 9.99998571e-01 -5.02854225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.795769231 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:171.34, Y:-15.43, Z:-0.50 [[ 9.91720572e-01 1.28403655e-01 1.67600409e-03 1.71338633e+02] [-1.28403463e-01 9.91721988e-01 -2.21870565e-04 -1.54347075e+01] [-1.69061910e-03 4.82887395e-06 9.99998571e-01 -5.01734257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.825769231 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:171.37, Y:-15.44, Z:-0.50 [[ 9.91386200e-01 1.30960278e-01 1.67596401e-03 1.71369297e+02] [-1.30960090e-01 9.91387616e-01 -2.22172912e-04 -1.54381190e+01] [-1.69062579e-03 7.74761938e-07 9.99998571e-01 -5.03000589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.855769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:171.40, Y:-15.44, Z:-0.50 [[ 9.91125040e-01 1.32922331e-01 1.67592984e-03 1.71401020e+02] [-1.32922145e-01 9.91126457e-01 -2.22430356e-04 -1.54411020e+01] [-1.69062437e-03 -2.31189394e-06 9.99998571e-01 -5.04254018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.885769231 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:171.43, Y:-15.45, Z:-0.50 [[ 9.91207537e-01 1.32305743e-01 1.67589289e-03 1.71432463e+02] [-1.32305556e-01 9.91208954e-01 -2.22708375e-04 -1.54452008e+01] [-1.69062564e-03 -9.79720337e-07 9.99998571e-01 -5.04426970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.915769231 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:171.46, Y:-15.45, Z:-0.50 [[ 9.91649019e-01 1.28955090e-01 1.67585608e-03 1.71464590e+02] [-1.28954897e-01 9.91650435e-01 -2.22985053e-04 -1.54502417e+01] [-1.69061847e-03 5.01305953e-06 9.99998571e-01 -5.02995260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.945769231 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:171.50, Y:-15.46, Z:-0.50 [[ 9.91926281e-01 1.26804747e-01 1.67581914e-03 1.71495991e+02] [-1.26804551e-01 9.91927697e-01 -2.23262348e-04 -1.54560222e+01] [-1.69060214e-03 8.95829691e-06 9.99998571e-01 -5.04270588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97576923100002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:171.53, Y:-15.46, Z:-0.51 [[ 9.92462269e-01 1.22539124e-01 1.67579278e-03 1.71526758e+02] [-1.22538922e-01 9.92463683e-01 -2.23460010e-04 -1.54642966e+01] [-1.69054607e-03 1.64257886e-05 9.99998571e-01 -5.07915252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00576923100002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:171.56, Y:-15.47, Z:-0.51 [[ 9.92673993e-01 1.20811984e-01 1.67575883e-03 1.71559150e+02] [-1.20811778e-01 9.92675407e-01 -2.23714321e-04 -1.54712914e+01] [-1.69051195e-03 1.96239842e-05 9.99998571e-01 -5.08301069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03576923100002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:171.59, Y:-15.48, Z:-0.50 [[ 9.93005638e-01 1.18055049e-01 1.67571721e-03 1.71588899e+02] [-1.18054839e-01 9.93007052e-01 -2.24025639e-04 -1.54810921e+01] [-1.69044636e-03 2.46321968e-05 9.99998571e-01 -5.04483512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06576923100002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:171.62, Y:-15.49, Z:-0.50 [[ 9.93092174e-01 1.17324873e-01 1.67568360e-03 1.71621546e+02] [-1.17324661e-01 9.93093588e-01 -2.24276733e-04 -1.54894856e+01] [-1.69042388e-03 2.61284581e-05 9.99998571e-01 -5.02398660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09576923100002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.65, Y:-15.50, Z:-0.50 [[ 9.93213051e-01 1.16297156e-01 1.67564240e-03 1.71653452e+02] [-1.16296942e-01 9.93214464e-01 -2.24584169e-04 -1.54987457e+01] [-1.69039076e-03 2.81878403e-05 9.99998571e-01 -5.00620582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12576923100002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:171.69, Y:-15.50, Z:-0.50 [[ 9.93190406e-01 1.16490385e-01 1.67559864e-03 1.71686625e+02] [-1.16490172e-01 9.93191819e-01 -2.24910160e-04 -1.55033931e+01] [-1.69039073e-03 2.81878398e-05 9.99998571e-01 -5.00677248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.72, Y:-15.52, Z:-0.50 [[ 9.93463120e-01 1.14141233e-01 1.67555482e-03 1.71716508e+02] [-1.14141016e-01 9.93464533e-01 -2.25236142e-04 -1.55179730e+01] [-1.69031302e-03 3.25142719e-05 9.99998571e-01 -5.01291919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18576923100002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:171.75, Y:-15.53, Z:-0.50 [[ 9.93533062e-01 1.13530821e-01 1.67551390e-03 1.71748969e+02] [-1.13530602e-01 9.93534474e-01 -2.25540133e-04 -1.55271080e+01] [-1.69028658e-03 3.38594774e-05 9.99998571e-01 -5.01873289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21576923100002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:171.78, Y:-15.54, Z:-0.50 [[ 9.93587548e-01 1.13052982e-01 1.67547161e-03 1.71780665e+02] [-1.13052762e-01 9.93588960e-01 -2.25853858e-04 -1.55408554e+01] [-1.69026355e-03 3.49888888e-05 9.99998571e-01 -5.00400372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24576923100003 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:171.81, Y:-15.55, Z:-0.50 [[ 9.93496859e-01 1.13847193e-01 1.67542942e-03 1.71811706e+02] [-1.13846974e-01 9.93498271e-01 -2.26166407e-04 -1.55503107e+01] [-1.69028464e-03 3.39530456e-05 9.99998571e-01 -4.97067429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.275769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.84, Y:-15.56, Z:-0.49 [[ 9.93351182e-01 1.15111345e-01 1.67538997e-03 1.71843338e+02] [-1.15111127e-01 9.93352595e-01 -2.26458285e-04 -1.55599561e+01] [-1.69032089e-03 3.20965776e-05 9.99998571e-01 -4.93384292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.305769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.87, Y:-15.57, Z:-0.49 [[ 9.92894311e-01 1.18987733e-01 1.67534783e-03 1.71874193e+02] [-1.18987520e-01 9.92895724e-01 -2.26769607e-04 -1.55738915e+01] [-1.69042850e-03 2.58127704e-05 9.99998571e-01 -4.91159403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.335769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.91, Y:-15.59, Z:-0.49 [[ 9.92302486e-01 1.23826372e-01 1.67530842e-03 1.71905493e+02] [-1.23826165e-01 9.92303900e-01 -2.27060393e-04 -1.55879031e+01] [-1.69053114e-03 1.78655771e-05 9.99998571e-01 -4.87278566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.365769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.94, Y:-15.60, Z:-0.49 [[ 9.91968841e-01 1.26471390e-01 1.67526657e-03 1.71937021e+02] [-1.26471187e-01 9.91970255e-01 -2.27368692e-04 -1.55961561e+01] [-1.69057024e-03 1.36697062e-05 9.99998571e-01 -4.87185600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.395769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.97, Y:-15.60, Z:-0.48 [[ 9.91558580e-01 1.29648664e-01 1.67522765e-03 1.71969490e+02] [-1.29648465e-01 9.91559995e-01 -2.27655115e-04 -1.56036382e+01] [-1.69060390e-03 8.54268990e-06 9.99998571e-01 -4.84383511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.425769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:172.00, Y:-15.61, Z:-0.49 [[ 9.90473345e-01 1.37694393e-01 1.67518555e-03 1.72000828e+02] [-1.37694204e-01 9.90474762e-01 -2.27964486e-04 -1.56094664e+01] [-1.69061844e-03 -4.87059419e-06 9.99998571e-01 -4.85481434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.455769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.03, Y:-15.61, Z:-0.49 [[ 9.89803703e-01 1.42428312e-01 1.67514632e-03 1.72033663e+02] [-1.42428130e-01 9.89805120e-01 -2.28252355e-04 -1.56126098e+01] [-1.69057801e-03 -1.26629322e-05 9.99998571e-01 -4.89416772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.485769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.07, Y:-15.61, Z:-0.49 [[ 9.88435031e-01 1.51635693e-01 1.67510565e-03 1.72066340e+02] [-1.51635523e-01 9.88436450e-01 -2.28550456e-04 -1.56117216e+01] [-1.69039189e-03 -2.80982447e-05 9.99998571e-01 -4.92840265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.515769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:172.10, Y:-15.61, Z:-0.49 [[ 9.87839387e-01 1.55468774e-01 1.67506925e-03 1.72098117e+02] [-1.55468609e-01 9.87840807e-01 -2.28816920e-04 -1.56127448e+01] [-1.69027565e-03 -3.43863211e-05 9.99998571e-01 -4.91857328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.545769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:172.13, Y:-15.61, Z:-0.49 [[ 9.87340259e-01 1.58607715e-01 1.67503048e-03 1.72130665e+02] [-1.58607555e-01 9.87341679e-01 -2.29100434e-04 -1.56096336e+01] [-1.69016450e-03 -3.94724064e-05 9.99998571e-01 -4.87016973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.575769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.16, Y:-15.61, Z:-0.49 [[ 9.87427896e-01 1.58061208e-01 1.67499538e-03 1.72163955e+02] [-1.58061047e-01 9.87429315e-01 -2.29356726e-04 -1.56106791e+01] [-1.69019194e-03 -3.82782939e-05 9.99998571e-01 -4.85560669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.605769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.20, Y:-15.61, Z:-0.49 [[ 9.87663133e-01 1.56584578e-01 1.67495387e-03 1.72196750e+02] [-1.56584414e-01 9.87664553e-01 -2.29659477e-04 -1.56126308e+01] [-1.69025370e-03 -3.54454713e-05 9.99998571e-01 -4.85410150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.635769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.23, Y:-15.61, Z:-0.49 [[ 9.88526925e-01 1.51035470e-01 1.67491043e-03 1.72228468e+02] [-1.51035297e-01 9.88528344e-01 -2.29975875e-04 -1.56137194e+01] [-1.69043094e-03 -2.56332495e-05 9.99998571e-01 -4.89374208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.26, Y:-15.62, Z:-0.49 [[ 9.89032244e-01 1.47690269e-01 1.67486982e-03 1.72260477e+02] [-1.47690091e-01 9.89033662e-01 -2.30271239e-04 -1.56167292e+01] [-1.69051145e-03 -1.96159958e-05 9.99998571e-01 -4.92760840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.29, Y:-15.62, Z:-0.50 [[ 9.89822166e-01 1.42299943e-01 1.67483320e-03 1.72291472e+02] [-1.42299756e-01 9.89823583e-01 -2.30537281e-04 -1.56191793e+01] [-1.69059484e-03 -1.01374450e-05 9.99998571e-01 -4.95140563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.32, Y:-15.62, Z:-0.49 [[ 9.90037551e-01 1.40793617e-01 1.67479916e-03 1.72323794e+02] [-1.40793428e-01 9.90038968e-01 -2.30784294e-04 -1.56239232e+01] [-1.69060939e-03 -7.31559717e-06 9.99998571e-01 -4.94749339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.36, Y:-15.63, Z:-0.50 [[ 9.89992920e-01 1.41107098e-01 1.67478567e-03 1.72355470e+02] [-1.41106909e-01 9.89994337e-01 -2.30882159e-04 -1.56282995e+01] [-1.69060744e-03 -7.75212701e-06 9.99998571e-01 -4.95013397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.39, Y:-15.63, Z:-0.49 [[ 9.89726391e-01 1.42964565e-01 1.67474533e-03 1.72387995e+02] [-1.42964378e-01 9.89727808e-01 -2.31174397e-04 -1.56318918e+01] [-1.69059177e-03 -1.06295226e-05 9.99998571e-01 -4.94218180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:-15.63, Z:-0.50 [[ 9.89001608e-01 1.47895285e-01 1.67470224e-03 1.72418835e+02] [-1.47895105e-01 9.89003025e-01 -2.31486153e-04 -1.56347754e+01] [-1.69052129e-03 -1.87400851e-05 9.99998571e-01 -4.99498956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.45, Y:-15.64, Z:-0.50 [[ 9.88642098e-01 1.50279731e-01 1.67466745e-03 1.72449952e+02] [-1.50279554e-01 9.88643516e-01 -2.31737538e-04 -1.56387562e+01] [-1.69047457e-03 -2.25627910e-05 9.99998571e-01 -5.02293221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:-15.64, Z:-0.50 [[ 9.88113219e-01 1.53718777e-01 1.67463443e-03 1.72482486e+02] [-1.53718604e-01 9.88114638e-01 -2.31975913e-04 -1.56409009e+01] [-1.69038985e-03 -2.82040010e-05 9.99998571e-01 -4.98979527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.51, Y:-15.64, Z:-0.50 [[ 9.87847575e-01 1.55416743e-01 1.67459767e-03 1.72513772e+02] [-1.55416573e-01 9.87848994e-01 -2.32240960e-04 -1.56430478e+01] [-1.69034376e-03 -3.08415611e-05 9.99998571e-01 -4.95742091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.55, Y:-15.64, Z:-0.49 [[ 9.87229992e-01 1.59292618e-01 1.67456356e-03 1.72546825e+02] [-1.59292452e-01 9.87231412e-01 -2.32486661e-04 -1.56422529e+01] [-1.69021516e-03 -3.72275320e-05 9.99998571e-01 -4.90082919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.58, Y:-15.64, Z:-0.49 [[ 9.86852980e-01 1.61611855e-01 1.67452715e-03 1.72579545e+02] [-1.61611693e-01 9.86854400e-01 -2.32748604e-04 -1.56433288e+01] [-1.69012942e-03 -4.09345143e-05 9.99998571e-01 -4.91367616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.61, Y:-15.64, Z:-0.49 [[ 9.86515169e-01 1.63661290e-01 1.67448565e-03 1.72611999e+02] [-1.63661130e-01 9.86516589e-01 -2.33046801e-04 -1.56435044e+01] [-1.69004861e-03 -4.41440085e-05 9.99998571e-01 -4.94186862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:-15.64, Z:-0.50 [[ 9.86224376e-01 1.65404587e-01 1.67444934e-03 1.72643761e+02] [-1.65404429e-01 9.86225796e-01 -2.33307398e-04 -1.56389068e+01] [-1.68997525e-03 -4.68678941e-05 9.99998571e-01 -4.98015465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-15.64, Z:-0.50 [[ 9.86315356e-01 1.64861200e-01 1.67441585e-03 1.72673975e+02] [-1.64861041e-01 9.86316776e-01 -2.33547487e-04 -1.56396464e+01] [-1.69000736e-03 -4.56944678e-05 9.99998571e-01 -4.97332620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:-15.64, Z:-0.50 [[ 9.86938026e-01 1.61091677e-01 1.67441329e-03 1.72704664e+02] [-1.61091512e-01 9.86939446e-01 -2.33565876e-04 -1.56366487e+01] [-1.69017004e-03 -3.92187238e-05 9.99998571e-01 -4.96174281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-15.64, Z:-0.50 [[ 9.87340157e-01 1.58608356e-01 1.67441074e-03 1.72735480e+02] [-1.58608188e-01 9.87341576e-01 -2.33584136e-04 -1.56370433e+01] [-1.69026374e-03 -3.49482552e-05 9.99998571e-01 -4.96735326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:-15.63, Z:-0.50 [[ 9.87993900e-01 1.54483816e-01 1.67439898e-03 1.72766094e+02] [-1.54483642e-01 9.87995319e-01 -2.33668395e-04 -1.56325888e+01] [-1.69039634e-03 -2.78043038e-05 9.99998571e-01 -4.97971625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-15.63, Z:-0.50 [[ 9.88141902e-01 1.53534289e-01 1.67440151e-03 1.72796841e+02] [-1.53534113e-01 9.88143320e-01 -2.33650252e-04 -1.56333503e+01] [-1.69042200e-03 -2.61981471e-05 9.99998571e-01 -4.98219015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-15.63, Z:-0.50 [[ 9.88184729e-01 1.53258399e-01 1.67440151e-03 1.72826383e+02] [-1.53258224e-01 9.88186148e-01 -2.33650252e-04 -1.56343282e+01] [-1.69042925e-03 -2.57261901e-05 9.99998571e-01 -4.98220904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:-15.63, Z:-0.50 [[ 9.88395463e-01 1.51893402e-01 1.67440656e-03 1.72856098e+02] [-1.51893224e-01 9.88396881e-01 -2.33614089e-04 -1.56329885e+01] [-1.69046266e-03 -2.34279042e-05 9.99998571e-01 -5.00568126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:-15.63, Z:-0.50 [[ 9.88887496e-01 1.48656371e-01 1.67441160e-03 1.72885646e+02] [-1.48656188e-01 9.88888913e-01 -2.33577947e-04 -1.56314719e+01] [-1.69052992e-03 -1.79293357e-05 9.99998571e-01 -5.04502204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:-15.63, Z:-0.51 [[ 9.89215746e-01 1.46456154e-01 1.67441913e-03 1.72915185e+02] [-1.46455968e-01 9.89217163e-01 -2.33523966e-04 -1.56337030e+01] [-1.69056516e-03 -1.42230908e-05 9.99998571e-01 -5.06428301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:-15.64, Z:-0.51 [[ 9.89562507e-01 1.44094553e-01 1.67442409e-03 1.72944310e+02] [-1.44094364e-01 9.89563924e-01 -2.33488370e-04 -1.56360990e+01] [-1.69059408e-03 -1.02237384e-05 9.99998571e-01 -5.06532579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:-15.64, Z:-0.50 [[ 9.90177619e-01 1.39805146e-01 1.67442906e-03 1.72975131e+02] [-1.39804951e-01 9.90179035e-01 -2.33452766e-04 -1.56384724e+01] [-1.69062245e-03 -2.93376852e-06 9.99998571e-01 -5.01928170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:-15.64, Z:-0.50 [[ 9.90403015e-01 1.38199365e-01 1.67442626e-03 1.73004043e+02] [-1.38199168e-01 9.90404430e-01 -2.33472797e-04 -1.56424478e+01] [-1.69062498e-03 -1.72154527e-07 9.99998571e-01 -5.02746629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:-15.65, Z:-0.51 [[ 9.90864229e-01 1.34852793e-01 1.67442905e-03 1.73033297e+02] [-1.34852591e-01 9.90865644e-01 -2.33452837e-04 -1.56493207e+01] [-1.69061598e-03 5.51896902e-06 9.99998571e-01 -5.05152732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.06, Y:-15.66, Z:-0.50 [[ 9.91217053e-01 1.32234450e-01 1.67443150e-03 1.73063534e+02] [-1.32234244e-01 9.91218467e-01 -2.33435229e-04 -1.56550261e+01] [-1.69059561e-03 9.96779583e-06 9.99998571e-01 -5.04714977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:-15.66, Z:-0.51 [[ 9.91777071e-01 1.27966547e-01 1.67443150e-03 1.73094169e+02] [-1.27966335e-01 9.91778485e-01 -2.33435229e-04 -1.56624252e+01] [-1.69053704e-03 1.72448453e-05 9.99998571e-01 -5.06912102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:-15.67, Z:-0.51 [[ 9.91941600e-01 1.26684881e-01 1.67439585e-03 1.73124648e+02] [-1.26684667e-01 9.91943013e-01 -2.33690665e-04 -1.56686913e+01] [-1.69051034e-03 1.96872102e-05 9.99998571e-01 -5.05358359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:-15.68, Z:-0.51 [[ 9.91983791e-01 1.26354083e-01 1.67439043e-03 1.73154831e+02] [-1.26353869e-01 9.91985204e-01 -2.33729535e-04 -1.56757910e+01] [-1.69050321e-03 2.02902020e-05 9.99998571e-01 -5.06771385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:-15.69, Z:-0.50 [[ 9.91917972e-01 1.26869753e-01 1.67436925e-03 1.73186317e+02] [-1.26869539e-01 9.91919385e-01 -2.33881163e-04 -1.56860035e+01] [-1.69051176e-03 1.95644752e-05 9.99998571e-01 -5.01167137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:-15.69, Z:-0.50 [[ 9.91771386e-01 1.28010600e-01 1.67433167e-03 1.73217897e+02] [-1.28010387e-01 9.91772800e-01 -2.34149882e-04 -1.56933556e+01] [-1.69053027e-03 1.78913086e-05 9.99998571e-01 -4.98365571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:-15.70, Z:-0.50 [[ 9.91382646e-01 1.30987195e-01 1.67429409e-03 1.73247708e+02] [-1.30986986e-01 9.91384060e-01 -2.34418281e-04 -1.57027141e+01] [-1.69057426e-03 1.30874803e-05 9.99998571e-01 -4.98614432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:-15.71, Z:-0.50 [[ 9.91085767e-01 1.33214860e-01 1.67425928e-03 1.73279108e+02] [-1.33214654e-01 9.91087181e-01 -2.34666606e-04 -1.57094088e+01] [-1.69059799e-03 9.53886241e-06 9.99998571e-01 -5.01346570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:-15.72, Z:-0.51 [[ 9.90288905e-01 1.39014678e-01 1.67422188e-03 1.73308724e+02] [-1.39014479e-01 9.90290321e-01 -2.34933129e-04 -1.57166062e+01] [-1.69062488e-03 -8.94122020e-08 9.99998571e-01 -5.05684055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:-15.72, Z:-0.51 [[ 9.89923821e-01 1.41591050e-01 1.67421923e-03 1.73338825e+02] [-1.41590855e-01 9.89925237e-01 -2.34952056e-04 -1.57211678e+01] [-1.69061897e-03 -4.46949549e-06 9.99998571e-01 -5.07205605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:-15.72, Z:-0.50 [[ 9.89332953e-01 1.45662296e-01 1.67421659e-03 1.73369146e+02] [-1.45662107e-01 9.89334370e-01 -2.34970814e-04 -1.57246308e+01] [-1.69058641e-03 -1.14055479e-05 9.99998571e-01 -5.00290717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.40, Y:-15.73, Z:-0.50 [[ 9.89189614e-01 1.46632552e-01 1.67421659e-03 1.73399474e+02] [-1.46632364e-01 9.89191030e-01 -2.34970814e-04 -1.57287636e+01] [-1.69057441e-03 -1.30636485e-05 9.99998571e-01 -4.96476565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:-15.73, Z:-0.49 [[ 9.89297766e-01 1.45901088e-01 1.67421659e-03 1.73429973e+02] [-1.45900900e-01 9.89299182e-01 -2.34970814e-04 -1.57343684e+01] [-1.69058360e-03 -1.18136060e-05 9.99998571e-01 -4.93016769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:-15.74, Z:-0.49 [[ 9.89430433e-01 1.44998673e-01 1.67421126e-03 1.73461037e+02] [-1.44998483e-01 9.89431849e-01 -2.35008837e-04 -1.57398486e+01] [-1.69059391e-03 -1.02331964e-05 9.99998571e-01 -4.93500784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:-15.75, Z:-0.49 [[ 9.89604784e-01 1.43803922e-01 1.67417664e-03 1.73492332e+02] [-1.43803729e-01 9.89606201e-01 -2.35255184e-04 -1.57453209e+01] [-1.69060620e-03 -7.94318895e-06 9.99998571e-01 -4.93774425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:-15.75, Z:-0.49 [[ 9.89764255e-01 1.42702195e-01 1.67417176e-03 1.73523100e+02] [-1.42702002e-01 9.89765671e-01 -2.35289919e-04 -1.57502869e+01] [-1.69061412e-03 -6.02610936e-06 9.99998571e-01 -4.93698237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:-15.75, Z:-0.49 [[ 9.89679204e-01 1.43290859e-01 1.67416687e-03 1.73553028e+02] [-1.43290666e-01 9.89680620e-01 -2.35324690e-04 -1.57539068e+01] [-1.69061038e-03 -6.99653326e-06 9.99998571e-01 -4.94212121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:-15.76, Z:-0.50 [[ 9.89365130e-01 1.45443585e-01 1.67416687e-03 1.73583256e+02] [-1.45443395e-01 9.89366547e-01 -2.35324690e-04 -1.57581150e+01] [-1.69059116e-03 -1.06744702e-05 9.99998571e-01 -4.95427792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:-15.76, Z:-0.50 [[ 9.89260054e-01 1.46156570e-01 1.67416687e-03 1.73613645e+02] [-1.46156381e-01 9.89261470e-01 -2.35324690e-04 -1.57633886e+01] [-1.69058303e-03 -1.18928549e-05 9.99998571e-01 -4.95078728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-15.77, Z:-0.50 [[ 9.89317392e-01 1.45767950e-01 1.67416687e-03 1.73645240e+02] [-1.45767760e-01 9.89318808e-01 -2.35324690e-04 -1.57701841e+01] [-1.69058757e-03 -1.12287456e-05 9.99998571e-01 -4.95374372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-15.77, Z:-0.50 [[ 9.89295083e-01 1.45919282e-01 1.67413089e-03 1.73677565e+02] [-1.45919093e-01 9.89296499e-01 -2.35580388e-04 -1.57748987e+01] [-1.69058755e-03 -1.12291408e-05 9.99998571e-01 -4.95429625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:-15.78, Z:-0.49 [[ 9.89295914e-01 1.45913642e-01 1.67409481e-03 1.73710540e+02] [-1.45913452e-01 9.89297331e-01 -2.35836471e-04 -1.57804624e+01] [-1.69058929e-03 -1.09608958e-05 9.99998571e-01 -4.94699652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:-15.79, Z:-0.50 [[ 9.89293044e-01 1.45933104e-01 1.67405085e-03 1.73743494e+02] [-1.45932913e-01 9.89294460e-01 -2.36148157e-04 -1.57858213e+01] [-1.69059106e-03 -1.06793880e-05 9.99998571e-01 -4.97264072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:-15.79, Z:-0.50 [[ 9.89229070e-01 1.46366130e-01 1.67400594e-03 1.73774983e+02] [-1.46365939e-01 9.89230487e-01 -2.36466051e-04 -1.57890285e+01] [-1.69058833e-03 -1.10983603e-05 9.99998571e-01 -5.00433603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:-15.79, Z:-0.50 [[ 9.89142927e-01 1.46947162e-01 1.67396968e-03 1.73806736e+02] [-1.46946972e-01 9.89144343e-01 -2.36722500e-04 -1.57917036e+01] [-1.69058333e-03 -1.18323883e-05 9.99998571e-01 -5.01741624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:-15.79, Z:-0.50 [[ 9.89058893e-01 1.47511707e-01 1.67396455e-03 1.73837118e+02] [-1.47511517e-01 9.89060310e-01 -2.36758775e-04 -1.57926735e+01] [-1.69057658e-03 -1.27606783e-05 9.99998571e-01 -5.01395727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-15.80, Z:-0.50 [[ 9.89107300e-01 1.47186775e-01 1.67395271e-03 1.73867475e+02] [-1.47186585e-01 9.89108717e-01 -2.36842418e-04 -1.57966155e+01] [-1.69058129e-03 -1.21208183e-05 9.99998571e-01 -4.99760110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:-15.80, Z:-0.50 [[ 9.89525124e-01 1.44351057e-01 1.67395017e-03 1.73897875e+02] [-1.44350863e-01 9.89526539e-01 -2.36860365e-04 -1.57997665e+01] [-1.69060916e-03 -7.25687011e-06 9.99998571e-01 -4.96207737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.93, Y:-15.80, Z:-0.50 [[ 9.89785412e-01 1.42555379e-01 1.67395017e-03 1.73929319e+02] [-1.42555182e-01 9.89786828e-01 -2.36860365e-04 -1.58041264e+01] [-1.69061955e-03 -4.18933804e-06 9.99998571e-01 -4.95596456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-15.81, Z:-0.50 [[ 9.90268641e-01 1.39158965e-01 1.67391115e-03 1.73961079e+02] [-1.39158763e-01 9.90270055e-01 -2.37135811e-04 -1.58109062e+01] [-1.69062366e-03 1.88875217e-06 9.99998571e-01 -4.97365955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.99, Y:-15.82, Z:-0.50 [[ 9.90338936e-01 1.38657813e-01 1.67386934e-03 1.73993478e+02] [-1.38657610e-01 9.90340351e-01 -2.37430562e-04 -1.58168215e+01] [-1.69062195e-03 3.04200849e-06 9.99998571e-01 -4.96953029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.03, Y:-15.82, Z:-0.50 [[ 9.90191812e-01 1.39704594e-01 1.67382292e-03 1.74026117e+02] [-1.39704392e-01 9.90193227e-01 -2.37757366e-04 -1.58222422e+01] [-1.69062391e-03 1.58498464e-06 9.99998571e-01 -4.96229134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.06, Y:-15.83, Z:-0.50 [[ 9.89963645e-01 1.41312352e-01 1.67377603e-03 1.74058153e+02] [-1.41312151e-01 9.89965060e-01 -2.38087040e-04 -1.58265998e+01] [-1.69062442e-03 -8.27376476e-07 9.99998571e-01 -4.97919633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.09, Y:-15.83, Z:-0.50 [[ 9.89271656e-01 1.46078026e-01 1.67373214e-03 1.74089097e+02] [-1.46077832e-01 9.89273072e-01 -2.38395163e-04 -1.58303034e+01] [-1.69060243e-03 -8.65758435e-06 9.99998571e-01 -5.00583611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.12, Y:-15.83, Z:-0.50 [[ 9.88916035e-01 1.48466410e-01 1.67369577e-03 1.74119286e+02] [-1.48466219e-01 9.88917451e-01 -2.38650193e-04 -1.58339639e+01] [-1.69057850e-03 -1.24822804e-05 9.99998571e-01 -5.01216492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:-15.84, Z:-0.50 [[ 9.88309541e-01 1.52451469e-01 1.67369303e-03 1.74150897e+02] [-1.52451283e-01 9.88310958e-01 -2.38669417e-04 -1.58362515e+01] [-1.69051467e-03 -1.92773886e-05 9.99998571e-01 -5.03027465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:-15.84, Z:-0.50 [[ 9.88130888e-01 1.53605166e-01 1.67368733e-03 1.74181323e+02] [-1.53604981e-01 9.88132305e-01 -2.38709367e-04 -1.58389580e+01] [-1.69049152e-03 -2.12106135e-05 9.99998571e-01 -5.04248534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:-15.84, Z:-0.50 [[ 9.88032039e-01 1.54239711e-01 1.67368451e-03 1.74211614e+02] [-1.54239528e-01 9.88033456e-01 -2.38729141e-04 -1.58391148e+01] [-1.69047781e-03 -2.22762686e-05 9.99998571e-01 -5.01443455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.24, Y:-15.84, Z:-0.50 [[ 9.88227495e-01 1.52982405e-01 1.67368721e-03 1.74241627e+02] [-1.52982220e-01 9.88228912e-01 -2.38710257e-04 -1.58413715e+01] [-1.69050456e-03 -2.01443452e-05 9.99998571e-01 -5.00094301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:174.27, Y:-15.84, Z:-0.50 [[ 9.88620629e-01 1.50420909e-01 1.67368450e-03 1.74272288e+02] [-1.50420720e-01 9.88622046e-01 -2.38729228e-04 -1.58447256e+01] [-1.69055126e-03 -1.57441882e-05 9.99998571e-01 -4.99419314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:-15.85, Z:-0.50 [[ 9.89786763e-01 1.42546000e-01 1.67368179e-03 1.74304236e+02] [-1.42545800e-01 9.89788178e-01 -2.38748208e-04 -1.58490071e+01] [-1.69062306e-03 -2.26649551e-06 9.99998571e-01 -5.02429888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.33, Y:-15.85, Z:-0.51 [[ 9.90363522e-01 1.38482103e-01 1.67366794e-03 1.74334880e+02] [-1.38481897e-01 9.90364936e-01 -2.38845260e-04 -1.58538156e+01] [-1.69061784e-03 4.77092200e-06 9.99998571e-01 -5.05042312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.37, Y:-15.86, Z:-0.51 [[ 9.91326669e-01 1.31410173e-01 1.67363193e-03 1.74366034e+02] [-1.31409957e-01 9.91328082e-01 -2.39097380e-04 -1.58605882e+01] [-1.69053816e-03 1.70917103e-05 9.99998571e-01 -5.08057930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.40, Y:-15.87, Z:-0.51 [[ 9.91664419e-01 1.28836636e-01 1.67359297e-03 1.74397745e+02] [-1.28836415e-01 9.91665831e-01 -2.39369717e-04 -1.58670950e+01] [-1.69048456e-03 2.17547117e-05 9.99998571e-01 -5.08267264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.43, Y:-15.88, Z:-0.51 [[ 9.92163446e-01 1.24935566e-01 1.67355137e-03 1.74429198e+02] [-1.24935339e-01 9.92164857e-01 -2.39660243e-04 -1.58753209e+01] [-1.69038094e-03 2.86964245e-05 9.99998571e-01 -5.08825228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.46, Y:-15.88, Z:-0.51 [[ 9.92311448e-01 1.23754553e-01 1.67352382e-03 1.74460345e+02] [-1.23754325e-01 9.92312859e-01 -2.39852442e-04 -1.58819163e+01] [-1.69034204e-03 3.09025136e-05 9.99998571e-01 -5.07129802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.825769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.49, Y:-15.89, Z:-0.51 [[ 9.92350901e-01 1.23437796e-01 1.67348558e-03 1.74492644e+02] [-1.23437566e-01 9.92352311e-01 -2.40119002e-04 -1.58894886e+01] [-1.69032704e-03 3.17113210e-05 9.99998571e-01 -5.05896325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.52, Y:-15.90, Z:-0.51 [[ 9.92147503e-01 1.25062116e-01 1.67344189e-03 1.74523431e+02] [-1.25061888e-01 9.92148913e-01 -2.40423103e-04 -1.59016068e+01] [-1.69037137e-03 2.92513792e-05 9.99998571e-01 -5.05521701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.885769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.56, Y:-15.91, Z:-0.51 [[ 9.91884092e-01 1.27134372e-01 1.67340116e-03 1.74555409e+02] [-1.27134147e-01 9.91885503e-01 -2.40706255e-04 -1.59100505e+01] [-1.69042439e-03 2.60062765e-05 9.99998571e-01 -5.05912534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.59, Y:-15.92, Z:-0.50 [[ 9.91120445e-01 1.32956620e-01 1.67335791e-03 1.74586460e+02] [-1.32956403e-01 9.91121858e-01 -2.41006549e-04 -1.59209263e+01] [-1.69054501e-03 1.63828701e-05 9.99998571e-01 -5.04017552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.945769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.62, Y:-15.93, Z:-0.50 [[ 9.90560066e-01 1.37069160e-01 1.67331742e-03 1.74618669e+02] [-1.37068948e-01 9.90561480e-01 -2.41287352e-04 -1.59276567e+01] [-1.69059683e-03 9.64975680e-06 9.99998571e-01 -5.00979527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.65, Y:-15.93, Z:-0.50 [[ 9.89134709e-01 1.47002473e-01 1.67327424e-03 1.74649144e+02] [-1.47002275e-01 9.89136125e-01 -2.41586397e-04 -1.59346688e+01] [-1.69060979e-03 -7.01362905e-06 9.99998571e-01 -4.97776784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.68, Y:-15.94, Z:-0.50 [[ 9.88397093e-01 1.51882806e-01 1.67323941e-03 1.74681168e+02] [-1.51882614e-01 9.88398509e-01 -2.41827396e-04 -1.59404192e+01] [-1.69055676e-03 -1.51144801e-05 9.99998571e-01 -4.98465731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:174.71, Y:-15.94, Z:-0.50 [[ 9.87360012e-01 1.58484723e-01 1.67320215e-03 1.74711026e+02] [-1.58484540e-01 9.87361429e-01 -2.42084919e-04 -1.59449538e+01] [-1.69042203e-03 -2.61517053e-05 9.99998571e-01 -5.01081329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.74, Y:-15.95, Z:-0.50 [[ 9.86973228e-01 1.60875875e-01 1.67319951e-03 1.74742612e+02] [-1.60875695e-01 9.86974646e-01 -2.42103181e-04 -1.59490487e+01] [-1.69035405e-03 -3.02277759e-05 9.99998571e-01 -5.02425572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.78, Y:-15.95, Z:-0.50 [[ 9.86644757e-01 1.62878252e-01 1.67316267e-03 1.74775018e+02] [-1.62878075e-01 9.86646175e-01 -2.42357494e-04 -1.59524867e+01] [-1.69029431e-03 -3.34007644e-05 9.99998571e-01 -5.02683276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:-15.96, Z:-0.50 [[ 9.86092299e-01 1.66190189e-01 1.67312430e-03 1.74806001e+02] [-1.66190017e-01 9.86093717e-01 -2.42622079e-04 -1.59550185e+01] [-1.69017877e-03 -3.88087916e-05 9.99998571e-01 -5.02239320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.84, Y:-15.96, Z:-0.50 [[ 9.85980937e-01 1.66849610e-01 1.67308884e-03 1.74836168e+02] [-1.66849438e-01 9.85982356e-01 -2.42866365e-04 -1.59585121e+01] [-1.69015824e-03 -3.96923265e-05 9.99998571e-01 -5.01659986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.87, Y:-15.96, Z:-0.50 [[ 9.85835493e-01 1.67706833e-01 1.67308626e-03 1.74867226e+02] [-1.67706662e-01 9.85836912e-01 -2.42884128e-04 -1.59603197e+01] [-1.69012352e-03 -4.11439186e-05 9.99998571e-01 -5.02650888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:-15.96, Z:-0.50 [[ 9.85744861e-01 1.68238728e-01 1.67308678e-03 1.74897406e+02] [-1.68238558e-01 9.85746280e-01 -2.42880597e-04 -1.59626808e+01] [-1.69010099e-03 -4.20594056e-05 9.99998571e-01 -5.04187604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.93, Y:-15.96, Z:-0.50 [[ 9.85598415e-01 1.69094545e-01 1.67308678e-03 1.74926947e+02] [-1.69094376e-01 9.85599834e-01 -2.42880597e-04 -1.59632500e+01] [-1.69006383e-03 -4.35268323e-05 9.99998571e-01 -5.04106759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:-15.97, Z:-0.50 [[ 9.85552206e-01 1.69363661e-01 1.67308392e-03 1.74959441e+02] [-1.69363493e-01 9.85553625e-01 -2.42900273e-04 -1.59667394e+01] [-1.69005240e-03 -4.39684366e-05 9.99998571e-01 -5.02549859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.305769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.99, Y:-15.97, Z:-0.50 [[ 9.85726956e-01 1.68343606e-01 1.67304444e-03 1.74990571e+02] [-1.68343435e-01 9.85728375e-01 -2.43171917e-04 -1.59672728e+01] [-1.69010381e-03 -4.19449341e-05 9.99998571e-01 -5.02657434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-15.97, Z:-0.50 [[ 9.85827895e-01 1.67751490e-01 1.67303879e-03 1.75021062e+02] [-1.67751318e-01 9.85829314e-01 -2.43210790e-04 -1.59694649e+01] [-1.69012965e-03 -4.08904804e-05 9.99998571e-01 -5.03536823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.365769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.05, Y:-15.97, Z:-0.50 [[ 9.85868400e-01 1.67513281e-01 1.67303598e-03 1.75051543e+02] [-1.67513109e-01 9.85869819e-01 -2.43230114e-04 -1.59721932e+01] [-1.69013995e-03 -4.04625742e-05 9.99998571e-01 -5.01412925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.395769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.08, Y:-15.97, Z:-0.50 [[ 9.86189616e-01 1.65611723e-01 1.67303598e-03 1.75083142e+02] [-1.65611549e-01 9.86191034e-01 -2.43230114e-04 -1.59739062e+01] [-1.69021484e-03 -3.72030656e-05 9.99998571e-01 -5.00304783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.425769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:175.11, Y:-15.98, Z:-0.50 [[ 9.86599556e-01 1.63151823e-01 1.67303030e-03 1.75113444e+02] [-1.63151645e-01 9.86600974e-01 -2.43269182e-04 -1.59772568e+01] [-1.69030313e-03 -3.29483772e-05 9.99998571e-01 -5.00194915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.455769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.14, Y:-15.98, Z:-0.50 [[ 9.87372584e-01 1.58406381e-01 1.67302746e-03 1.75144399e+02] [-1.58406196e-01 9.87374001e-01 -2.43288673e-04 -1.59809954e+01] [-1.69044230e-03 -2.48013501e-05 9.99998571e-01 -4.99161670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:-15.99, Z:-0.50 [[ 9.87508858e-01 1.57554617e-01 1.67299086e-03 1.75175699e+02] [-1.57554430e-01 9.87510274e-01 -2.43540097e-04 -1.59853724e+01] [-1.69046653e-03 -2.30891192e-05 9.99998571e-01 -4.98204229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-15.99, Z:-0.50 [[ 9.87351699e-01 1.58536503e-01 1.67298500e-03 1.75205925e+02] [-1.58536318e-01 9.87353116e-01 -2.43580326e-04 -1.59886891e+01] [-1.69044333e-03 -2.47294336e-05 9.99998571e-01 -5.00493093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:-15.99, Z:-0.50 [[ 9.87222549e-01 1.59338755e-01 1.67298209e-03 1.75235033e+02] [-1.59338571e-01 9.87223967e-01 -2.43600338e-04 -1.59914863e+01] [-1.69042299e-03 -2.60828291e-05 9.99998571e-01 -5.01453367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.575769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.27, Y:-15.99, Z:-0.50 [[ 9.87024735e-01 1.60559561e-01 1.67298487e-03 1.75265440e+02] [-1.60559379e-01 9.87026153e-01 -2.43581232e-04 -1.59928065e+01] [-1.69038912e-03 -2.81927110e-05 9.99998571e-01 -4.99989881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:-16.00, Z:-0.50 [[ 9.86984352e-01 1.60807618e-01 1.67298487e-03 1.75294353e+02] [-1.60807436e-01 9.86985770e-01 -2.43581232e-04 -1.59961738e+01] [-1.69038198e-03 -2.86175427e-05 9.99998571e-01 -4.98187114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:-16.00, Z:-0.50 [[ 9.86937113e-01 1.61097287e-01 1.67298765e-03 1.75324147e+02] [-1.61097106e-01 9.86938531e-01 -2.43562124e-04 -1.59994892e+01] [-1.69037317e-03 -2.91329693e-05 9.99998571e-01 -4.97664216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-16.00, Z:-0.50 [[ 9.86932407e-01 1.61126115e-01 1.67298496e-03 1.75353799e+02] [-1.61125933e-01 9.86933825e-01 -2.43580617e-04 -1.60018973e+01] [-1.69037264e-03 -2.91636587e-05 9.99998571e-01 -4.98616043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:-16.01, Z:-0.50 [[ 9.87033723e-01 1.60504304e-01 1.67299042e-03 1.75384070e+02] [-1.60504122e-01 9.87035140e-01 -2.43543126e-04 -1.60056207e+01] [-1.69039005e-03 -2.81365795e-05 9.99998571e-01 -4.99793641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.41, Y:-16.01, Z:-0.50 [[ 9.87332975e-01 1.58653075e-01 1.67299042e-03 1.75413335e+02] [-1.58652890e-01 9.87334392e-01 -2.43543126e-04 -1.60096436e+01] [-1.69043984e-03 -2.49666051e-05 9.99998571e-01 -4.99542979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:-16.01, Z:-0.50 [[ 9.87523127e-01 1.57465152e-01 1.67298769e-03 1.75443619e+02] [-1.57464965e-01 9.87524544e-01 -2.43561846e-04 -1.60136615e+01] [-1.69046891e-03 -2.29139930e-05 9.99998571e-01 -4.97281462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:-16.02, Z:-0.50 [[ 9.87641370e-01 1.56721809e-01 1.67298769e-03 1.75472725e+02] [-1.56721621e-01 9.87642787e-01 -2.43561845e-04 -1.60170957e+01] [-1.69048568e-03 -2.16415885e-05 9.99998571e-01 -4.95493973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.50, Y:-16.02, Z:-0.50 [[ 9.87633309e-01 1.56772603e-01 1.67298492e-03 1.75503525e+02] [-1.56772415e-01 9.87634725e-01 -2.43580891e-04 -1.60205535e+01] [-1.69048481e-03 -2.17092847e-05 9.99998571e-01 -4.98188217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.53, Y:-16.02, Z:-0.50 [[ 9.87445878e-01 1.57948852e-01 1.67298492e-03 1.75532637e+02] [-1.57948666e-01 9.87447295e-01 -2.43580891e-04 -1.60242783e+01] [-1.69045776e-03 -2.37227899e-05 9.99998571e-01 -5.01373845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.56, Y:-16.03, Z:-0.50 [[ 9.87289214e-01 1.58925166e-01 1.67298215e-03 1.75561074e+02] [-1.58924981e-01 9.87290631e-01 -2.43599902e-04 -1.60276321e+01] [-1.69043376e-03 -2.53751010e-05 9.99998571e-01 -5.01538749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.59, Y:-16.03, Z:-0.50 [[ 9.87190045e-01 1.59540017e-01 1.67299030e-03 1.75590608e+02] [-1.59539833e-01 9.87191462e-01 -2.43543899e-04 -1.60314361e+01] [-1.69041674e-03 -2.64844819e-05 9.99998571e-01 -5.01282449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.62, Y:-16.04, Z:-0.50 [[ 9.87193475e-01 1.59518789e-01 1.67299552e-03 1.75620467e+02] [-1.59518605e-01 9.87194892e-01 -2.43508073e-04 -1.60357336e+01] [-1.69041674e-03 -2.64843310e-05 9.99998571e-01 -5.01333446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.65, Y:-16.04, Z:-0.50 [[ 9.87171567e-01 1.59654306e-01 1.67300075e-03 1.75650019e+02] [-1.59654123e-01 9.87172985e-01 -2.43472098e-04 -1.60405943e+01] [-1.69041252e-03 -2.67527359e-05 9.99998571e-01 -5.02167894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:175.68, Y:-16.05, Z:-0.51 [[ 9.87478739e-01 1.57743273e-01 1.67300647e-03 1.75679177e+02] [-1.57743087e-01 9.87480156e-01 -2.43432835e-04 -1.60478670e+01] [-1.69046058e-03 -2.35204560e-05 9.99998571e-01 -5.07279308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:-16.06, Z:-0.51 [[ 9.88001988e-01 1.54432098e-01 1.67300930e-03 1.75708937e+02] [-1.54431907e-01 9.88003404e-01 -2.43413394e-04 -1.60564750e+01] [-1.69052972e-03 -1.78730981e-05 9.99998571e-01 -5.10517029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.055769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.74, Y:-16.06, Z:-0.51 [[ 9.88404957e-01 1.51831623e-01 1.67300930e-03 1.75739653e+02] [-1.51831428e-01 9.88406373e-01 -2.43413394e-04 -1.60638240e+01] [-1.69057090e-03 -1.34243849e-05 9.99998571e-01 -5.11733981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.085769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.77, Y:-16.07, Z:-0.51 [[ 9.88793060e-01 1.49283240e-01 1.67300360e-03 1.75771436e+02] [-1.49283042e-01 9.88794475e-01 -2.43452556e-04 -1.60721117e+01] [-1.69060010e-03 -9.02686827e-06 9.99998571e-01 -5.11681823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:-16.08, Z:-0.51 [[ 9.89340508e-01 1.45610991e-01 1.67295572e-03 1.75801646e+02] [-1.45610787e-01 9.89341922e-01 -2.43781085e-04 -1.60844082e+01] [-1.69062244e-03 -2.41789739e-06 9.99998571e-01 -5.11402742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.145769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.83, Y:-16.09, Z:-0.51 [[ 9.89396866e-01 1.45227558e-01 1.67291090e-03 1.75833188e+02] [-1.45227352e-01 9.89398280e-01 -2.44088293e-04 -1.60923826e+01] [-1.69062351e-03 -1.45222872e-06 9.99998571e-01 -5.12060723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.175769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.87, Y:-16.10, Z:-0.51 [[ 9.88920533e-01 1.48436454e-01 1.67286640e-03 1.75865268e+02] [-1.48436252e-01 9.88921948e-01 -2.44392929e-04 -1.61014094e+01] [-1.69061111e-03 -6.62883282e-06 9.99998571e-01 -5.12745272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.205769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:175.90, Y:-16.11, Z:-0.51 [[ 9.88440505e-01 1.51600030e-01 1.67281905e-03 1.75896490e+02] [-1.51599833e-01 9.88441921e-01 -2.44716575e-04 -1.61076353e+01] [-1.69058351e-03 -1.17113135e-05 9.99998571e-01 -5.12682924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.93, Y:-16.11, Z:-0.51 [[ 9.87910759e-01 1.55014622e-01 1.67277498e-03 1.75928042e+02] [-1.55014430e-01 9.87912176e-01 -2.45017469e-04 -1.61135765e+01] [-1.69053606e-03 -1.72488651e-05 9.99998571e-01 -5.10508602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.96, Y:-16.12, Z:-0.51 [[ 9.87055470e-01 1.60370511e-01 1.67273398e-03 1.75959314e+02] [-1.60370325e-01 9.87056887e-01 -2.45297031e-04 -1.61203980e+01] [-1.69042201e-03 -2.61351166e-05 9.99998571e-01 -5.09277242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.295769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.99, Y:-16.13, Z:-0.51 [[ 9.86818507e-01 1.61822237e-01 1.67269040e-03 1.75992039e+02] [-1.61822053e-01 9.86819924e-01 -2.45593877e-04 -1.61256996e+01] [-1.69038676e-03 -2.83216110e-05 9.99998571e-01 -5.08555503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.325769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.02, Y:-16.13, Z:-0.51 [[ 9.86897936e-01 1.61337117e-01 1.67264427e-03 1.76024435e+02] [-1.61336932e-01 9.86899353e-01 -2.45907635e-04 -1.61316140e+01] [-1.69040558e-03 -2.71735579e-05 9.99998571e-01 -5.07363951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.355769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.06, Y:-16.14, Z:-0.51 [[ 9.87038997e-01 1.60471870e-01 1.67259834e-03 1.76055532e+02] [-1.60471683e-01 9.87040414e-01 -2.46219604e-04 -1.61373817e+01] [-1.69043348e-03 -2.53763204e-05 9.99998571e-01 -5.07147239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.385769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.09, Y:-16.14, Z:-0.51 [[ 9.87389840e-01 1.58298791e-01 1.67255545e-03 1.76086956e+02] [-1.58298600e-01 9.87391256e-01 -2.46510639e-04 -1.61447949e+01] [-1.69048896e-03 -2.13610856e-05 9.99998571e-01 -5.07559211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.415769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.12, Y:-16.15, Z:-0.51 [[ 9.87511262e-01 1.57539550e-01 1.67251281e-03 1.76118926e+02] [-1.57539358e-01 9.87512678e-01 -2.46799574e-04 -1.61511660e+01] [-1.69050830e-03 -1.97692368e-05 9.99998571e-01 -5.08167101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.445769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.15, Y:-16.16, Z:-0.51 [[ 9.87573603e-01 1.57148278e-01 1.67246744e-03 1.76151542e+02] [-1.57148085e-01 9.87575019e-01 -2.47106646e-04 -1.61578139e+01] [-1.69051945e-03 -1.87890547e-05 9.99998571e-01 -5.08525490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.18, Y:-16.17, Z:-0.51 [[ 9.87379622e-01 1.58362513e-01 1.67242209e-03 1.76182331e+02] [-1.58362321e-01 9.87381038e-01 -2.47413222e-04 -1.61661908e+01] [-1.69049884e-03 -2.05578701e-05 9.99998571e-01 -5.07210002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.21, Y:-16.17, Z:-0.50 [[ 9.87043592e-01 1.60443608e-01 1.67237974e-03 1.76214667e+02] [-1.60443419e-01 9.87045008e-01 -2.47699159e-04 -1.61725691e+01] [-1.69045582e-03 -2.38324556e-05 9.99998571e-01 -5.04375772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-16.18, Z:-0.50 [[ 9.86274205e-01 1.65107225e-01 1.67233488e-03 1.76245900e+02] [-1.65107042e-01 9.86275622e-01 -2.48001650e-04 -1.61779660e+01] [-1.69032999e-03 -3.15166349e-05 9.99998571e-01 -5.00484788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:-16.18, Z:-0.50 [[ 9.85866418e-01 1.67524951e-01 1.67229298e-03 1.76277597e+02] [-1.67524770e-01 9.85867836e-01 -2.48283843e-04 -1.61826631e+01] [-1.69025360e-03 -3.53757956e-05 9.99998571e-01 -5.02027833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:-16.19, Z:-0.50 [[ 9.85468396e-01 1.69850651e-01 1.67225421e-03 1.76308322e+02] [-1.69850474e-01 9.85469814e-01 -2.48544689e-04 -1.61878263e+01] [-1.69017153e-03 -3.91002350e-05 9.99998571e-01 -5.03906736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.34, Y:-16.19, Z:-0.50 [[ 9.84967402e-01 1.72732222e-01 1.67221839e-03 1.76339003e+02] [-1.72732049e-01 9.84968821e-01 -2.48785509e-04 -1.61931919e+01] [-1.69005625e-03 -4.38000918e-05 9.99998571e-01 -5.04304447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:-16.20, Z:-0.50 [[ 9.84693030e-01 1.74289532e-01 1.67218280e-03 1.76370561e+02] [-1.74289361e-01 9.84694448e-01 -2.49024472e-04 -1.61972617e+01] [-1.68999148e-03 -4.62310091e-05 9.99998571e-01 -4.99939886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:-16.20, Z:-0.50 [[ 9.84571561e-01 1.74974410e-01 1.67214457e-03 1.76402010e+02] [-1.74974239e-01 9.84572980e-01 -2.49280935e-04 -1.62011160e+01] [-1.68996614e-03 -4.71473040e-05 9.99998571e-01 -4.99727034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:-16.20, Z:-0.50 [[ 9.84479442e-01 1.75491970e-01 1.67213914e-03 1.76432134e+02] [-1.75491800e-01 9.84480861e-01 -2.49317300e-04 -1.62042949e+01] [-1.68994217e-03 -4.79989513e-05 9.99998571e-01 -5.01612762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-16.21, Z:-0.51 [[ 9.84618640e-01 1.74709296e-01 1.67213645e-03 1.76464012e+02] [-1.74709125e-01 9.84620059e-01 -2.49335390e-04 -1.62059180e+01] [-1.68998030e-03 -4.66372220e-05 9.99998571e-01 -5.06392427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:-16.21, Z:-0.51 [[ 9.84772743e-01 1.73838572e-01 1.67209616e-03 1.76494890e+02] [-1.73838399e-01 9.84774161e-01 -2.49605247e-04 -1.62091097e+01] [-1.69002812e-03 -4.48700762e-05 9.99998571e-01 -5.09102954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.805769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.53, Y:-16.21, Z:-0.51 [[ 9.85047849e-01 1.72272862e-01 1.67205889e-03 1.76526972e+02] [-1.72272686e-01 9.85049267e-01 -2.49854700e-04 -1.62121833e+01] [-1.69010357e-03 -4.19312406e-05 9.99998571e-01 -5.07715847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-16.22, Z:-0.51 [[ 9.85175683e-01 1.71540308e-01 1.67201854e-03 1.76558423e+02] [-1.71540130e-01 9.85177101e-01 -2.50124386e-04 -1.62166191e+01] [-1.69014080e-03 -4.04018155e-05 9.99998571e-01 -5.06738016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.59, Y:-16.22, Z:-0.51 [[ 9.85296685e-01 1.70843927e-01 1.67197794e-03 1.76589313e+02] [-1.70843748e-01 9.85298103e-01 -2.50395537e-04 -1.62197074e+01] [-1.69017525e-03 -3.89330838e-05 9.99998571e-01 -5.05941728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.62, Y:-16.22, Z:-0.51 [[ 9.85160669e-01 1.71626514e-01 1.67194027e-03 1.76620224e+02] [-1.71626336e-01 9.85162087e-01 -2.50646769e-04 -1.62163870e+01] [-1.69014980e-03 -4.00216435e-05 9.99998571e-01 -5.06992493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.925769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.65, Y:-16.22, Z:-0.51 [[ 9.84927219e-01 1.72961201e-01 1.67193742e-03 1.76649944e+02] [-1.72961025e-01 9.84928638e-01 -2.50665823e-04 -1.62165744e+01] [-1.69009450e-03 -4.22924166e-05 9.99998571e-01 -5.07246904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.68, Y:-16.22, Z:-0.51 [[ 9.84617734e-01 1.74714403e-01 1.67194275e-03 1.76679586e+02] [-1.74714229e-01 9.84619152e-01 -2.50630222e-04 -1.62154498e+01] [-1.69001557e-03 -4.53372289e-05 9.99998571e-01 -5.07330258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.71, Y:-16.22, Z:-0.51 [[ 9.84608896e-01 1.74764200e-01 1.67195072e-03 1.76709624e+02] [-1.74764027e-01 9.84610315e-01 -2.50577079e-04 -1.62175422e+01] [-1.69001183e-03 -4.54764188e-05 9.99998571e-01 -5.08189789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:-16.22, Z:-0.51 [[ 9.84880464e-01 1.73227239e-01 1.67195072e-03 1.76739123e+02] [-1.73227063e-01 9.84881882e-01 -2.50577079e-04 -1.62187151e+01] [-1.69008075e-03 -4.28386418e-05 9.99998571e-01 -5.12951258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.045769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.77, Y:-16.22, Z:-0.51 [[ 9.85639512e-01 1.68854838e-01 1.67195359e-03 1.76770485e+02] [-1.68854656e-01 9.85640930e-01 -2.50557884e-04 -1.62173495e+01] [-1.69025381e-03 -3.53573987e-05 9.99998571e-01 -5.13228778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.80, Y:-16.22, Z:-0.51 [[ 9.86151101e-01 1.65840921e-01 1.67195359e-03 1.76799440e+02] [-1.65840735e-01 9.86152518e-01 -2.50557884e-04 -1.62199383e+01] [-1.69035400e-03 -3.01900800e-05 9.99998571e-01 -5.13788614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:-16.22, Z:-0.51 [[ 9.87004918e-01 1.60681352e-01 1.67195648e-03 1.76828689e+02] [-1.60681158e-01 9.87006334e-01 -2.50538598e-04 -1.62228694e+01] [-1.69048852e-03 -2.13690756e-05 9.99998571e-01 -5.07676958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:-16.23, Z:-0.51 [[ 9.87276967e-01 1.59001245e-01 1.67196203e-03 1.76857857e+02] [-1.59001049e-01 9.87278382e-01 -2.50501571e-04 -1.62260324e+01] [-1.69052203e-03 -1.85292856e-05 9.99998571e-01 -5.05190072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:-16.23, Z:-0.50 [[ 9.87551869e-01 1.57284806e-01 1.67196763e-03 1.76888825e+02] [-1.57284607e-01 9.87553284e-01 -2.50464206e-04 -1.62275439e+01] [-1.69055134e-03 -1.56283766e-05 9.99998571e-01 -5.04555447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-16.23, Z:-0.51 [[ 9.87577467e-01 1.57124001e-01 1.67196763e-03 1.76918024e+02] [-1.57123802e-01 9.87578882e-01 -2.50464206e-04 -1.62302045e+01] [-1.69055386e-03 -1.53531046e-05 9.99998571e-01 -5.05050923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.95, Y:-16.23, Z:-0.51 [[ 9.87570538e-01 1.57167542e-01 1.67197053e-03 1.76946724e+02] [-1.57167343e-01 9.87571954e-01 -2.50444874e-04 -1.62324054e+01] [-1.69055300e-03 -1.54471860e-05 9.99998571e-01 -5.05144821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:-16.23, Z:-0.51 [[ 9.87731325e-01 1.56153882e-01 1.67198092e-03 1.76976863e+02] [-1.56153681e-01 9.87732740e-01 -2.50375457e-04 -1.62334538e+01] [-1.69056739e-03 -1.37822943e-05 9.99998571e-01 -5.05844194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:-16.24, Z:-0.51 [[ 9.87883189e-01 1.55190233e-01 1.67198655e-03 1.77005750e+02] [-1.55190032e-01 9.87884604e-01 -2.50337879e-04 -1.62373265e+01] [-1.69057976e-03 -1.21710629e-05 9.99998571e-01 -5.08364070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.04, Y:-16.24, Z:-0.51 [[ 9.88229106e-01 1.52972018e-01 1.67199498e-03 1.77035741e+02] [-1.52971814e-01 9.88230520e-01 -2.50281543e-04 -1.62425787e+01] [-1.69060254e-03 -8.43259876e-06 9.99998571e-01 -5.09517504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:177.07, Y:-16.25, Z:-0.51 [[ 9.88380177e-01 1.51992862e-01 1.67199498e-03 1.77065166e+02] [-1.51992656e-01 9.88381591e-01 -2.50281543e-04 -1.62478448e+01] [-1.69061007e-03 -6.75764186e-06 9.99998571e-01 -5.08713014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.09, Y:-16.25, Z:-0.51 [[ 9.88907989e-01 1.48520009e-01 1.67199223e-03 1.77093984e+02] [-1.48519798e-01 9.88909403e-01 -2.50299910e-04 -1.62529174e+01] [-1.69062338e-03 -8.00367151e-07 9.99998571e-01 -5.07013178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:177.12, Y:-16.26, Z:-0.51 [[ 9.89110245e-01 1.47167003e-01 1.67199765e-03 1.77123733e+02] [-1.47166790e-01 9.89111659e-01 -2.50263700e-04 -1.62578898e+01] [-1.69062293e-03 1.47586256e-06 9.99998571e-01 -5.08898988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.15, Y:-16.26, Z:-0.51 [[ 9.89096251e-01 1.47261031e-01 1.67199765e-03 1.77154037e+02] [-1.47260819e-01 9.89097664e-01 -2.50263700e-04 -1.62641422e+01] [-1.69062306e-03 1.31514434e-06 9.99998571e-01 -5.11125017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:-16.27, Z:-0.51 [[ 9.88949345e-01 1.48244383e-01 1.67199765e-03 1.77182855e+02] [-1.48244171e-01 9.88950759e-01 -2.50263700e-04 -1.62695882e+01] [-1.69062353e-03 -3.65784011e-07 9.99998571e-01 -5.10617758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-16.28, Z:-0.51 [[ 9.88729237e-01 1.49705382e-01 1.67200066e-03 1.77211948e+02] [-1.49705172e-01 9.88730650e-01 -2.50243568e-04 -1.62750196e+01] [-1.69062111e-03 -2.88401529e-06 9.99998571e-01 -5.10378962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52576923100003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:177.24, Y:-16.28, Z:-0.51 [[ 9.88347751e-01 1.52203572e-01 1.67200362e-03 1.77241984e+02] [-1.52203366e-01 9.88349165e-01 -2.50223794e-04 -1.62802513e+01] [-1.69060834e-03 -7.17645601e-06 9.99998571e-01 -5.08360835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:-16.29, Z:-0.51 [[ 9.88269123e-01 1.52713274e-01 1.67200362e-03 1.77271045e+02] [-1.52713069e-01 9.88270538e-01 -2.50223794e-04 -1.62853924e+01] [-1.69060441e-03 -8.04835544e-06 9.99998571e-01 -5.09933894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:-16.29, Z:-0.51 [[ 9.88413538e-01 1.51775763e-01 1.67200668e-03 1.77301089e+02] [-1.51775557e-01 9.88414952e-01 -2.50203380e-04 -1.62916142e+01] [-1.69061121e-03 -6.46533647e-06 9.99998571e-01 -5.08472247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.615769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.33, Y:-16.30, Z:-0.51 [[ 9.88569237e-01 1.50758307e-01 1.67200668e-03 1.77330103e+02] [-1.50758100e-01 9.88570651e-01 -2.50203380e-04 -1.62964559e+01] [-1.69061697e-03 -4.72518494e-06 9.99998571e-01 -5.06649922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:-16.30, Z:-0.50 [[ 9.88706834e-01 1.49853264e-01 1.67200960e-03 1.77360315e+02] [-1.49853055e-01 9.88708248e-01 -2.50183865e-04 -1.63013823e+01] [-1.69062055e-03 -3.19724945e-06 9.99998571e-01 -5.04346552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:-16.31, Z:-0.50 [[ 9.89107680e-01 1.47184246e-01 1.67200960e-03 1.77391528e+02] [-1.47184034e-01 9.89109093e-01 -2.50183865e-04 -1.63067355e+01] [-1.69062302e-03 1.36566485e-06 9.99998571e-01 -5.03079267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:-16.31, Z:-0.50 [[ 9.89473204e-01 1.44706540e-01 1.67200363e-03 1.77422447e+02] [-1.44706324e-01 9.89474617e-01 -2.50223763e-04 -1.63121994e+01] [-1.69061416e-03 5.64021003e-06 9.99998571e-01 -5.03553406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.45, Y:-16.32, Z:-0.50 [[ 9.89464270e-01 1.44767620e-01 1.67199767e-03 1.77452257e+02] [-1.44767404e-01 9.89465682e-01 -2.50263566e-04 -1.63167386e+01] [-1.69061437e-03 5.57609487e-06 9.99998571e-01 -5.02739105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:-16.32, Z:-0.50 [[ 9.89314219e-01 1.45789509e-01 1.67199470e-03 1.77483354e+02] [-1.45789294e-01 9.89315632e-01 -2.50283386e-04 -1.63213006e+01] [-1.69061919e-03 3.84998485e-06 9.99998571e-01 -5.02267658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.51, Y:-16.33, Z:-0.50 [[ 9.88980857e-01 1.48034010e-01 1.67198876e-03 1.77513131e+02] [-1.48033799e-01 9.88982271e-01 -2.50323078e-04 -1.63261929e+01] [-1.69062357e-03 5.38850223e-08 9.99998571e-01 -5.00910440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.825769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:177.54, Y:-16.33, Z:-0.50 [[ 9.88961925e-01 1.48160441e-01 1.67197508e-03 1.77542643e+02] [-1.48160229e-01 9.88963338e-01 -2.50414414e-04 -1.63311422e+01] [-1.69062357e-03 -6.98897123e-08 9.99998571e-01 -5.00040830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.855769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:177.57, Y:-16.34, Z:-0.50 [[ 9.88961925e-01 1.48160441e-01 1.67197217e-03 1.77573301e+02] [-1.48160229e-01 9.88963338e-01 -2.50433870e-04 -1.63357343e+01] [-1.69062357e-03 -5.02170733e-08 9.99998571e-01 -5.00093241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:-16.34, Z:-0.50 [[ 9.89350399e-01 1.45543783e-01 1.67197217e-03 1.77604110e+02] [-1.45543568e-01 9.89351812e-01 -2.50433870e-04 -1.63428671e+01] [-1.69061778e-03 4.42205462e-06 9.99998571e-01 -5.02807428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.63, Y:-16.35, Z:-0.51 [[ 9.89724437e-01 1.42978124e-01 1.67196633e-03 1.77634587e+02] [-1.42977905e-01 9.89725849e-01 -2.50472820e-04 -1.63497437e+01] [-1.69060043e-03 8.84482669e-06 9.99998571e-01 -5.05592353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.67, Y:-16.36, Z:-0.51 [[ 9.90154717e-01 1.39967288e-01 1.67196049e-03 1.77665087e+02] [-1.39967065e-01 9.90156128e-01 -2.50511815e-04 -1.63562386e+01] [-1.69056538e-03 1.40260528e-05 9.99998571e-01 -5.06819273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:-16.37, Z:-0.51 [[ 9.90889694e-01 1.34665583e-01 1.67195468e-03 1.77696439e+02] [-1.34665352e-01 9.90891104e-01 -2.50550594e-04 -1.63658998e+01] [-1.69046556e-03 2.31136369e-05 9.99998571e-01 -5.05243987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:-16.37, Z:-0.51 [[ 9.91162440e-01 1.32643212e-01 1.67192565e-03 1.77728680e+02] [-1.32642977e-01 9.91163850e-01 -2.50744131e-04 -1.63745132e+01] [-1.69041177e-03 2.67589686e-05 9.99998571e-01 -5.05303103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-16.39, Z:-0.51 [[ 9.91488712e-01 1.30181949e-01 1.67187763e-03 1.77759399e+02] [-1.30181710e-01 9.91490121e-01 -2.51063941e-04 -1.63859845e+01] [-1.69033414e-03 3.12791753e-05 9.99998571e-01 -5.07336939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:-16.39, Z:-0.51 [[ 9.91507984e-01 1.30035080e-01 1.67183288e-03 1.77791554e+02] [-1.30034841e-01 9.91509393e-01 -2.51361537e-04 -1.63929051e+01] [-1.69032382e-03 3.18304482e-05 9.99998571e-01 -5.07810593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:177.82, Y:-16.40, Z:-0.50 [[ 9.91356489e-01 1.31185050e-01 1.67178491e-03 1.77823441e+02] [-1.31184812e-01 9.91357898e-01 -2.51680219e-04 -1.63998730e+01] [-1.69035385e-03 3.01920294e-05 9.99998571e-01 -5.03990807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.86, Y:-16.41, Z:-0.51 [[ 9.90894431e-01 1.34630726e-01 1.67173687e-03 1.77855306e+02] [-1.34630493e-01 9.90895841e-01 -2.51998891e-04 -1.64063471e+01] [-1.69044390e-03 2.46375392e-05 9.99998571e-01 -5.11341561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:-16.41, Z:-0.51 [[ 9.90472858e-01 1.37697945e-01 1.67169209e-03 1.77886475e+02] [-1.37697715e-01 9.90474268e-01 -2.52295561e-04 -1.64132354e+01] [-1.69050858e-03 1.97037233e-05 9.99998571e-01 -5.13139179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:-16.42, Z:-0.51 [[ 9.90226089e-01 1.39461458e-01 1.67166266e-03 1.77918954e+02] [-1.39461230e-01 9.90227500e-01 -2.52490453e-04 -1.64179793e+01] [-1.69053902e-03 1.68905029e-05 9.99998571e-01 -5.13418601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:-16.42, Z:-0.51 [[ 9.90005822e-01 1.41016585e-01 1.67161538e-03 1.77952107e+02] [-1.41016359e-01 9.90007234e-01 -2.52803074e-04 -1.64223014e+01] [-1.69056074e-03 1.45514010e-05 9.99998571e-01 -5.13137420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.98, Y:-16.43, Z:-0.51 [[ 9.89889781e-01 1.41828865e-01 1.67156804e-03 1.77982703e+02] [-1.41828640e-01 9.89891192e-01 -2.53115687e-04 -1.64271119e+01] [-1.69056959e-03 1.34804100e-05 9.99998571e-01 -5.09145263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.01, Y:-16.43, Z:-0.51 [[ 9.90051054e-01 1.40698670e-01 1.67152974e-03 1.78013805e+02] [-1.40698443e-01 9.90052465e-01 -2.53368385e-04 -1.64322124e+01] [-1.69055073e-03 1.56660048e-05 9.99998571e-01 -5.08358507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.05, Y:-16.44, Z:-0.51 [[ 9.90755053e-01 1.35652610e-01 1.67148600e-03 1.78046391e+02] [-1.35652375e-01 9.90756463e-01 -2.53656635e-04 -1.64361279e+01] [-1.69044474e-03 2.45705466e-05 9.99998571e-01 -5.08436608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.335769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.08, Y:-16.44, Z:-0.51 [[ 9.91115141e-01 1.32996179e-01 1.67144026e-03 1.78079129e+02] [-1.32995940e-01 9.91116550e-01 -2.53957664e-04 -1.64418939e+01] [-1.69036750e-03 2.94065177e-05 9.99998571e-01 -5.10102969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:-16.45, Z:-0.51 [[ 9.91412209e-01 1.30763290e-01 1.67139374e-03 1.78111640e+02] [-1.30763047e-01 9.91413617e-01 -2.54263418e-04 -1.64496117e+01] [-1.69029084e-03 3.35233177e-05 9.99998571e-01 -5.12879488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:-16.46, Z:-0.51 [[ 9.91913147e-01 1.26907507e-01 1.67134750e-03 1.78143631e+02] [-1.26907258e-01 9.91914554e-01 -2.54567042e-04 -1.64616908e+01] [-1.69014038e-03 4.04022678e-05 9.99998571e-01 -5.12570544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:-16.47, Z:-0.51 [[ 9.92045486e-01 1.25868820e-01 1.67130132e-03 1.78174162e+02] [-1.25868569e-01 9.92046893e-01 -2.54869869e-04 -1.64710972e+01] [-1.69008945e-03 4.24781983e-05 9.99998571e-01 -5.10478955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:-16.48, Z:-0.51 [[ 9.91959068e-01 1.26548070e-01 1.67125815e-03 1.78206008e+02] [-1.26547820e-01 9.91960475e-01 -2.55152616e-04 -1.64779451e+01] [-1.69011110e-03 4.16068759e-05 9.99998571e-01 -5.09167325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:-16.49, Z:-0.51 [[ 9.91777845e-01 1.27960594e-01 1.67121244e-03 1.78238566e+02] [-1.27960345e-01 9.91779252e-01 -2.55451642e-04 -1.64853570e+01] [-1.69016157e-03 3.95023572e-05 9.99998571e-01 -5.09093382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:-16.49, Z:-0.51 [[ 9.91191583e-01 1.32425270e-01 1.67119114e-03 1.78269962e+02] [-1.32425027e-01 9.91192992e-01 -2.55590922e-04 -1.64935858e+01] [-1.69031964e-03 3.20320383e-05 9.99998571e-01 -5.12218567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:-16.50, Z:-0.51 [[ 9.90839837e-01 1.35031938e-01 1.67114552e-03 1.78301241e+02] [-1.35031698e-01 9.90841246e-01 -2.55888841e-04 -1.65002802e+01] [-1.69039308e-03 2.78872396e-05 9.99998571e-01 -5.14069916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:-16.51, Z:-0.51 [[ 9.90403841e-01 1.38193486e-01 1.67110117e-03 1.78333143e+02] [-1.38193250e-01 9.90405250e-01 -2.56178174e-04 -1.65110385e+01] [-1.69046953e-03 2.27849460e-05 9.99998571e-01 -5.10774033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-16.52, Z:-0.51 [[ 9.90281226e-01 1.39069410e-01 1.67105335e-03 1.78365407e+02] [-1.39069175e-01 9.90282636e-01 -2.56489731e-04 -1.65188299e+01] [-1.69048499e-03 2.16049536e-05 9.99998571e-01 -5.07662643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-16.53, Z:-0.50 [[ 9.90029889e-01 1.40847528e-01 1.67100549e-03 1.78397105e+02] [-1.40847295e-01 9.90031299e-01 -2.56801126e-04 -1.65267389e+01] [-1.69051754e-03 1.88841862e-05 9.99998571e-01 -5.02799208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:-16.53, Z:-0.50 [[ 9.89863040e-01 1.42015388e-01 1.67095761e-03 1.78428128e+02] [-1.42015156e-01 9.89864450e-01 -2.57112286e-04 -1.65325770e+01] [-1.69053544e-03 1.72046423e-05 9.99998571e-01 -5.02665762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:-16.54, Z:-0.50 [[ 9.89775007e-01 1.42627637e-01 1.67091283e-03 1.78459100e+02] [-1.42627406e-01 9.89776418e-01 -2.57402990e-04 -1.65392777e+01] [-1.69054290e-03 1.64530844e-05 9.99998571e-01 -5.02892647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:-16.55, Z:-0.50 [[ 9.89930078e-01 1.41547339e-01 1.67088485e-03 1.78491302e+02] [-1.41547106e-01 9.89931488e-01 -2.57584532e-04 -1.65482821e+01] [-1.69052193e-03 1.84817618e-05 9.99998571e-01 -5.01623907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:-16.56, Z:-0.51 [[ 9.90142736e-01 1.40052027e-01 1.67083576e-03 1.78521850e+02] [-1.40051791e-01 9.90144146e-01 -2.57902507e-04 -1.65581892e+01] [-1.69048802e-03 2.13567526e-05 9.99998571e-01 -5.07632509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.55, Y:-16.57, Z:-0.51 [[ 9.90241499e-01 1.39352009e-01 1.67078987e-03 1.78553478e+02] [-1.39351772e-01 9.90242908e-01 -2.58199507e-04 -1.65668876e+01] [-1.69046844e-03 2.28523384e-05 9.99998571e-01 -5.11565296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:-16.58, Z:-0.51 [[ 9.90290591e-01 1.39002714e-01 1.67074920e-03 1.78584288e+02] [-1.39002476e-01 9.90292000e-01 -2.58462355e-04 -1.65759713e+01] [-1.69045654e-03 2.37145626e-05 9.99998571e-01 -5.13259380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:-16.59, Z:-0.51 [[ 9.90159340e-01 1.39934590e-01 1.67070698e-03 1.78614675e+02] [-1.39934353e-01 9.90160750e-01 -2.58734989e-04 -1.65873524e+01] [-1.69047445e-03 2.23995663e-05 9.99998571e-01 -5.12970175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:-16.59, Z:-0.51 [[ 9.89922059e-01 1.41603411e-01 1.67066182e-03 1.78645590e+02] [-1.41603175e-01 9.89923469e-01 -2.59026257e-04 -1.65943233e+01] [-1.69050635e-03 1.98447867e-05 9.99998571e-01 -5.12706839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:-16.60, Z:-0.51 [[ 9.89104963e-01 1.47202515e-01 1.67063311e-03 1.78677525e+02] [-1.47202287e-01 9.89106374e-01 -2.59211304e-04 -1.66030980e+01] [-1.69059042e-03 1.04661726e-05 9.99998571e-01 -5.10892757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:-16.61, Z:-0.51 [[ 9.88570744e-01 1.50748445e-01 1.67058538e-03 1.78708386e+02] [-1.50748222e-01 9.88572155e-01 -2.59518570e-04 -1.66097926e+01] [-1.69061621e-03 4.71469116e-06 9.99998571e-01 -5.13092918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:-16.62, Z:-0.52 [[ 9.88074052e-01 1.53970377e-01 1.67054085e-03 1.78739604e+02] [-1.53970157e-01 9.88075464e-01 -2.59804897e-04 -1.66157059e+01] [-1.69062268e-03 -5.06960695e-07 9.99998571e-01 -5.15013701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:-16.62, Z:-0.52 [[ 9.87265191e-01 1.59074362e-01 1.67050120e-03 1.78771603e+02] [-1.59074150e-01 9.87266604e-01 -2.60059580e-04 -1.66203097e+01] [-1.69059886e-03 -8.98578733e-06 9.99998571e-01 -5.15867768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:-16.62, Z:-0.51 [[ 9.86913980e-01 1.61238968e-01 1.67045887e-03 1.78803915e+02] [-1.61238758e-01 9.86915394e-01 -2.60331191e-04 -1.66246689e+01] [-1.69057711e-03 -1.24182215e-05 9.99998571e-01 -5.12858928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:-16.63, Z:-0.51 [[ 9.86125560e-01 1.65992740e-01 1.67042099e-03 1.78835800e+02] [-1.65992536e-01 9.86126975e-01 -2.60574010e-04 -1.66264968e+01] [-1.69050059e-03 -2.03187261e-05 9.99998571e-01 -5.07230645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:-16.63, Z:-0.51 [[ 9.85598222e-01 1.69095696e-01 1.67038078e-03 1.78869311e+02] [-1.69095497e-01 9.85599637e-01 -2.60831567e-04 -1.66286524e+01] [-1.69043218e-03 -2.53787384e-05 9.99998571e-01 -5.07860556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:-16.63, Z:-0.51 [[ 9.84315845e-01 1.76407278e-01 1.67033488e-03 1.78903456e+02] [-1.76407089e-01 9.84317261e-01 -2.61125168e-04 -1.66264634e+01] [-1.69020383e-03 -3.76292727e-05 9.99998571e-01 -5.11495003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:-16.63, Z:-0.51 [[ 9.83758086e-01 1.79491609e-01 1.67028900e-03 1.78935233e+02] [-1.79491424e-01 9.83759503e-01 -2.61418269e-04 -1.66280146e+01] [-1.69008507e-03 -4.26302154e-05 9.99998571e-01 -5.12772155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:-16.63, Z:-0.51 [[ 9.83368264e-01 1.81615162e-01 1.67026046e-03 1.78967974e+02] [-1.81614980e-01 9.83369682e-01 -2.61600499e-04 -1.66298552e+01] [-1.68999412e-03 -4.60946911e-05 9.99998571e-01 -5.12934980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:-16.63, Z:-0.51 [[ 9.83214814e-01 1.82444074e-01 1.67021510e-03 1.79001837e+02] [-1.82443892e-01 9.83216231e-01 -2.61889817e-04 -1.66275864e+01] [-1.68996284e-03 -4.72265953e-05 9.99998571e-01 -5.14145895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:-16.63, Z:-0.52 [[ 9.83322843e-01 1.81860926e-01 1.67016738e-03 1.79034244e+02] [-1.81860743e-01 9.83324261e-01 -2.62193803e-04 -1.66288857e+01] [-1.68999891e-03 -4.59167237e-05 9.99998571e-01 -5.16208456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:-16.63, Z:-0.52 [[ 9.83652849e-01 1.80067444e-01 1.67012284e-03 1.79066245e+02] [-1.80067257e-01 9.83654265e-01 -2.62477175e-04 -1.66262930e+01] [-1.69008705e-03 -4.25480178e-05 9.99998571e-01 -5.19624205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-16.63, Z:-0.52 [[ 9.83774094e-01 1.79403854e-01 1.67008628e-03 1.79097929e+02] [-1.79403666e-01 9.83775511e-01 -2.62709593e-04 -1.66267976e+01] [-1.69012110e-03 -4.11727100e-05 9.99998571e-01 -5.19672528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:-16.63, Z:-0.52 [[ 9.83816059e-01 1.79173586e-01 1.67004987e-03 1.79130849e+02] [-1.79173397e-01 9.83817475e-01 -2.62940871e-04 -1.66270090e+01] [-1.69013630e-03 -4.05430571e-05 9.99998571e-01 -5.16955104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:-16.62, Z:-0.51 [[ 9.84094163e-01 1.77639774e-01 1.67000838e-03 1.79162427e+02] [-1.77639583e-01 9.84095579e-01 -2.63204092e-04 -1.66222821e+01] [-1.69020338e-03 -3.76419814e-05 9.99998571e-01 -5.13804690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:-16.62, Z:-0.52 [[ 9.84591832e-01 1.74860329e-01 1.66999523e-03 1.79193276e+02] [-1.74860134e-01 9.84593248e-01 -2.63287520e-04 -1.66210435e+01] [-1.69030457e-03 -3.27848466e-05 9.99998571e-01 -5.18861620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:-16.62, Z:-0.52 [[ 9.85028405e-01 1.72384026e-01 1.66997987e-03 1.79223598e+02] [-1.72383827e-01 9.85029820e-01 -2.63384928e-04 -1.66241700e+01] [-1.69038332e-03 -2.84358856e-05 9.99998571e-01 -5.20736451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-16.63, Z:-0.52 [[ 9.85509044e-01 1.69614668e-01 1.66997987e-03 1.79254689e+02] [-1.69614466e-01 9.85510458e-01 -2.63384928e-04 -1.66274588e+01] [-1.69045657e-03 -2.36845140e-05 9.99998571e-01 -5.19923616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:-16.63, Z:-0.52 [[ 9.86391748e-01 1.64403559e-01 1.66997115e-03 1.79285615e+02] [-1.64403349e-01 9.86393162e-01 -2.63440193e-04 -1.66270356e+01] [-1.69055863e-03 -1.46936163e-05 9.99998571e-01 -5.16774008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:-16.63, Z:-0.52 [[ 9.86678079e-01 1.62676301e-01 1.66996824e-03 1.79316005e+02] [-1.62676088e-01 9.86679493e-01 -2.63458626e-04 -1.66292639e+01] [-1.69058189e-03 -1.17150485e-05 9.99998571e-01 -5.15497915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:-16.63, Z:-0.51 [[ 9.87188221e-01 1.59551329e-01 1.66996824e-03 1.79345251e+02] [-1.59551112e-01 9.87189634e-01 -2.63458626e-04 -1.66312204e+01] [-1.69061051e-03 -6.36203722e-06 9.99998571e-01 -5.11996985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:-16.63, Z:-0.51 [[ 9.87409789e-01 1.58174333e-01 1.66997112e-03 1.79375160e+02] [-1.58174114e-01 9.87411201e-01 -2.63440376e-04 -1.66346235e+01] [-1.69061769e-03 -4.02259565e-06 9.99998571e-01 -5.10553238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:-16.64, Z:-0.51 [[ 9.87624636e-01 1.56827263e-01 1.66997112e-03 1.79404947e+02] [-1.56827041e-01 9.87626047e-01 -2.63440376e-04 -1.66352010e+01] [-1.69062161e-03 -1.71642450e-06 9.99998571e-01 -5.11482961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:-16.64, Z:-0.51 [[ 9.87658949e-01 1.56611020e-01 1.66997397e-03 1.79434278e+02] [-1.56610799e-01 9.87660361e-01 -2.63422317e-04 -1.66379561e+01] [-1.69062193e-03 -1.36454779e-06 9.99998571e-01 -5.12533351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:-16.64, Z:-0.51 [[ 9.87619815e-01 1.56857619e-01 1.66997965e-03 1.79463747e+02] [-1.56857398e-01 9.87621227e-01 -2.63386291e-04 -1.66409735e+01] [-1.69062150e-03 -1.82314202e-06 9.99998571e-01 -5.12505533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:-16.64, Z:-0.51 [[ 9.87419074e-01 1.58116358e-01 1.66998531e-03 1.79492126e+02] [-1.58116139e-01 9.87420487e-01 -2.63350371e-04 -1.66429204e+01] [-1.69061771e-03 -4.01445011e-06 9.99998571e-01 -5.09907468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.52, Y:-16.65, Z:-0.51 [[ 9.87229482e-01 1.59295831e-01 1.66999375e-03 1.79520780e+02] [-1.59295613e-01 9.87230894e-01 -2.63296858e-04 -1.66459004e+01] [-1.69061152e-03 -6.08825792e-06 9.99998571e-01 -5.08658222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:-16.65, Z:-0.51 [[ 9.87232853e-01 1.59274934e-01 1.67000213e-03 1.79550586e+02] [-1.59274717e-01 9.87234266e-01 -2.63243678e-04 -1.66505495e+01] [-1.69061145e-03 -6.10631015e-06 9.99998571e-01 -5.08709217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:-16.65, Z:-0.51 [[ 9.86782690e-01 1.62040533e-01 1.67000770e-03 1.79580639e+02] [-1.62040319e-01 9.86784103e-01 -2.63208330e-04 -1.66504885e+01] [-1.69058747e-03 -1.08791579e-05 9.99998571e-01 -5.06846613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.805769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:-16.65, Z:-0.51 [[ 9.86556364e-01 1.63412823e-01 1.67001378e-03 1.79609464e+02] [-1.63412612e-01 9.86557778e-01 -2.63169791e-04 -1.66527563e+01] [-1.69057040e-03 -1.32694810e-05 9.99998571e-01 -5.08158726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:-16.66, Z:-0.51 [[ 9.86114243e-01 1.66059962e-01 1.67002287e-03 1.79638661e+02] [-1.66059754e-01 9.86115657e-01 -2.63112101e-04 -1.66552520e+01] [-1.69052808e-03 -1.78649961e-05 9.99998571e-01 -5.09321825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-16.66, Z:-0.51 [[ 9.85869843e-01 1.67504816e-01 1.67002889e-03 1.79667164e+02] [-1.67504611e-01 9.85871257e-01 -2.63073858e-04 -1.66586483e+01] [-1.69049962e-03 -2.03809567e-05 9.99998571e-01 -5.11071125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:-16.66, Z:-0.51 [[ 9.85528775e-01 1.69499985e-01 1.67003790e-03 1.79696378e+02] [-1.69499782e-01 9.85530190e-01 -2.63016636e-04 -1.66600746e+01] [-1.69045409e-03 -2.38605978e-05 9.99998571e-01 -5.09826444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:-16.66, Z:-0.51 [[ 9.85373483e-01 1.70400443e-01 1.67004975e-03 1.79726215e+02] [-1.70400242e-01 9.85374897e-01 -2.62941412e-04 -1.66628341e+01] [-1.69043043e-03 -2.54813855e-05 9.99998571e-01 -5.08171233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:-16.67, Z:-0.51 [[ 9.85217191e-01 1.71301774e-01 1.67005589e-03 1.79754907e+02] [-1.71301575e-01 9.85218606e-01 -2.62902394e-04 -1.66655759e+01] [-1.69040578e-03 -2.70672454e-05 9.99998571e-01 -5.06835801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:-16.67, Z:-0.50 [[ 9.84916287e-01 1.73023460e-01 1.67006505e-03 1.79784054e+02] [-1.73023263e-01 9.84917703e-01 -2.62844206e-04 -1.66658578e+01] [-1.69035484e-03 -3.00805633e-05 9.99998571e-01 -5.00144730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:-16.67, Z:-0.50 [[ 9.84748323e-01 1.73976872e-01 1.67007671e-03 1.79812864e+02] [-1.73976676e-01 9.84749738e-01 -2.62770051e-04 -1.66672960e+01] [-1.69032352e-03 -3.17920292e-05 9.99998571e-01 -4.99298520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:-16.66, Z:-0.50 [[ 9.84393452e-01 1.75973697e-01 1.67008828e-03 1.79841715e+02] [-1.75973504e-01 9.84394868e-01 -2.62696514e-04 -1.66641551e+01] [-1.69025401e-03 -3.52945591e-05 9.99998571e-01 -5.03524616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:-16.67, Z:-0.51 [[ 9.84458181e-01 1.75611222e-01 1.67010270e-03 1.79871234e+02] [-1.75611029e-01 9.84459597e-01 -2.62604795e-04 -1.66651496e+01] [-1.69026498e-03 -3.47650160e-05 9.99998571e-01 -5.05306572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:-16.66, Z:-0.51 [[ 9.85046094e-01 1.72282920e-01 1.67011413e-03 1.79899816e+02] [-1.72282722e-01 9.85047509e-01 -2.62532132e-04 -1.66634677e+01] [-1.69037156e-03 -2.91255570e-05 9.99998571e-01 -5.05710746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:-16.66, Z:-0.51 [[ 9.85409659e-01 1.70191111e-01 1.67012839e-03 1.79927527e+02] [-1.70190910e-01 9.85411074e-01 -2.62441378e-04 -1.66646775e+01] [-1.69042820e-03 -2.56284013e-05 9.99998571e-01 -5.06349171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-16.67, Z:-0.51 [[ 9.85717244e-01 1.68400491e-01 1.67014257e-03 1.79956519e+02] [-1.68400288e-01 9.85718659e-01 -2.62351097e-04 -1.66662454e+01] [-1.69047075e-03 -2.26484901e-05 9.99998571e-01 -5.06419989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:-16.66, Z:-0.51 [[ 9.86063488e-01 1.66361076e-01 1.67015385e-03 1.79985026e+02] [-1.66360870e-01 9.86064903e-01 -2.62279230e-04 -1.66649877e+01] [-1.69051315e-03 -1.92242762e-05 9.99998571e-01 -5.08847118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:-16.67, Z:-0.51 [[ 9.86569197e-01 1.63335332e-01 1.67017076e-03 1.80014527e+02] [-1.63335122e-01 9.86570610e-01 -2.62171550e-04 -1.66651428e+01] [-1.69056326e-03 -1.41471691e-05 9.99998571e-01 -5.11003220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:-16.67, Z:-0.51 [[ 9.86900072e-01 1.61324079e-01 1.67018328e-03 1.80043011e+02] [-1.61323866e-01 9.86901485e-01 -2.62091769e-04 -1.66670218e+01] [-1.69058807e-03 -1.07820383e-05 9.99998571e-01 -5.09623698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.07, Y:-16.67, Z:-0.51 [[ 9.87168679e-01 1.59672194e-01 1.67019612e-03 1.80070533e+02] [-1.59671979e-01 9.87170092e-01 -2.62009919e-04 -1.66692313e+01] [-1.69060335e-03 -8.03553328e-06 9.99998571e-01 -5.09227139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.10, Y:-16.67, Z:-0.51 [[ 9.87363782e-01 1.58461267e-01 1.67021209e-03 1.80099158e+02] [-1.58461051e-01 9.87365194e-01 -2.61908055e-04 -1.66719021e+01] [-1.69061157e-03 -6.06503534e-06 9.99998571e-01 -5.07955100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:-16.68, Z:-0.51 [[ 9.87558795e-01 1.57241330e-01 1.67022441e-03 1.80127985e+02] [-1.57241112e-01 9.87560208e-01 -2.61829496e-04 -1.66758205e+01] [-1.69061758e-03 -4.05592127e-06 9.99998571e-01 -5.09459140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:-16.68, Z:-0.51 [[ 9.87880217e-01 1.55209170e-01 1.67023668e-03 1.80156432e+02] [-1.55208949e-01 9.87881629e-01 -2.61751190e-04 -1.66788909e+01] [-1.69062231e-03 -6.56857205e-07 9.99998571e-01 -5.09354394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:-16.68, Z:-0.51 [[ 9.87971886e-01 1.54624587e-01 1.67024893e-03 1.80185215e+02] [-1.54624365e-01 9.87973298e-01 -2.61672954e-04 -1.66827461e+01] [-1.69062242e-03 2.64341346e-07 9.99998571e-01 -5.09917048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:-16.69, Z:-0.51 [[ 9.88034060e-01 1.54226802e-01 1.67026171e-03 1.80212920e+02] [-1.54226581e-01 9.88035472e-01 -2.61591360e-04 -1.66864411e+01] [-1.69062222e-03 8.62420811e-07 9.99998571e-01 -5.11570883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.24, Y:-16.69, Z:-0.51 [[ 9.87988376e-01 1.54519189e-01 1.67027887e-03 1.80241496e+02] [-1.54518968e-01 9.87989787e-01 -2.61481783e-04 -1.66912521e+01] [-1.69062242e-03 2.51194712e-07 9.99998571e-01 -5.11324752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:-16.69, Z:-0.51 [[ 9.87895295e-01 1.55113170e-01 1.67029154e-03 1.80268761e+02] [-1.55112949e-01 9.87896707e-01 -2.61400837e-04 -1.66943273e+01] [-1.69062222e-03 -8.47188903e-07 9.99998571e-01 -5.10045579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:-16.69, Z:-0.51 [[ 9.87467781e-01 1.57811887e-01 1.67030730e-03 1.80296673e+02] [-1.57811671e-01 9.87469194e-01 -2.61300059e-04 -1.66944173e+01] [-1.69061326e-03 -5.56859644e-06 9.99998571e-01 -5.06345061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:-16.70, Z:-0.51 [[ 9.87210839e-01 1.59411321e-01 1.67032291e-03 1.80324677e+02] [-1.59411108e-01 9.87212252e-01 -2.61200263e-04 -1.66970103e+01] [-1.69060152e-03 -8.40829427e-06 9.99998571e-01 -5.06362897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.35, Y:-16.70, Z:-0.51 [[ 9.87052823e-01 1.60386828e-01 1.67034139e-03 1.80352775e+02] [-1.60386616e-01 9.87054236e-01 -2.61081979e-04 -1.67001968e+01] [-1.69059166e-03 -1.01986993e-05 9.99998571e-01 -5.07847489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:-16.70, Z:-0.51 [[ 9.87104285e-01 1.60069798e-01 1.67035983e-03 1.80381022e+02] [-1.60069586e-01 9.87105698e-01 -2.60963981e-04 -1.67002832e+01] [-1.69059416e-03 -9.77514230e-06 9.99998571e-01 -5.07432228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:-16.70, Z:-0.50 [[ 9.87214088e-01 1.59391197e-01 1.67037835e-03 1.80408093e+02] [-1.59390984e-01 9.87215501e-01 -2.60845374e-04 -1.66997340e+01] [-1.69059986e-03 -8.73302131e-06 9.99998571e-01 -5.03238713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:-16.70, Z:-0.50 [[ 9.87266239e-01 1.59067856e-01 1.67039975e-03 1.80434798e+02] [-1.59067643e-01 9.87267652e-01 -2.60708240e-04 -1.67020470e+01] [-1.69060194e-03 -8.31810769e-06 9.99998571e-01 -5.02124421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:-16.70, Z:-0.50 [[ 9.87332492e-01 1.58656105e-01 1.67042098e-03 1.80463134e+02] [-1.58655891e-01 9.87333905e-01 -2.60572201e-04 -1.67042789e+01] [-1.69060464e-03 -7.75072685e-06 9.99998571e-01 -5.02743400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:-16.70, Z:-0.51 [[ 9.87295615e-01 1.58885426e-01 1.67043904e-03 1.80490399e+02] [-1.58885213e-01 9.87297028e-01 -2.60456315e-04 -1.67019719e+01] [-1.69060222e-03 -8.26068610e-06 9.99998571e-01 -5.06301196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:-16.70, Z:-0.51 [[ 9.87197752e-01 1.59492346e-01 1.67046003e-03 1.80518774e+02] [-1.59492133e-01 9.87199165e-01 -2.60321626e-04 -1.67033895e+01] [-1.69059606e-03 -9.43631028e-06 9.99998571e-01 -5.07480690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:-16.71, Z:-0.51 [[ 9.87189437e-01 1.59543805e-01 1.67047783e-03 1.80546408e+02] [-1.59543593e-01 9.87190850e-01 -2.60207390e-04 -1.67055217e+01] [-1.69059490e-03 -9.64004846e-06 9.99998571e-01 -5.06894007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:-16.71, Z:-0.51 [[ 9.87369170e-01 1.58427684e-01 1.67049568e-03 1.80573312e+02] [-1.58427470e-01 9.87370583e-01 -2.60092746e-04 -1.67080018e+01] [-1.69060418e-03 -7.84484588e-06 9.99998571e-01 -5.07960828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-16.71, Z:-0.51 [[ 9.87879295e-01 1.55215041e-01 1.67051644e-03 1.80600611e+02] [-1.55214823e-01 9.87880707e-01 -2.59959300e-04 -1.67102957e+01] [-1.69062056e-03 -2.48050449e-06 9.99998571e-01 -5.09247751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-16.71, Z:-0.51 [[ 9.88073145e-01 1.53976200e-01 1.67053703e-03 1.80627355e+02] [-1.53975981e-01 9.88074557e-01 -2.59826971e-04 -1.67137436e+01] [-1.69062230e-03 -4.94524728e-07 9.99998571e-01 -5.09510119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:-16.72, Z:-0.51 [[ 9.88131525e-01 1.53601103e-01 1.67055733e-03 1.80656020e+02] [-1.53600884e-01 9.88132937e-01 -2.59696377e-04 -1.67184678e+01] [-1.69062237e-03 1.50944370e-08 9.99998571e-01 -5.07733516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:-16.72, Z:-0.51 [[ 9.88003847e-01 1.54420229e-01 1.67056943e-03 1.80683807e+02] [-1.54420011e-01 9.88005260e-01 -2.59618517e-04 -1.67221186e+01] [-1.69062173e-03 -1.46525573e-06 9.99998571e-01 -5.06759611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:-16.72, Z:-0.51 [[ 9.87775276e-01 1.55875635e-01 1.67058781e-03 1.80710929e+02] [-1.55875419e-01 9.87776689e-01 -2.59500183e-04 -1.67244637e+01] [-1.69061745e-03 -4.07570961e-06 9.99998571e-01 -5.07430820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:-16.73, Z:-0.51 [[ 9.87141765e-01 1.59838493e-01 1.67061508e-03 1.80738899e+02] [-1.59838283e-01 9.87143179e-01 -2.59324492e-04 -1.67250863e+01] [-1.69058632e-03 -1.10382101e-05 9.99998571e-01 -5.09596253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:-16.73, Z:-0.51 [[ 9.86909202e-01 1.61268213e-01 1.67063376e-03 1.80765841e+02] [-1.61268005e-01 9.86910616e-01 -2.59204134e-04 -1.67287095e+01] [-1.69056758e-03 -1.36088285e-05 9.99998571e-01 -5.11101246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:-16.73, Z:-0.51 [[ 9.86793655e-01 1.61973739e-01 1.67065552e-03 1.80794156e+02] [-1.61973532e-01 9.86795069e-01 -2.59063747e-04 -1.67314666e+01] [-1.69055616e-03 -1.49595150e-05 9.99998571e-01 -5.14498414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:-16.73, Z:-0.52 [[ 9.86900705e-01 1.61320202e-01 1.67066771e-03 1.80822975e+02] [-1.61319995e-01 9.86902119e-01 -2.58985167e-04 -1.67338027e+01] [-1.69056504e-03 -1.39194623e-05 9.99998571e-01 -5.15587978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.85, Y:-16.73, Z:-0.52 [[ 9.87044461e-01 1.60438276e-01 1.67067998e-03 1.80851490e+02] [-1.60438068e-01 9.87045875e-01 -2.58905940e-04 -1.67342291e+01] [-1.69057621e-03 -1.24889942e-05 9.99998571e-01 -5.17942170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:-16.74, Z:-0.52 [[ 9.87001738e-01 1.60700895e-01 1.67069524e-03 1.80879141e+02] [-1.60700687e-01 9.87003152e-01 -2.58807443e-04 -1.67363825e+01] [-1.69057206e-03 -1.30384776e-05 9.99998571e-01 -5.17992840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:-16.74, Z:-0.52 [[ 9.86924635e-01 1.61173738e-01 1.67071342e-03 1.80908217e+02] [-1.61173531e-01 9.86926049e-01 -2.58690021e-04 -1.67379974e+01] [-1.69056464e-03 -1.39672277e-05 9.99998571e-01 -5.15648388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:-16.74, Z:-0.51 [[ 9.86766075e-01 1.62141670e-01 1.67072620e-03 1.80936345e+02] [-1.62141464e-01 9.86767490e-01 -2.58607509e-04 -1.67362888e+01] [-1.69054935e-03 -1.57088748e-05 9.99998571e-01 -5.11229838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.96, Y:-16.74, Z:-0.51 [[ 9.86835001e-01 1.61721645e-01 1.67074207e-03 1.80964842e+02] [-1.61721439e-01 9.86836415e-01 -2.58504907e-04 -1.67379697e+01] [-1.69055495e-03 -1.50931213e-05 9.99998571e-01 -5.10605224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.99, Y:-16.74, Z:-0.52 [[ 9.87342930e-01 1.58591135e-01 1.67076043e-03 1.80992296e+02] [-1.58590924e-01 9.87344343e-01 -2.58386207e-04 -1.67395527e+01] [-1.69059362e-03 -9.85164645e-06 9.99998571e-01 -5.16340446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:-16.74, Z:-0.52 [[ 9.87769876e-01 1.55909845e-01 1.67077566e-03 1.81020493e+02] [-1.55909631e-01 9.87771289e-01 -2.58287643e-04 -1.67428536e+01] [-1.69061382e-03 -5.36126428e-06 9.99998571e-01 -5.19342295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:-16.75, Z:-0.52 [[ 9.88646736e-01 1.50249261e-01 1.67078784e-03 1.81047975e+02] [-1.50249039e-01 9.88648148e-01 -2.58208862e-04 -1.67451260e+01] [-1.69061699e-03 4.24308162e-06 9.99998571e-01 -5.20887073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:-16.75, Z:-0.52 [[ 9.89100238e-01 1.47234262e-01 1.67080291e-03 1.81075609e+02] [-1.47234036e-01 9.89101649e-01 -2.58111325e-04 -1.67493805e+01] [-1.69059674e-03 9.29891757e-06 9.99998571e-01 -5.19293007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.10, Y:-16.75, Z:-0.52 [[ 9.89710256e-01 1.43076265e-01 1.67081790e-03 1.81103883e+02] [-1.43076033e-01 9.89711666e-01 -2.58014273e-04 -1.67529231e+01] [-1.69054368e-03 1.63053758e-05 9.99998571e-01 -5.16649543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:-16.76, Z:-0.52 [[ 9.89773543e-01 1.42637798e-01 1.67083581e-03 1.81132465e+02] [-1.42637566e-01 9.89774953e-01 -2.57898225e-04 -1.67560537e+01] [-1.69053747e-03 1.69368865e-05 9.99998571e-01 -5.17083760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:-16.76, Z:-0.52 [[ 9.89520182e-01 1.44384961e-01 1.67084793e-03 1.81160135e+02] [-1.44384732e-01 9.89521593e-01 -2.57819653e-04 -1.67591343e+01] [-1.69056539e-03 1.38728192e-05 9.99998571e-01 -5.19526565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-16.76, Z:-0.52 [[ 9.89335322e-01 1.45646245e-01 1.67086304e-03 1.81187106e+02] [-1.45646017e-01 9.89336733e-01 -2.57721729e-04 -1.67638521e+01] [-1.69058238e-03 1.16186639e-05 9.99998571e-01 -5.18589412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:-16.77, Z:-0.51 [[ 9.89266710e-01 1.46111545e-01 1.67087802e-03 1.81215331e+02] [-1.46111319e-01 9.89268121e-01 -2.57624561e-04 -1.67686976e+01] [-1.69058828e-03 1.07252116e-05 9.99998571e-01 -5.14357553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:-16.77, Z:-0.51 [[ 9.89193295e-01 1.46607753e-01 1.67089006e-03 1.81242765e+02] [-1.46607527e-01 9.89194706e-01 -2.57546462e-04 -1.67740819e+01] [-1.69059391e-03 9.79817428e-06 9.99998571e-01 -5.10536570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.27, Y:-16.78, Z:-0.51 [[ 9.89216532e-01 1.46450883e-01 1.67090499e-03 1.81270071e+02] [-1.46450657e-01 9.89217943e-01 -2.57449518e-04 -1.67786520e+01] [-1.69059291e-03 9.96818562e-06 9.99998571e-01 -5.13035154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:-16.78, Z:-0.51 [[ 9.89307276e-01 1.45836628e-01 1.67091984e-03 1.81298201e+02] [-1.45836401e-01 9.89308687e-01 -2.57353118e-04 -1.67842550e+01] [-1.69058702e-03 1.09203761e-05 9.99998571e-01 -5.14971634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:-16.79, Z:-0.51 [[ 9.89394102e-01 1.45246407e-01 1.67093189e-03 1.81325747e+02] [-1.45246179e-01 9.89395513e-01 -2.57274829e-04 -1.67891893e+01] [-1.69058076e-03 1.18497245e-05 9.99998571e-01 -5.14107402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:-16.79, Z:-0.51 [[ 9.89404097e-01 1.45178308e-01 1.67094681e-03 1.81353926e+02] [-1.45178081e-01 9.89405508e-01 -2.57177915e-04 -1.67933878e+01] [-1.69058063e-03 1.18680312e-05 9.99998571e-01 -5.14155573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:-16.80, Z:-0.51 [[ 9.89473043e-01 1.44707655e-01 1.67096450e-03 1.81381383e+02] [-1.44707427e-01 9.89474454e-01 -2.57062906e-04 -1.67984881e+01] [-1.69057566e-03 1.25558424e-05 9.99998571e-01 -5.12896415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:-16.81, Z:-0.51 [[ 9.89252374e-01 1.46208578e-01 1.67097917e-03 1.81408699e+02] [-1.46208352e-01 9.89253785e-01 -2.56967564e-04 -1.68051705e+01] [-1.69059333e-03 9.89466203e-06 9.99998571e-01 -5.12035574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.43, Y:-16.81, Z:-0.51 [[ 9.89063385e-01 1.47481618e-01 1.67099732e-03 1.81434873e+02] [-1.47481395e-01 9.89064797e-01 -2.56849480e-04 -1.68099865e+01] [-1.69060520e-03 7.59940072e-06 9.99998571e-01 -5.12868950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:-16.81, Z:-0.51 [[ 9.88621254e-01 1.50416834e-01 1.67102847e-03 1.81461346e+02] [-1.50416616e-01 9.88622666e-01 -2.56646623e-04 -1.68145808e+01] [-1.69062060e-03 2.37585909e-06 9.99998571e-01 -5.12429906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:-16.82, Z:-0.51 [[ 9.88486174e-01 1.51301990e-01 1.67104879e-03 1.81489985e+02] [-1.51301772e-01 9.88487586e-01 -2.56514253e-04 -1.68185722e+01] [-1.69062210e-03 7.28149053e-07 9.99998571e-01 -5.10204704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.52, Y:-16.82, Z:-0.51 [[ 9.88499092e-01 1.51217567e-01 1.67106035e-03 1.81518844e+02] [-1.51217350e-01 9.88500504e-01 -2.56438944e-04 -1.68214200e+01] [-1.69062207e-03 7.96346004e-07 9.99998571e-01 -5.07950166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:-16.83, Z:-0.51 [[ 9.88579071e-01 1.50693823e-01 1.67107255e-03 1.81545683e+02] [-1.50693605e-01 9.88580483e-01 -2.56359438e-04 -1.68255796e+01] [-1.69062149e-03 1.61162946e-06 9.99998571e-01 -5.09572004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.57, Y:-16.83, Z:-0.51 [[ 9.88728702e-01 1.49708924e-01 1.67109369e-03 1.81572117e+02] [-1.49708704e-01 9.88730114e-01 -2.56221544e-04 -1.68296004e+01] [-1.69061930e-03 3.15632387e-06 9.99998571e-01 -5.12334085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.60, Y:-16.83, Z:-0.51 [[ 9.88944846e-01 1.48274406e-01 1.67112423e-03 1.81600201e+02] [-1.48274186e-01 9.88946258e-01 -2.56022220e-04 -1.68322129e+01] [-1.69061359e-03 5.40727101e-06 9.99998571e-01 -5.11395510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.63, Y:-16.83, Z:-0.51 [[ 9.88945572e-01 1.48269564e-01 1.67114218e-03 1.81628891e+02] [-1.48269344e-01 9.88946984e-01 -2.55904977e-04 -1.68341681e+01] [-1.69061394e-03 5.29693985e-06 9.99998571e-01 -5.09364896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:-16.83, Z:-0.51 [[ 9.88756618e-01 1.49524439e-01 1.67115409e-03 1.81658391e+02] [-1.49524220e-01 9.88758030e-01 -2.55827165e-04 -1.68340163e+01] [-1.69061944e-03 3.07279021e-06 9.99998571e-01 -5.05383733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:-16.84, Z:-0.51 [[ 9.88684829e-01 1.49998388e-01 1.67116610e-03 1.81686086e+02] [-1.49998170e-01 9.88686241e-01 -2.55748697e-04 -1.68369002e+01] [-1.69062082e-03 2.18299970e-06 9.99998571e-01 -5.05456646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:-16.84, Z:-0.51 [[ 9.88789490e-01 1.49306904e-01 1.67118437e-03 1.81713371e+02] [-1.49306685e-01 9.88790902e-01 -2.55629243e-04 -1.68381798e+01] [-1.69061911e-03 3.24451048e-06 9.99998571e-01 -5.08876818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:-16.84, Z:-0.51 [[ 9.88943605e-01 1.48282677e-01 1.67121565e-03 1.81741445e+02] [-1.48282457e-01 9.88945017e-01 -2.55424578e-04 -1.68401374e+01] [-1.69061543e-03 4.78853962e-06 9.99998571e-01 -5.10118671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.77, Y:-16.84, Z:-0.51 [[ 9.89193374e-01 1.46607214e-01 1.67123349e-03 1.81769546e+02] [-1.46606992e-01 9.89194786e-01 -2.55307779e-04 -1.68422836e+01] [-1.69060542e-03 7.53424789e-06 9.99998571e-01 -5.11357655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:-16.84, Z:-0.51 [[ 9.89766228e-01 1.42688543e-01 1.67125132e-03 1.81797290e+02] [-1.42688316e-01 9.89767639e-01 -2.55191050e-04 -1.68446463e+01] [-1.69056331e-03 1.41114474e-05 9.99998571e-01 -5.11649375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.82, Y:-16.85, Z:-0.51 [[ 9.90036135e-01 1.40803614e-01 1.67126918e-03 1.81824346e+02] [-1.40803384e-01 9.90037546e-01 -2.55074040e-04 -1.68478766e+01] [-1.69053458e-03 1.72121612e-05 9.99998571e-01 -5.12250881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.85, Y:-16.85, Z:-0.51 [[ 9.90616990e-01 1.36657187e-01 1.67128987e-03 1.81851743e+02] [-1.36656951e-01 9.90618399e-01 -2.54938404e-04 -1.68500496e+01] [-1.69044966e-03 2.41529361e-05 9.99998571e-01 -5.11015858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:-16.85, Z:-0.51 [[ 9.90899994e-01 1.34589779e-01 1.67130457e-03 1.81878606e+02] [-1.34589541e-01 9.90901403e-01 -2.54842008e-04 -1.68535747e+01] [-1.69039717e-03 2.75828306e-05 9.99998571e-01 -5.10185862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:-16.86, Z:-0.51 [[ 9.91133130e-01 1.32862056e-01 1.67132491e-03 1.81905114e+02] [-1.32861815e-01 9.91134538e-01 -2.54708543e-04 -1.68578381e+01] [-1.69034894e-03 3.03948142e-05 9.99998571e-01 -5.08703440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.93, Y:-16.86, Z:-0.51 [[ 9.91606264e-01 1.29283498e-01 1.67134513e-03 1.81932315e+02] [-1.29283253e-01 9.91607672e-01 -2.54575734e-04 -1.68629851e+01] [-1.69023110e-03 3.63619571e-05 9.99998571e-01 -5.08605200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:-16.87, Z:-0.51 [[ 9.91823481e-01 1.27606384e-01 1.67136245e-03 1.81960352e+02] [-1.27606136e-01 9.91824888e-01 -2.54462001e-04 -1.68670027e+01] [-1.69016985e-03 3.91052828e-05 9.99998571e-01 -5.10461557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:-16.87, Z:-0.51 [[ 9.92108818e-01 1.25368653e-01 1.67137965e-03 1.81986725e+02] [-1.25368402e-01 9.92110225e-01 -2.54348982e-04 -1.68703497e+01] [-1.69008023e-03 4.28036718e-05 9.99998571e-01 -5.11862702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.01, Y:-16.87, Z:-0.51 [[ 9.92211641e-01 1.24552264e-01 1.67140608e-03 1.82014486e+02] [-1.24552012e-01 9.92213048e-01 -2.54175156e-04 -1.68749807e+01] [-1.69004901e-03 4.40185582e-05 9.99998571e-01 -5.12129901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:-16.88, Z:-0.51 [[ 9.92285725e-01 1.23960661e-01 1.67142304e-03 1.82041803e+02] [-1.23960408e-01 9.92287132e-01 -2.54063576e-04 -1.68798019e+01] [-1.69002547e-03 4.49133766e-05 9.99998571e-01 -5.12369120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.07, Y:-16.88, Z:-0.51 [[ 9.92334540e-01 1.23569283e-01 1.67143993e-03 1.82068418e+02] [-1.23569031e-01 9.92335946e-01 -2.53952467e-04 -1.68823783e+01] [-1.69001064e-03 4.54675927e-05 9.99998571e-01 -5.10661064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.10, Y:-16.89, Z:-0.51 [[ 9.92258436e-01 1.24178911e-01 1.67145952e-03 1.82095970e+02] [-1.24178659e-01 9.92259843e-01 -2.53823445e-04 -1.68853434e+01] [-1.69004168e-03 4.42988523e-05 9.99998571e-01 -5.09167013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:-16.89, Z:-0.51 [[ 9.92030176e-01 1.25989425e-01 1.67147727e-03 1.82122579e+02] [-1.25989176e-01 9.92031584e-01 -2.53706460e-04 -1.68892822e+01] [-1.69012258e-03 4.10964200e-05 9.99998571e-01 -5.07949685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.15, Y:-16.89, Z:-0.51 [[ 9.91905270e-01 1.26969059e-01 1.67149786e-03 1.82150164e+02] [-1.26968812e-01 9.91906677e-01 -2.53570770e-04 -1.68935399e+01] [-1.69016553e-03 3.92900858e-05 9.99998571e-01 -5.05769011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.18, Y:-16.90, Z:-0.51 [[ 9.91772926e-01 1.27998705e-01 1.67151588e-03 1.82177344e+02] [-1.27998460e-01 9.91774334e-01 -2.53451909e-04 -1.68976191e+01] [-1.69020807e-03 3.74152827e-05 9.99998571e-01 -5.05842378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.21, Y:-16.90, Z:-0.51 [[ 9.91490546e-01 1.30167980e-01 1.67153682e-03 1.82205585e+02] [-1.30167738e-01 9.91491955e-01 -2.53313729e-04 -1.69027111e+01] [-1.69028865e-03 3.35780011e-05 9.99998571e-01 -5.08139659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:-16.91, Z:-0.51 [[ 9.91419133e-01 1.30710780e-01 1.67154866e-03 1.82232494e+02] [-1.30710539e-01 9.91420542e-01 -2.53235572e-04 -1.69075641e+01] [-1.69030830e-03 3.25735649e-05 9.99998571e-01 -5.09621629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:-16.91, Z:-0.51 [[ 9.91298762e-01 1.31620553e-01 1.67156956e-03 1.82260601e+02] [-1.31620313e-01 9.91300171e-01 -2.53097534e-04 -1.69137460e+01] [-1.69034003e-03 3.08827630e-05 9.99998571e-01 -5.07185969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:-16.92, Z:-0.51 [[ 9.91267317e-01 1.31857168e-01 1.67158131e-03 1.82287909e+02] [-1.31856928e-01 9.91268726e-01 -2.53019951e-04 -1.69183433e+01] [-1.69034877e-03 3.04008311e-05 9.99998571e-01 -5.06768495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:-16.92, Z:-0.51 [[ 9.91214242e-01 1.32255555e-01 1.67159891e-03 1.82316293e+02] [-1.32255317e-01 9.91215651e-01 -2.52903612e-04 -1.69233839e+01] [-1.69036291e-03 2.96038188e-05 9.99998571e-01 -5.08054140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-16.93, Z:-0.51 [[ 9.90974909e-01 1.34037065e-01 1.67161063e-03 1.82343581e+02] [-1.34036829e-01 9.90976319e-01 -2.52826102e-04 -1.69270285e+01] [-1.69041462e-03 2.64869346e-05 9.99998571e-01 -5.12836558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:-16.93, Z:-0.51 [[ 9.90785402e-01 1.35430767e-01 1.67162516e-03 1.82370936e+02] [-1.35430533e-01 9.90786812e-01 -2.52730000e-04 -1.69295590e+01] [-1.69045158e-03 2.40121076e-05 9.99998571e-01 -5.13652278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.805769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:182.40, Y:-16.93, Z:-0.51 [[ 9.90493271e-01 1.37551028e-01 1.67163858e-03 1.82399786e+02] [-1.37550797e-01 9.90494682e-01 -2.52641228e-04 -1.69315062e+01] [-1.69050018e-03 2.03042180e-05 9.99998571e-01 -5.06236381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:-16.93, Z:-0.51 [[ 9.90572996e-01 1.36975709e-01 1.67165008e-03 1.82427456e+02] [-1.36975477e-01 9.90574406e-01 -2.52565086e-04 -1.69344927e+01] [-1.69048907e-03 2.12090857e-05 9.99998571e-01 -5.11218167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:-16.94, Z:-0.51 [[ 9.90794769e-01 1.35362222e-01 1.67166442e-03 1.82455505e+02] [-1.35361989e-01 9.90796179e-01 -2.52470150e-04 -1.69388465e+01] [-1.69045364e-03 2.38662835e-05 9.99998571e-01 -5.10669747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:-16.95, Z:-0.51 [[ 9.91612346e-01 1.29236837e-01 1.67167294e-03 1.82483106e+02] [-1.29236595e-01 9.91613755e-01 -2.52413700e-04 -1.69461764e+01] [-1.69027503e-03 3.42552224e-05 9.99998571e-01 -5.13481431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-16.95, Z:-0.52 [[ 9.92206047e-01 1.24596813e-01 1.67168435e-03 1.82510475e+02] [-1.24596564e-01 9.92207454e-01 -2.52338168e-04 -1.69529002e+01] [-1.69009820e-03 4.20853301e-05 9.99998571e-01 -5.15853333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:-16.96, Z:-0.52 [[ 9.93288747e-01 1.15648915e-01 1.67169843e-03 1.82537425e+02] [-1.15648654e-01 9.93290152e-01 -2.52244825e-04 -1.69621629e+01] [-1.68965343e-03 5.72222730e-05 9.99998571e-01 -5.15833216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.56, Y:-16.97, Z:-0.51 [[ 9.93670425e-01 1.12322266e-01 1.67171524e-03 1.82564343e+02] [-1.12322001e-01 9.93671829e-01 -2.52133385e-04 -1.69694684e+01] [-1.68945653e-03 6.27670878e-05 9.99998571e-01 -5.14782310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:-16.98, Z:-0.51 [[ 9.93990876e-01 1.09450186e-01 1.67172913e-03 1.82591604e+02] [-1.09449917e-01 9.93992280e-01 -2.52041268e-04 -1.69825326e+01] [-1.68927181e-03 6.75561070e-05 9.99998571e-01 -5.14220652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:-16.99, Z:-0.52 [[ 9.93931359e-01 1.09989357e-01 1.67174011e-03 1.82619768e+02] [-1.09989088e-01 9.93932763e-01 -2.51968412e-04 -1.69917893e+01] [-1.68931111e-03 6.65661360e-05 9.99998571e-01 -5.15166305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:-17.01, Z:-0.52 [[ 9.93455597e-01 1.14206750e-01 1.67175105e-03 1.82645614e+02] [-1.14206487e-01 9.93457002e-01 -2.51895779e-04 -1.70050015e+01] [-1.68958099e-03 5.93224565e-05 9.99998571e-01 -5.16783866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:-17.01, Z:-0.52 [[ 9.93112626e-01 1.17151684e-01 1.67176468e-03 1.82673229e+02] [-1.17151426e-01 9.93114032e-01 -2.51805289e-04 -1.70137758e+01] [-1.68975238e-03 5.42213955e-05 9.99998571e-01 -5.16388560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:-17.02, Z:-0.52 [[ 9.92778828e-01 1.19947504e-01 1.67177564e-03 1.82700106e+02] [-1.19947250e-01 9.92780234e-01 -2.51732497e-04 -1.70225482e+01] [-1.68990050e-03 4.93898028e-05 9.99998571e-01 -5.16751755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:-17.03, Z:-0.52 [[ 9.92368796e-01 1.23293872e-01 1.67178930e-03 1.82727790e+02] [-1.23293623e-01 9.92370203e-01 -2.51641781e-04 -1.70346059e+01] [-1.69005977e-03 4.36004923e-05 9.99998571e-01 -5.15954556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:-17.04, Z:-0.52 [[ 9.92191913e-01 1.24709317e-01 1.67180058e-03 1.82755117e+02] [-1.24709070e-01 9.92193320e-01 -2.51566825e-04 -1.70418608e+01] [-1.69012209e-03 4.11138737e-05 9.99998571e-01 -5.15154037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:-17.05, Z:-0.51 [[ 9.91606205e-01 1.29283948e-01 1.67181463e-03 1.82782597e+02] [-1.29283707e-01 9.91607614e-01 -2.51473390e-04 -1.70517595e+01] [-1.69029559e-03 3.32241807e-05 9.99998571e-01 -5.10780280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.81, Y:-17.06, Z:-0.51 [[ 9.91153756e-01 1.32708092e-01 1.67182584e-03 1.82810513e+02] [-1.32707857e-01 9.91155165e-01 -2.51398817e-04 -1.70584695e+01] [-1.69040148e-03 2.73104563e-05 9.99998571e-01 -5.09250854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:-17.06, Z:-0.51 [[ 9.90657641e-01 1.36362176e-01 1.67183721e-03 1.82838681e+02] [-1.36361946e-01 9.90659052e-01 -2.51323237e-04 -1.70644379e+01] [-1.69049164e-03 2.10003101e-05 9.99998571e-01 -5.08826308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:-17.07, Z:-0.51 [[ 9.89865026e-01 1.42001533e-01 1.67184852e-03 1.82866619e+02] [-1.42001311e-01 9.89866438e-01 -2.51247982e-04 -1.70691056e+01] [-1.69058433e-03 1.12969088e-05 9.99998571e-01 -5.09998525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:-17.07, Z:-0.51 [[ 9.89634444e-01 1.43599693e-01 1.67186261e-03 1.82894795e+02] [-1.43599474e-01 9.89635856e-01 -2.51154174e-04 -1.70723171e+01] [-1.69060085e-03 8.47223114e-06 9.99998571e-01 -5.09020318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.92, Y:-17.08, Z:-0.51 [[ 9.89505863e-01 1.44483052e-01 1.67187501e-03 1.82922725e+02] [-1.44482834e-01 9.89507275e-01 -2.51071606e-04 -1.70751978e+01] [-1.69060807e-03 6.87958647e-06 9.99998571e-01 -5.09057194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:-17.08, Z:-0.51 [[ 9.89460612e-01 1.44792619e-01 1.67189202e-03 1.82950065e+02] [-1.44792402e-01 9.89462024e-01 -2.50958258e-04 -1.70777625e+01] [-1.69061057e-03 6.23604968e-06 9.99998571e-01 -5.07890112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:-17.08, Z:-0.51 [[ 9.89709682e-01 1.43080224e-01 1.67190667e-03 1.82979297e+02] [-1.43080004e-01 9.89711094e-01 -2.50860650e-04 -1.70799951e+01] [-1.69059777e-03 9.06280096e-06 9.99998571e-01 -5.05012425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:-17.08, Z:-0.51 [[ 9.89969574e-01 1.41270831e-01 1.67191876e-03 1.83006615e+02] [-1.41270609e-01 9.89970986e-01 -2.50780005e-04 -1.70827109e+01] [-1.69057897e-03 1.20715928e-05 9.99998571e-01 -5.06912147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:-17.09, Z:-0.51 [[ 9.90250652e-01 1.39286941e-01 1.67193376e-03 1.83033981e+02] [-1.39286716e-01 9.90252063e-01 -2.50679993e-04 -1.70864865e+01] [-1.69055230e-03 1.53578640e-05 9.99998571e-01 -5.09382483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.06, Y:-17.09, Z:-0.51 [[ 9.90593268e-01 1.36829028e-01 1.67194836e-03 1.83062905e+02] [-1.36828800e-01 9.90594678e-01 -2.50582557e-04 -1.70906141e+01] [-1.69051012e-03 1.94547062e-05 9.99998571e-01 -5.10146157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.555769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.09, Y:-17.09, Z:-0.51 [[ 9.90599672e-01 1.36782656e-01 1.67196007e-03 1.83091923e+02] [-1.36782428e-01 9.90601083e-01 -2.50504423e-04 -1.70948699e+01] [-1.69051011e-03 1.94548422e-05 9.99998571e-01 -5.10195742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-17.10, Z:-0.51 [[ 9.91132699e-01 1.32865257e-01 1.67197179e-03 1.83119435e+02] [-1.32865024e-01 9.91134109e-01 -2.50426155e-04 -1.70989783e+01] [-1.69042121e-03 2.60589799e-05 9.99998571e-01 -5.05720589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:-17.10, Z:-0.50 [[ 9.91270582e-01 1.31832616e-01 1.67198636e-03 1.83147666e+02] [-1.31832381e-01 9.91271991e-01 -2.50328836e-04 -1.71027377e+01] [-1.69039476e-03 2.77216682e-05 9.99998571e-01 -5.02878915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:-17.11, Z:-0.51 [[ 9.91452109e-01 1.30460414e-01 1.67199800e-03 1.83176375e+02] [-1.30460177e-01 9.91453519e-01 -2.50251101e-04 -1.71079039e+01] [-1.69035616e-03 2.99828279e-05 9.99998571e-01 -5.05022241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:-17.11, Z:-0.51 [[ 9.91620938e-01 1.29170896e-01 1.67200963e-03 1.83204986e+02] [-1.29170658e-01 9.91622347e-01 -2.50173366e-04 -1.71137227e+01] [-1.69031723e-03 3.21025649e-05 9.99998571e-01 -5.07926463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:-17.12, Z:-0.51 [[ 9.91867591e-01 1.27263063e-01 1.67202126e-03 1.83231857e+02] [-1.27262822e-01 9.91868999e-01 -2.50095625e-04 -1.71191527e+01] [-1.69025398e-03 3.52756017e-05 9.99998571e-01 -5.09983311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:-17.13, Z:-0.51 [[ 9.92385023e-01 1.23163188e-01 1.67203571e-03 1.83259756e+02] [-1.23162941e-01 9.92386430e-01 -2.49998964e-04 -1.71270766e+01] [-1.69009622e-03 4.21623923e-05 9.99998571e-01 -5.09650718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:-17.13, Z:-0.51 [[ 9.92681532e-01 1.20750073e-01 1.67204749e-03 1.83286397e+02] [-1.20749823e-01 9.92682939e-01 -2.49920129e-04 -1.71339606e+01] [-1.68999089e-03 4.61916570e-05 9.99998571e-01 -5.11263815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:-17.15, Z:-0.52 [[ 9.93374899e-01 1.14906543e-01 1.67206210e-03 1.83314205e+02] [-1.14906285e-01 9.93376305e-01 -2.49822344e-04 -1.71467025e+01] [-1.68969309e-03 5.60368013e-05 9.99998571e-01 -5.17673048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-17.16, Z:-0.52 [[ 9.93726404e-01 1.11825927e-01 1.67206784e-03 1.83341772e+02] [-1.11825665e-01 9.93727809e-01 -2.49783907e-04 -1.71555272e+01] [-1.68951263e-03 6.12367646e-05 9.99998571e-01 -5.21682374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:-17.16, Z:-0.52 [[ 9.94025565e-01 1.09134686e-01 1.67207346e-03 1.83371163e+02] [-1.09134420e-01 9.94026969e-01 -2.49746318e-04 -1.71643459e+01] [-1.68934210e-03 6.57734572e-05 9.99998571e-01 -5.23233142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:-17.17, Z:-0.52 [[ 9.94186451e-01 1.07659203e-01 1.67207346e-03 1.83399914e+02] [-1.07658935e-01 9.94187855e-01 -2.49746318e-04 -1.71726792e+01] [-1.68924261e-03 6.82807574e-05 9.99998571e-01 -5.22437154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:-17.19, Z:-0.52 [[ 9.94140136e-01 1.08086047e-01 1.67207923e-03 1.83428237e+02] [-1.08085779e-01 9.94141540e-01 -2.49707642e-04 -1.71856228e+01] [-1.68927334e-03 6.75164023e-05 9.99998571e-01 -5.20634285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:-17.20, Z:-0.52 [[ 9.93755682e-01 1.11565444e-01 1.67208210e-03 1.83456937e+02] [-1.11565182e-01 9.93757087e-01 -2.49688473e-04 -1.71973878e+01] [-1.68950004e-03 6.15831954e-05 9.99998571e-01 -5.18483772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:-17.21, Z:-0.52 [[ 9.93539584e-01 1.13473786e-01 1.67208769e-03 1.83486954e+02] [-1.13473526e-01 9.93540989e-01 -2.49651042e-04 -1.72055793e+01] [-1.68961650e-03 5.83005058e-05 9.99998571e-01 -5.18372028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:-17.21, Z:-0.52 [[ 9.93391372e-01 1.14764047e-01 1.67208769e-03 1.83516068e+02] [-1.14763789e-01 9.93392777e-01 -2.49651042e-04 -1.72138835e+01] [-1.68969079e-03 5.61060718e-05 9.99998571e-01 -5.19137866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:-17.23, Z:-0.52 [[ 9.93185627e-01 1.16531175e-01 1.67208769e-03 1.83544984e+02] [-1.16530919e-01 9.93187033e-01 -2.49651042e-04 -1.72268870e+01] [-1.68978794e-03 5.30999113e-05 9.99998571e-01 -5.19587778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:-17.23, Z:-0.52 [[ 9.93126491e-01 1.17034085e-01 1.67208480e-03 1.83575840e+02] [-1.17033831e-01 9.93127897e-01 -2.49670356e-04 -1.72345555e+01] [-1.68981400e-03 5.22637547e-05 9.99998571e-01 -5.16772909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.61, Y:-17.24, Z:-0.51 [[ 9.93054026e-01 1.17647377e-01 1.67207921e-03 1.83606015e+02] [-1.17647123e-01 9.93055433e-01 -2.49707788e-04 -1.72418155e+01] [-1.68984481e-03 5.12580157e-05 9.99998571e-01 -5.12553292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.64, Y:-17.25, Z:-0.51 [[ 9.92844078e-01 1.19406204e-01 1.67207360e-03 1.83636553e+02] [-1.19405953e-01 9.92845485e-01 -2.49745382e-04 -1.72517089e+01] [-1.68993187e-03 4.83026827e-05 9.99998571e-01 -5.08046617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:-17.26, Z:-0.51 [[ 9.92612658e-01 1.21314940e-01 1.67206791e-03 1.83666918e+02] [-1.21314691e-01 9.92614066e-01 -2.49783476e-04 -1.72594836e+01] [-1.69002059e-03 4.50918385e-05 9.99998571e-01 -5.08113228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.70, Y:-17.27, Z:-0.51 [[ 9.91953884e-01 1.26588693e-01 1.67203096e-03 1.83696851e+02] [-1.26588452e-01 9.91955292e-01 -2.50030542e-04 -1.72682684e+01] [-1.69023100e-03 3.63589568e-05 9.99998571e-01 -5.07779510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.73, Y:-17.27, Z:-0.51 [[ 9.91501122e-01 1.30087389e-01 1.67202512e-03 1.83727870e+02] [-1.30087152e-01 9.91502532e-01 -2.50069611e-04 -1.72736964e+01] [-1.69034804e-03 3.04353144e-05 9.99998571e-01 -5.07298360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.76, Y:-17.28, Z:-0.51 [[ 9.91023709e-01 1.33675777e-01 1.67198716e-03 1.83757729e+02] [-1.33675545e-01 9.91025119e-01 -2.50323123e-04 -1.72779132e+01] [-1.69044341e-03 2.45723555e-05 9.99998571e-01 -5.06599626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.79, Y:-17.28, Z:-0.51 [[ 9.90224391e-01 1.39473509e-01 1.67198716e-03 1.83788185e+02] [-1.39473285e-01 9.90225803e-01 -2.50323123e-04 -1.72815734e+01] [-1.69055827e-03 1.46785201e-05 9.99998571e-01 -5.05376620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.305769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.82, Y:-17.29, Z:-0.51 [[ 9.89975357e-01 1.41230296e-01 1.67198716e-03 1.83818265e+02] [-1.41230075e-01 9.89976769e-01 -2.50323123e-04 -1.72858339e+01] [-1.69058166e-03 1.16788514e-05 9.99998571e-01 -5.05020552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.335769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.85, Y:-17.29, Z:-0.51 [[ 9.89887524e-01 1.41844610e-01 1.67197342e-03 1.83848553e+02] [-1.41844390e-01 9.89888936e-01 -2.50414874e-04 -1.72895390e+01] [-1.69058799e-03 1.07225108e-05 9.99998571e-01 -5.05923403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.88, Y:-17.29, Z:-0.51 [[ 9.89994626e-01 1.41095160e-01 1.67197052e-03 1.83879017e+02] [-1.41094939e-01 9.89996038e-01 -2.50434227e-04 -1.72931399e+01] [-1.69057925e-03 1.20219606e-05 9.99998571e-01 -5.07821093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.395769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.91, Y:-17.30, Z:-0.51 [[ 9.90531784e-01 1.37273410e-01 1.67197052e-03 1.83909371e+02] [-1.37273182e-01 9.90533195e-01 -2.50434227e-04 -1.72974991e+01] [-1.69052026e-03 1.85463470e-05 9.99998571e-01 -5.12040785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.94, Y:-17.30, Z:-0.51 [[ 9.90909122e-01 1.34522551e-01 1.67196765e-03 1.83939968e+02] [-1.34522320e-01 9.90910532e-01 -2.50453381e-04 -1.73022088e+01] [-1.69046198e-03 2.32595722e-05 9.99998571e-01 -5.12579630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.455769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.97, Y:-17.31, Z:-0.52 [[ 9.91512498e-01 1.30000653e-01 1.67196187e-03 1.83970924e+02] [-1.30000416e-01 9.91513908e-01 -2.50491987e-04 -1.73062675e+01] [-1.69033757e-03 3.10101978e-05 9.99998571e-01 -5.16353571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.485769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.00, Y:-17.31, Z:-0.52 [[ 9.91663804e-01 1.28841394e-01 1.67192433e-03 1.84002152e+02] [-1.28841154e-01 9.91665213e-01 -2.50742298e-04 -1.73107807e+01] [-1.69029518e-03 3.32394014e-05 9.99998571e-01 -5.16539174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.515769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.03, Y:-17.31, Z:-0.52 [[ 9.91703618e-01 1.28534584e-01 1.67191870e-03 1.84032171e+02] [-1.28534344e-01 9.91705027e-01 -2.50779791e-04 -1.73148969e+01] [-1.69028406e-03 3.38002532e-05 9.99998571e-01 -5.16559907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:-17.32, Z:-0.51 [[ 9.91446756e-01 1.30501089e-01 1.67191590e-03 1.84062164e+02] [-1.30500851e-01 9.91448166e-01 -2.50798466e-04 -1.73189650e+01] [-1.69034743e-03 3.04668771e-05 9.99998571e-01 -5.12475966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.575769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.09, Y:-17.32, Z:-0.51 [[ 9.91334201e-01 1.31353367e-01 1.67191590e-03 1.84092638e+02] [-1.31353130e-01 9.91335610e-01 -2.50798466e-04 -1.73226988e+01] [-1.69037300e-03 2.90137092e-05 9.99998571e-01 -5.12126044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.605769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.12, Y:-17.33, Z:-0.51 [[ 9.91319738e-01 1.31462469e-01 1.67191590e-03 1.84122435e+02] [-1.31462233e-01 9.91321148e-01 -2.50798466e-04 -1.73265191e+01] [-1.69037618e-03 2.88276711e-05 9.99998571e-01 -5.12698257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.635769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.15, Y:-17.33, Z:-0.52 [[ 9.91719627e-01 1.28411005e-01 1.67191309e-03 1.84154199e+02] [-1.28410764e-01 9.91721036e-01 -2.50817200e-04 -1.73318568e+01] [-1.69027907e-03 3.40487013e-05 9.99998571e-01 -5.15816567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.665769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.18, Y:-17.34, Z:-0.52 [[ 9.92021711e-01 1.26056054e-01 1.67187161e-03 1.84184994e+02] [-1.26055810e-01 9.92023120e-01 -2.51093427e-04 -1.73381722e+01] [-1.69018713e-03 3.83410013e-05 9.99998571e-01 -5.17366791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.695769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.22, Y:-17.34, Z:-0.52 [[ 9.92683613e-01 1.20732965e-01 1.67183333e-03 1.84216760e+02] [-1.20732713e-01 9.92685020e-01 -2.51348015e-04 -1.73445726e+01] [-1.68994990e-03 4.76640817e-05 9.99998571e-01 -5.17497863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.25, Y:-17.35, Z:-0.52 [[ 9.92982362e-01 1.18250724e-01 1.67179128e-03 1.84248038e+02] [-1.18250468e-01 9.92983768e-01 -2.51627419e-04 -1.73498239e+01] [-1.68981673e-03 5.21714878e-05 9.99998571e-01 -5.18213354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.28, Y:-17.36, Z:-0.52 [[ 9.93232955e-01 1.16127096e-01 1.67174637e-03 1.84280174e+02] [-1.16126836e-01 9.93234360e-01 -2.51925398e-04 -1.73557019e+01] [-1.68969130e-03 5.60859903e-05 9.99998571e-01 -5.17361268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.31, Y:-17.36, Z:-0.52 [[ 9.93509993e-01 1.13732578e-01 1.67170630e-03 1.84311726e+02] [-1.13732314e-01 9.93511398e-01 -2.52191058e-04 -1.73637533e+01] [-1.68954160e-03 6.04273113e-05 9.99998571e-01 -5.17031541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.34, Y:-17.37, Z:-0.51 [[ 9.93479904e-01 1.13995118e-01 1.67166369e-03 1.84341958e+02] [-1.13994854e-01 9.93481308e-01 -2.52473187e-04 -1.73707655e+01] [-1.68954734e-03 6.02659794e-05 9.99998571e-01 -5.13973257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.37, Y:-17.38, Z:-0.51 [[ 9.93547009e-01 1.13408751e-01 1.67214080e-03 1.84374143e+02] [-1.13408492e-01 9.93548414e-01 -2.49315379e-04 -1.73779279e+01] [-1.68962738e-03 5.80715831e-05 9.99998571e-01 -5.13663917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.41, Y:-17.39, Z:-0.52 [[ 9.93527593e-01 1.13578732e-01 1.67161489e-03 1.84405655e+02] [-1.13578467e-01 9.93528997e-01 -2.52792954e-04 -1.73903232e+01] [-1.68950977e-03 6.12973185e-05 9.99998571e-01 -5.17713756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:184.44, Y:-17.40, Z:-0.52 [[ 9.93511409e-01 1.13720206e-01 1.67156771e-03 1.84438058e+02] [-1.13719941e-01 9.93512814e-01 -2.53104556e-04 -1.73994739e+01] [-1.68950704e-03 6.13716823e-05 9.99998571e-01 -5.21337885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.47, Y:-17.41, Z:-0.52 [[ 9.93576907e-01 1.13146528e-01 1.67152049e-03 1.84469737e+02] [-1.13146261e-01 9.93578311e-01 -2.53415996e-04 -1.74082004e+01] [-1.68945965e-03 6.26619869e-05 9.99998571e-01 -5.23653832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.50, Y:-17.42, Z:-0.53 [[ 9.93512303e-01 1.13712396e-01 1.67147852e-03 1.84499803e+02] [-1.13712130e-01 9.93513708e-01 -2.53692532e-04 -1.74212937e+01] [-1.68948481e-03 6.19792692e-05 9.99998571e-01 -5.26428418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.53, Y:-17.43, Z:-0.52 [[ 9.93417431e-01 1.14538267e-01 1.67143686e-03 1.84531662e+02] [-1.14538001e-01 9.93418835e-01 -2.53966710e-04 -1.74305997e+01] [-1.68952577e-03 6.08519186e-05 9.99998571e-01 -5.23933491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.56, Y:-17.44, Z:-0.52 [[ 9.93264742e-01 1.15854907e-01 1.67138954e-03 1.84561698e+02] [-1.15854643e-01 9.93266146e-01 -2.54277775e-04 -1.74392795e+01] [-1.68959397e-03 5.89269109e-05 9.99998571e-01 -5.21350814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.055769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.59, Y:-17.45, Z:-0.51 [[ 9.92866667e-01 1.19218237e-01 1.67135120e-03 1.84590854e+02] [-1.19217977e-01 9.92868072e-01 -2.54529516e-04 -1.74515215e+01] [-1.68977580e-03 5.34587639e-05 9.99998571e-01 -5.14402937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.085769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.62, Y:-17.46, Z:-0.51 [[ 9.92590410e-01 1.21496848e-01 1.67131882e-03 1.84621986e+02] [-1.21496591e-01 9.92591816e-01 -2.54741927e-04 -1.74604935e+01] [-1.68988773e-03 4.97948538e-05 9.99998571e-01 -5.12532322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.115769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.65, Y:-17.47, Z:-0.51 [[ 9.92328771e-01 1.23615606e-01 1.67127509e-03 1.84653973e+02] [-1.23615352e-01 9.92330177e-01 -2.55028511e-04 -1.74693787e+01] [-1.68998221e-03 4.64768702e-05 9.99998571e-01 -5.11654699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.145769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:184.69, Y:-17.48, Z:-0.51 [[ 9.91815252e-01 1.27670332e-01 1.67122671e-03 1.84685422e+02] [-1.27670083e-01 9.91816659e-01 -2.55345174e-04 -1.74803471e+01] [-1.69015050e-03 3.98895855e-05 9.99998571e-01 -5.11532807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.175769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.72, Y:-17.49, Z:-0.51 [[ 9.91548588e-01 1.29725110e-01 1.67117778e-03 1.84716704e+02] [-1.29724863e-01 9.91549996e-01 -2.55665012e-04 -1.74870885e+01] [-1.69022249e-03 3.67109721e-05 9.99998571e-01 -5.12284406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.205769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.75, Y:-17.50, Z:-0.52 [[ 9.91244880e-01 1.32025738e-01 1.67113190e-03 1.84748402e+02] [-1.32025494e-01 9.91246288e-01 -2.55964560e-04 -1.74953712e+01] [-1.69029720e-03 3.30915451e-05 9.99998571e-01 -5.16182825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.235769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.78, Y:-17.50, Z:-0.52 [[ 9.91126475e-01 1.32911690e-01 1.67108989e-03 1.84780546e+02] [-1.32911447e-01 9.91127884e-01 -2.56238517e-04 -1.75020744e+01] [-1.69032088e-03 3.18578023e-05 9.99998571e-01 -5.17666042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.265769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:184.81, Y:-17.51, Z:-0.52 [[ 9.91055382e-01 1.33440767e-01 1.67104114e-03 1.84811486e+02] [-1.33440524e-01 9.91056790e-01 -2.56556083e-04 -1.75082764e+01] [-1.69033170e-03 3.12766817e-05 9.99998571e-01 -5.18776241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.84, Y:-17.52, Z:-0.51 [[ 9.91031154e-01 1.33620582e-01 1.67099552e-03 1.84843292e+02] [-1.33620339e-01 9.91032562e-01 -2.56852851e-04 -1.75156310e+01] [-1.69033180e-03 3.12701889e-05 9.99998571e-01 -5.13829524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.325769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.88, Y:-17.52, Z:-0.51 [[ 9.91006232e-01 1.33805290e-01 1.67095305e-03 1.84875979e+02] [-1.33805047e-01 9.91007640e-01 -2.57128842e-04 -1.75215594e+01] [-1.69033244e-03 3.12343339e-05 9.99998571e-01 -5.12664543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.355769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.91, Y:-17.53, Z:-0.51 [[ 9.90725453e-01 1.35868631e-01 1.67090326e-03 1.84907502e+02] [-1.35868390e-01 9.90726862e-01 -2.57451954e-04 -1.75270578e+01] [-1.69038839e-03 2.80412676e-05 9.99998571e-01 -5.13123027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.385769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.94, Y:-17.53, Z:-0.51 [[ 9.90473093e-01 1.37696263e-01 1.67085685e-03 1.84940298e+02] [-1.37696024e-01 9.90474502e-01 -2.57752826e-04 -1.75326552e+01] [-1.69043271e-03 2.52268946e-05 9.99998571e-01 -5.13559181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.97, Y:-17.54, Z:-0.51 [[ 9.90209144e-01 1.39581733e-01 1.67080806e-03 1.84972591e+02] [-1.39581496e-01 9.90210553e-01 -2.58068734e-04 -1.75381991e+01] [-1.69047345e-03 2.23281311e-05 9.99998571e-01 -5.14061158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.445769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.00, Y:-17.54, Z:-0.52 [[ 9.89736503e-01 1.42894588e-01 1.67075691e-03 1.85003879e+02] [-1.42894355e-01 9.89737913e-01 -2.58399451e-04 -1.75428896e+01] [-1.69053534e-03 1.70056376e-05 9.99998571e-01 -5.17502383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.04, Y:-17.55, Z:-0.52 [[ 9.89710041e-01 1.43077751e-01 1.67070927e-03 1.85036943e+02] [-1.43077518e-01 9.89711451e-01 -2.58707068e-04 -1.75482168e+01] [-1.69053532e-03 1.70040465e-05 9.99998571e-01 -5.17559049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.07, Y:-17.55, Z:-0.52 [[ 9.89536111e-01 1.44275759e-01 1.67066134e-03 1.85069203e+02] [-1.44275527e-01 9.89537521e-01 -2.59016249e-04 -1.75525443e+01] [-1.69055184e-03 1.52703865e-05 9.99998571e-01 -5.17658100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.10, Y:-17.56, Z:-0.52 [[ 9.89400373e-01 1.45203686e-01 1.67061300e-03 1.85100907e+02] [-1.45203455e-01 9.89401784e-01 -2.59327672e-04 -1.75567204e+01] [-1.69056281e-03 1.40001160e-05 9.99998571e-01 -5.17336977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:185.13, Y:-17.56, Z:-0.52 [[ 9.89296249e-01 1.45911418e-01 1.67056778e-03 1.85133827e+02] [-1.45911187e-01 9.89297659e-01 -2.59618620e-04 -1.75618678e+01] [-1.69057012e-03 1.30851978e-05 9.99998571e-01 -5.15284036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:185.17, Y:-17.57, Z:-0.51 [[ 9.89273878e-01 1.46063012e-01 1.67051885e-03 1.85166626e+02] [-1.46062782e-01 9.89275288e-01 -2.59933105e-04 -1.75685144e+01] [-1.69056963e-03 1.31444009e-05 9.99998571e-01 -5.14004729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.20, Y:-17.58, Z:-0.52 [[ 9.89304882e-01 1.45852868e-01 1.67046882e-03 1.85197149e+02] [-1.45852637e-01 9.89306293e-01 -2.60254220e-04 -1.75771675e+01] [-1.69056414e-03 1.38284883e-05 9.99998571e-01 -5.16244650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.23, Y:-17.58, Z:-0.52 [[ 9.89338705e-01 1.45623271e-01 1.67043773e-03 1.85228610e+02] [-1.45623038e-01 9.89340115e-01 -2.60453586e-04 -1.75840525e+01] [-1.69055916e-03 1.44225955e-05 9.99998571e-01 -5.18527133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.26, Y:-17.59, Z:-0.52 [[ 9.89341829e-01 1.45602043e-01 1.67040699e-03 1.85260224e+02] [-1.45601811e-01 9.89343239e-01 -2.60650614e-04 -1.75930324e+01] [-1.69055712e-03 1.46582723e-05 9.99998571e-01 -5.21579196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71576923100002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:185.29, Y:-17.60, Z:-0.52 [[ 9.89247284e-01 1.46243017e-01 1.67035651e-03 1.85291652e+02] [-1.46242785e-01 9.89248695e-01 -2.60973674e-04 -1.76004382e+01] [-1.69056358e-03 1.38899095e-05 9.99998571e-01 -5.23595143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:185.32, Y:-17.61, Z:-0.52 [[ 9.89044929e-01 1.47605347e-01 1.67032517e-03 1.85323862e+02] [-1.47605117e-01 9.89046339e-01 -2.61174124e-04 -1.76078789e+01] [-1.69057969e-03 1.17644009e-05 9.99998571e-01 -5.22725877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77576923100003 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:185.35, Y:-17.61, Z:-0.52 [[ 9.88702397e-01 1.49882556e-01 1.67027540e-03 1.85354852e+02] [-1.49882328e-01 9.88703808e-01 -2.61492045e-04 -1.76147026e+01] [-1.69060074e-03 8.19304600e-06 9.99998571e-01 -5.21389852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.805769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.39, Y:-17.62, Z:-0.52 [[ 9.87941837e-01 1.54816465e-01 1.67022906e-03 1.85387185e+02] [-1.54816244e-01 9.87943248e-01 -2.61787700e-04 -1.76228171e+01] [-1.69062057e-03 5.24317364e-08 9.99998571e-01 -5.15248268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.835769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.42, Y:-17.63, Z:-0.51 [[ 9.87628308e-01 1.56804133e-01 1.67018004e-03 1.85418570e+02] [-1.56803914e-01 9.87629720e-01 -2.62100053e-04 -1.76287976e+01] [-1.69061782e-03 -3.03333634e-06 9.99998571e-01 -5.14749283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.865769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.45, Y:-17.64, Z:-0.52 [[ 9.87161512e-01 1.59716499e-01 1.67013435e-03 1.85451051e+02] [-1.59716284e-01 9.87162925e-01 -2.62390879e-04 -1.76353466e+01] [-1.69060286e-03 -7.72547456e-06 9.99998571e-01 -5.20116068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.48, Y:-17.64, Z:-0.52 [[ 9.86912619e-01 1.61247304e-01 1.67008543e-03 1.85483181e+02] [-1.61247091e-01 9.86914032e-01 -2.62701877e-04 -1.76412063e+01] [-1.69059072e-03 -1.00326192e-05 9.99998571e-01 -5.22252012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.925769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.51, Y:-17.65, Z:-0.52 [[ 9.86640537e-01 1.62903843e-01 1.67003553e-03 1.85514350e+02] [-1.62903632e-01 9.86641950e-01 -2.63018730e-04 -1.76465048e+01] [-1.69057387e-03 -1.25499112e-05 9.99998571e-01 -5.22474941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.55, Y:-17.65, Z:-0.52 [[ 9.86131965e-01 1.65954689e-01 1.66998885e-03 1.85545312e+02] [-1.65954481e-01 9.86133379e-01 -2.63314783e-04 -1.76487920e+01] [-1.69053007e-03 -1.74790076e-05 9.99998571e-01 -5.16752875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:-17.65, Z:-0.51 [[ 9.85835606e-01 1.67706202e-01 1.66994883e-03 1.85578631e+02] [-1.67705996e-01 9.85837020e-01 -2.63568368e-04 -1.76523961e+01] [-1.69049942e-03 -2.02253485e-05 9.99998571e-01 -5.12479782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.61, Y:-17.65, Z:-0.51 [[ 9.85127722e-01 1.71815547e-01 1.66989950e-03 1.85610421e+02] [-1.71815346e-01 9.85129137e-01 -2.63880492e-04 -1.76536999e+01] [-1.69040543e-03 -2.69583726e-05 9.99998571e-01 -5.07334962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:-17.66, Z:-0.51 [[ 9.84733658e-01 1.74059861e-01 1.66985353e-03 1.85643719e+02] [-1.74059663e-01 9.84735073e-01 -2.64171103e-04 -1.76572742e+01] [-1.69034492e-03 -3.05159663e-05 9.99998571e-01 -5.07401248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.68, Y:-17.66, Z:-0.51 [[ 9.84390015e-01 1.75992928e-01 1.66980455e-03 1.85675774e+02] [-1.75992732e-01 9.84391430e-01 -2.64480348e-04 -1.76609976e+01] [-1.69028796e-03 -3.35216514e-05 9.99998571e-01 -5.08013926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-17.67, Z:-0.51 [[ 9.84175621e-01 1.77187920e-01 1.66977402e-03 1.85708666e+02] [-1.77187725e-01 9.84177037e-01 -2.64672961e-04 -1.76650441e+01] [-1.69025010e-03 -3.53787841e-05 9.99998571e-01 -5.09740346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:-17.67, Z:-0.51 [[ 9.84451256e-01 1.75650039e-01 1.66972329e-03 1.85740433e+02] [-1.75649842e-01 9.84452672e-01 -2.64992598e-04 -1.76694727e+01] [-1.69030951e-03 -3.24143362e-05 9.99998571e-01 -5.12411591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.165769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:185.77, Y:-17.68, Z:-0.51 [[ 9.84846045e-01 1.73422833e-01 1.66967586e-03 1.85773223e+02] [-1.73422632e-01 9.84847460e-01 -2.65291115e-04 -1.76757257e+01] [-1.69038357e-03 -2.82886761e-05 9.99998571e-01 -5.13653072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.195769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:185.80, Y:-17.68, Z:-0.52 [[ 9.85498118e-01 1.69678142e-01 1.66962629e-03 1.85804567e+02] [-1.69677935e-01 9.85499532e-01 -2.65602683e-04 -1.76834895e+01] [-1.69048290e-03 -2.15477976e-05 9.99998571e-01 -5.16436137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.84, Y:-17.69, Z:-0.52 [[ 9.85590365e-01 1.69141497e-01 1.66958002e-03 1.85835557e+02] [-1.69141289e-01 9.85591778e-01 -2.65893246e-04 -1.76898660e+01] [-1.69049792e-03 -2.03330953e-05 9.99998571e-01 -5.16722692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.87, Y:-17.70, Z:-0.52 [[ 9.85548222e-01 1.69386880e-01 1.66953471e-03 1.85867881e+02] [-1.69386672e-01 9.85549636e-01 -2.66177415e-04 -1.76964707e+01] [-1.69049629e-03 -2.04662517e-05 9.99998571e-01 -5.15569570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:185.90, Y:-17.70, Z:-0.52 [[ 9.85122540e-01 1.71845263e-01 1.66948664e-03 1.85899913e+02] [-1.71845058e-01 9.85123954e-01 -2.66478611e-04 -1.77039578e+01] [-1.69044437e-03 -2.43789426e-05 9.99998571e-01 -5.15513167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.93, Y:-17.71, Z:-0.52 [[ 9.84789789e-01 1.73742005e-01 1.66943859e-03 1.85932585e+02] [-1.73741803e-01 9.84791204e-01 -2.66779280e-04 -1.77098613e+01] [-1.69039921e-03 -2.73297596e-05 9.99998571e-01 -5.16606137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:185.96, Y:-17.72, Z:-0.52 [[ 9.84334224e-01 1.76304703e-01 1.66938817e-03 1.85962991e+02] [-1.76304503e-01 9.84335639e-01 -2.67094402e-04 -1.77165437e+01] [-1.69032827e-03 -3.14104917e-05 9.99998571e-01 -5.24702529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:185.99, Y:-17.72, Z:-0.53 [[ 9.84325828e-01 1.76351572e-01 1.66934750e-03 1.85994133e+02] [-1.76351372e-01 9.84327243e-01 -2.67348349e-04 -1.77239594e+01] [-1.69033153e-03 -3.12338376e-05 9.99998571e-01 -5.27374143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.03, Y:-17.73, Z:-0.53 [[ 9.84406301e-01 1.75901815e-01 1.66930134e-03 1.86025751e+02] [-1.75901614e-01 9.84407716e-01 -2.67636266e-04 -1.77320296e+01] [-1.69035082e-03 -3.01699734e-05 9.99998571e-01 -5.25786202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:-17.74, Z:-0.52 [[ 9.84440945e-01 1.75707824e-01 1.66925456e-03 1.86056071e+02] [-1.75707622e-01 9.84442360e-01 -2.67927715e-04 -1.77414261e+01] [-1.69036190e-03 -2.95417362e-05 9.99998571e-01 -5.21361273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.09, Y:-17.75, Z:-0.52 [[ 9.84245925e-01 1.76796980e-01 1.66923065e-03 1.86088215e+02] [-1.76796780e-01 9.84247340e-01 -2.68076586e-04 -1.77472679e+01] [-1.69033096e-03 -3.12613166e-05 9.99998571e-01 -5.21425646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.12, Y:-17.75, Z:-0.52 [[ 9.83616591e-01 1.80265402e-01 1.66918065e-03 1.86120754e+02] [-1.80265206e-01 9.83618007e-01 -2.68387591e-04 -1.77502495e+01] [-1.69021714e-03 -3.69047063e-05 9.99998571e-01 -5.24313509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:186.15, Y:-17.75, Z:-0.53 [[ 9.83171785e-01 1.82675818e-01 1.66913111e-03 1.86152108e+02] [-1.82675625e-01 9.83173201e-01 -2.68695300e-04 -1.77537445e+01] [-1.69012911e-03 -4.07359300e-05 9.99998571e-01 -5.25026869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.555769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:186.18, Y:-17.76, Z:-0.52 [[ 9.82709521e-01 1.85146460e-01 1.66908483e-03 1.86184982e+02] [-1.85146270e-01 9.82710937e-01 -2.68982468e-04 -1.77582153e+01] [-1.69002907e-03 -4.46931997e-05 9.99998571e-01 -5.23525104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.585769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.22, Y:-17.76, Z:-0.52 [[ 9.82332972e-01 1.87134032e-01 1.66903429e-03 1.86217031e+02] [-1.87133844e-01 9.82334389e-01 -2.69295726e-04 -1.77632812e+01] [-1.68994417e-03 -4.77947317e-05 9.99998571e-01 -5.21921243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:-17.77, Z:-0.52 [[ 9.81949434e-01 1.89136258e-01 1.66898734e-03 1.86249333e+02] [-1.89136073e-01 9.81950851e-01 -2.69586398e-04 -1.77676621e+01] [-1.68985210e-03 -5.09455007e-05 9.99998571e-01 -5.19650646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:-17.77, Z:-0.52 [[ 9.81787720e-01 1.89973913e-01 1.66893827e-03 1.86281692e+02] [-1.89973729e-01 9.81789137e-01 -2.69889799e-04 -1.77708423e+01] [-1.68981749e-03 -5.20799366e-05 9.99998571e-01 -5.20476852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:-17.77, Z:-0.52 [[ 9.81403922e-01 1.91946754e-01 1.66889245e-03 1.86314788e+02] [-1.91946572e-01 9.81405340e-01 -2.70172877e-04 -1.77699916e+01] [-1.68971877e-03 -5.51894624e-05 9.99998571e-01 -5.21064048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:-17.77, Z:-0.52 [[ 9.81064817e-01 1.93672509e-01 1.66884401e-03 1.86348144e+02] [-1.93672329e-01 9.81066234e-01 -2.70471734e-04 -1.77718477e+01] [-1.68962945e-03 -5.78586037e-05 9.99998571e-01 -5.19549304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:-17.77, Z:-0.52 [[ 9.80684112e-01 1.95591124e-01 1.66879419e-03 1.86380128e+02] [-1.95590946e-01 9.80685530e-01 -2.70778769e-04 -1.77731488e+01] [-1.68952424e-03 -6.08525971e-05 9.99998571e-01 -5.19841550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.765769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.41, Y:-17.77, Z:-0.52 [[ 9.80193014e-01 1.98037547e-01 1.66874764e-03 1.86413648e+02] [-1.98037372e-01 9.80194433e-01 -2.71065332e-04 -1.77719442e+01] [-1.68937826e-03 -6.47780531e-05 9.99998571e-01 -5.22214909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.795769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:186.45, Y:-17.78, Z:-0.52 [[ 9.80113786e-01 1.98429285e-01 1.66869710e-03 1.86445615e+02] [-1.98429110e-01 9.80115205e-01 -2.71376122e-04 -1.77753065e+01] [-1.68936437e-03 -6.51386021e-05 9.99998571e-01 -5.24061630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.48, Y:-17.78, Z:-0.52 [[ 9.80129409e-01 1.98352103e-01 1.66864986e-03 1.86478170e+02] [-1.98351927e-01 9.80130828e-01 -2.71666311e-04 -1.77794413e+01] [-1.68938075e-03 -6.47117737e-05 9.99998571e-01 -5.23651312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.855769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.51, Y:-17.78, Z:-0.53 [[ 9.80376691e-01 1.97126255e-01 1.66859901e-03 1.86510448e+02] [-1.97126077e-01 9.80378109e-01 -2.71978243e-04 -1.77823201e+01] [-1.68947200e-03 -6.22832475e-05 9.99998571e-01 -5.25074398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.54, Y:-17.79, Z:-0.52 [[ 9.80594674e-01 1.96039031e-01 1.66855146e-03 1.86543427e+02] [-1.96038851e-01 9.80596092e-01 -2.72269660e-04 -1.77861298e+01] [-1.68955052e-03 -6.01147320e-05 9.99998571e-01 -5.23103998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:-17.79, Z:-0.52 [[ 9.80923203e-01 1.94388493e-01 1.66849957e-03 1.86574337e+02] [-1.94388310e-01 9.80924620e-01 -2.72587243e-04 -1.77878151e+01] [-1.68966013e-03 -5.69496617e-05 9.99998571e-01 -5.17186021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.61, Y:-17.79, Z:-0.51 [[ 9.80796335e-01 1.95027600e-01 1.66847466e-03 1.86606820e+02] [-1.95027418e-01 9.80797753e-01 -2.72739681e-04 -1.77906258e+01] [-1.68962796e-03 -5.78962251e-05 9.99998571e-01 -5.14723255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:-17.79, Z:-0.51 [[ 9.80500193e-01 1.96511039e-01 1.66842435e-03 1.86639401e+02] [-1.96510859e-01 9.80501610e-01 -2.73047039e-04 -1.77934123e+01] [-1.68954952e-03 -6.01408280e-05 9.99998571e-01 -5.14905068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:-17.79, Z:-0.52 [[ 9.79917838e-01 1.99394701e-01 1.66838057e-03 1.86670687e+02] [-1.99394524e-01 9.79919256e-01 -2.73314335e-04 -1.77942697e+01] [-1.68937567e-03 -6.48403574e-05 9.99998571e-01 -5.16619811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:-17.80, Z:-0.52 [[ 9.79790354e-01 2.00020194e-01 1.66837431e-03 1.86701804e+02] [-2.00020018e-01 9.79791773e-01 -2.73352531e-04 -1.77978181e+01] [-1.68933545e-03 -6.58800850e-05 9.99998571e-01 -5.16796667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:186.73, Y:-17.80, Z:-0.52 [[ 9.80054465e-01 1.98722074e-01 1.66836805e-03 1.86732960e+02] [-1.98721896e-01 9.80055883e-01 -2.73390751e-04 -1.77978792e+01] [-1.68942269e-03 -6.36034358e-05 9.99998571e-01 -5.17233890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.76, Y:-17.80, Z:-0.52 [[ 9.80255968e-01 1.97725702e-01 1.66835350e-03 1.86764165e+02] [-1.97725523e-01 9.80257386e-01 -2.73479457e-04 -1.78004350e+01] [-1.68948976e-03 -6.17961989e-05 9.99998571e-01 -5.18506947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:-17.80, Z:-0.52 [[ 9.80426505e-01 1.96878351e-01 1.66834719e-03 1.86794179e+02] [-1.96878170e-01 9.80427923e-01 -2.73517948e-04 -1.78032564e+01] [-1.68954394e-03 -6.02968966e-05 9.99998571e-01 -5.21201922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.83, Y:-17.80, Z:-0.52 [[ 9.80511709e-01 1.96453570e-01 1.66834405e-03 1.86825322e+02] [-1.96453389e-01 9.80513126e-01 -2.73537150e-04 -1.78033673e+01] [-1.68957059e-03 -5.95454631e-05 9.99998571e-01 -5.24028036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.86, Y:-17.80, Z:-0.52 [[ 9.80405883e-01 1.96981016e-01 1.66834405e-03 1.86855204e+02] [-1.96980835e-01 9.80407301e-01 -2.73537150e-04 -1.78041194e+01] [-1.68953831e-03 -6.04543721e-05 9.99998571e-01 -5.23482264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:-17.80, Z:-0.52 [[ 9.79773350e-01 2.00103472e-01 1.66835027e-03 1.86884714e+02] [-2.00103295e-01 9.79774768e-01 -2.73499198e-04 -1.77990612e+01] [-1.68933564e-03 -6.58751607e-05 9.99998571e-01 -5.20132313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:-17.80, Z:-0.52 [[ 9.79432039e-01 2.01767432e-01 1.66836725e-03 1.86913826e+02] [-2.01767259e-01 9.79433458e-01 -2.73395565e-04 -1.77990951e+01] [-1.68921703e-03 -6.88495112e-05 9.99998571e-01 -5.18947147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.94, Y:-17.80, Z:-0.52 [[ 9.79290067e-01 2.02455382e-01 1.66837930e-03 1.86943340e+02] [-2.02455210e-01 9.79291485e-01 -2.73322022e-04 -1.77990498e+01] [-1.68916516e-03 -7.01105391e-05 9.99998571e-01 -5.18923459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:-17.79, Z:-0.52 [[ 9.79782871e-01 2.00056846e-01 1.66839132e-03 1.86973330e+02] [-2.00056670e-01 9.79784290e-01 -2.73248622e-04 -1.77932473e+01] [-1.68932886e-03 -6.60484925e-05 9.99998571e-01 -5.19812124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:-17.80, Z:-0.52 [[ 9.79791991e-01 2.00012175e-01 1.66840373e-03 1.87002292e+02] [-2.00012000e-01 9.79793410e-01 -2.73172820e-04 -1.77978990e+01] [-1.68932887e-03 -6.60482251e-05 9.99998571e-01 -5.19861709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:-17.80, Z:-0.52 [[ 9.80277458e-01 1.97619133e-01 1.66841618e-03 1.87030355e+02] [-1.97618954e-01 9.80278876e-01 -2.73096754e-04 -1.77969250e+01] [-1.68948228e-03 -6.20000692e-05 9.99998571e-01 -5.20718094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:-17.80, Z:-0.52 [[ 9.80887348e-01 1.94569339e-01 1.66843285e-03 1.87059748e+02] [-1.94569155e-01 9.80888765e-01 -2.72994870e-04 -1.77961876e+01] [-1.68966347e-03 -5.68483568e-05 9.99998571e-01 -5.20117168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.09, Y:-17.79, Z:-0.52 [[ 9.82285570e-01 1.87382699e-01 1.66844517e-03 1.87089898e+02] [-1.87382505e-01 9.82286986e-01 -2.72919549e-04 -1.77912570e+01] [-1.69003238e-03 -4.45525015e-05 9.99998571e-01 -5.17340978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.12, Y:-17.79, Z:-0.52 [[ 9.83027678e-01 1.83449724e-01 1.66845443e-03 1.87118584e+02] [-1.83449525e-01 9.83029093e-01 -2.72862946e-04 -1.77910575e+01] [-1.69019588e-03 -3.78453443e-05 9.99998571e-01 -5.15068598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:-17.79, Z:-0.52 [[ 9.84230201e-01 1.76884504e-01 1.66846986e-03 1.87148709e+02] [-1.76884296e-01 9.84231615e-01 -2.72768570e-04 -1.77884741e+01] [-1.69040932e-03 -2.66590517e-05 9.99998571e-01 -5.15752810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:-17.79, Z:-0.52 [[ 9.84772561e-01 1.73839637e-01 1.66847937e-03 1.87177032e+02] [-1.73839424e-01 9.84773974e-01 -2.72710357e-04 -1.77907906e+01] [-1.69048293e-03 -2.14898168e-05 9.99998571e-01 -5.18501134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:-17.79, Z:-0.52 [[ 9.85371135e-01 1.70414031e-01 1.66849206e-03 1.87205908e+02] [-1.70413814e-01 9.85372548e-01 -2.72632732e-04 -1.77938290e+01] [-1.69054671e-03 -1.56896703e-05 9.99998571e-01 -5.19211395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:-17.80, Z:-0.52 [[ 9.86674205e-01 1.62699811e-01 1.66850184e-03 1.87233599e+02] [-1.62699583e-01 9.86675616e-01 -2.72572870e-04 -1.77976563e+01] [-1.69061763e-03 -2.52393293e-06 9.99998571e-01 -5.16478801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:-17.80, Z:-0.51 [[ 9.87371804e-01 1.58411293e-01 1.66851814e-03 1.87262034e+02] [-1.58411058e-01 9.87373213e-01 -2.72473055e-04 -1.78039646e+01] [-1.69061292e-03 4.72048837e-06 9.99998571e-01 -5.14170619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.635769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.29, Y:-17.82, Z:-0.51 [[ 9.88730501e-01 1.49697072e-01 1.66853086e-03 1.87290722e+02] [-1.49696825e-01 9.88731908e-01 -2.72395131e-04 -1.78150776e+01] [-1.69050645e-03 1.95516015e-05 9.99998571e-01 -5.12345518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.32, Y:-17.82, Z:-0.51 [[ 9.89313404e-01 1.45795078e-01 1.66853721e-03 1.87318968e+02] [-1.45794826e-01 9.89314811e-01 -2.72356217e-04 -1.78226565e+01] [-1.69041677e-03 2.61815650e-05 9.99998571e-01 -5.14759517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.35, Y:-17.83, Z:-0.52 [[ 9.89827885e-01 1.42260235e-01 1.66854663e-03 1.87348226e+02] [-1.42259978e-01 9.89829291e-01 -2.72298477e-04 -1.78306398e+01] [-1.69031358e-03 3.21612186e-05 9.99998571e-01 -5.18635687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.38, Y:-17.84, Z:-0.52 [[ 9.90477268e-01 1.37666257e-01 1.66854987e-03 1.87377012e+02] [-1.37665994e-01 9.90478672e-01 -2.72278615e-04 -1.78432185e+01] [-1.69014664e-03 3.99832020e-05 9.99998571e-01 -5.23909885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.41, Y:-17.85, Z:-0.52 [[ 9.90580089e-01 1.36924441e-01 1.66853305e-03 1.87406811e+02] [-1.36924176e-01 9.90581494e-01 -2.72381703e-04 -1.78527330e+01] [-1.69011367e-03 4.13533794e-05 9.99998571e-01 -5.21872304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:-17.86, Z:-0.52 [[ 9.90504952e-01 1.37466928e-01 1.66853305e-03 1.87436195e+02] [-1.37466664e-01 9.90506356e-01 -2.72381703e-04 -1.78618484e+01] [-1.69013606e-03 4.04277547e-05 9.99998571e-01 -5.19223580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:-17.87, Z:-0.52 [[ 9.90134939e-01 1.40107169e-01 1.66853305e-03 1.87464891e+02] [-1.40106909e-01 9.90136344e-01 -2.72381703e-04 -1.78730440e+01] [-1.69023784e-03 3.59216338e-05 9.99998571e-01 -5.19465093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:-17.88, Z:-0.52 [[ 9.89862768e-01 1.42017312e-01 1.66853305e-03 1.87494182e+02] [-1.42017055e-01 9.89864174e-01 -2.72381703e-04 -1.78803410e+01] [-1.69030400e-03 3.26603581e-05 9.99998571e-01 -5.21846999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:-17.89, Z:-0.52 [[ 9.89257838e-01 1.46171633e-01 1.66852984e-03 1.87522884e+02] [-1.46171382e-01 9.89259245e-01 -2.72401334e-04 -1.78891954e+01] [-1.69042592e-03 2.55838421e-05 9.99998571e-01 -5.23634181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.55, Y:-17.90, Z:-0.52 [[ 9.88934599e-01 1.48342761e-01 1.66852669e-03 1.87552552e+02] [-1.48342513e-01 9.88936006e-01 -2.72420656e-04 -1.78954848e+01] [-1.69047775e-03 2.18927714e-05 9.99998571e-01 -5.22888398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:-17.90, Z:-0.52 [[ 9.88610068e-01 1.50490361e-01 1.66852357e-03 1.87581967e+02] [-1.50490116e-01 9.88611476e-01 -2.72439751e-04 -1.79008355e+01] [-1.69052110e-03 1.82403758e-05 9.99998571e-01 -5.21887153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:-17.91, Z:-0.52 [[ 9.88330417e-01 1.52316128e-01 1.66852669e-03 1.87611756e+02] [-1.52315885e-01 9.88331825e-01 -2.72420644e-04 -1.79058046e+01] [-1.69055208e-03 1.50984896e-05 9.99998571e-01 -5.21183771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:-17.91, Z:-0.52 [[ 9.87753420e-01 1.56014094e-01 1.66852669e-03 1.87641436e+02] [-1.56013856e-01 9.87754829e-01 -2.72420644e-04 -1.79099491e+01] [-1.69059675e-03 8.77113999e-06 9.99998571e-01 -5.18594697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:-17.91, Z:-0.52 [[ 9.87437026e-01 1.58004226e-01 1.66852983e-03 1.87671046e+02] [-1.58003992e-01 9.87438436e-01 -2.72401381e-04 -1.79132727e+01] [-1.69061106e-03 5.34483539e-06 9.99998571e-01 -5.17375901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:-17.91, Z:-0.52 [[ 9.86676451e-01 1.62686189e-01 1.66853289e-03 1.87700826e+02] [-1.62685961e-01 9.86677862e-01 -2.72382625e-04 -1.79130765e+01] [-1.69061736e-03 -2.69335556e-06 9.99998571e-01 -5.17002375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:-17.91, Z:-0.52 [[ 9.86310450e-01 1.64890605e-01 1.66853908e-03 1.87729328e+02] [-1.64890380e-01 9.86311862e-01 -2.72344757e-04 -1.79148647e+01] [-1.69060697e-03 -6.50956227e-06 9.99998571e-01 -5.18386462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:-17.92, Z:-0.52 [[ 9.85960985e-01 1.66967519e-01 1.66854828e-03 1.87759529e+02] [-1.66967298e-01 9.85962397e-01 -2.72288343e-04 -1.79168239e+01] [-1.69058917e-03 -1.01273145e-05 9.99998571e-01 -5.20911736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:-17.92, Z:-0.52 [[ 9.86111640e-01 1.66075433e-01 1.66855444e-03 1.87788065e+02] [-1.66075210e-01 9.86113052e-01 -2.72250594e-04 -1.79208116e+01] [-1.69059745e-03 -8.63605016e-06 9.99998571e-01 -5.22293495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.82, Y:-17.93, Z:-0.52 [[ 9.86378925e-01 1.64480490e-01 1.66856360e-03 1.87817099e+02] [-1.64480265e-01 9.86380337e-01 -2.72194422e-04 -1.79251430e+01] [-1.69060900e-03 -5.95894309e-06 9.99998571e-01 -5.22238835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:-17.93, Z:-0.52 [[ 9.87072778e-01 1.60263991e-01 1.66856985e-03 1.87845664e+02] [-1.60263760e-01 9.87074188e-01 -2.72156145e-04 -1.79281403e+01] [-1.69061906e-03 1.22664430e-06 9.99998571e-01 -5.20585946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:-17.93, Z:-0.52 [[ 9.87387301e-01 1.58314668e-01 1.66857915e-03 1.87875106e+02] [-1.58314434e-01 9.87388711e-01 -2.72099091e-04 -1.79322789e+01] [-1.69061349e-03 4.50702299e-06 9.99998571e-01 -5.20514657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.90, Y:-17.93, Z:-0.53 [[ 9.87836236e-01 1.55488863e-01 1.66858540e-03 1.87903809e+02] [-1.55488626e-01 9.87837645e-01 -2.72060781e-04 -1.79349701e+01] [-1.69059389e-03 9.30544729e-06 9.99998571e-01 -5.25617554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:-17.94, Z:-0.53 [[ 9.87954877e-01 1.54733247e-01 1.66859471e-03 1.87932811e+02] [-1.54733008e-01 9.87956286e-01 -2.72003627e-04 -1.79389357e+01] [-1.69058664e-03 1.05406299e-05 9.99998571e-01 -5.28251555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.325769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:187.96, Y:-17.94, Z:-0.53 [[ 9.88014243e-01 1.54353722e-01 1.66860092e-03 1.87962317e+02] [-1.54353483e-01 9.88015652e-01 -2.71965560e-04 -1.79437898e+01] [-1.69058272e-03 1.11514841e-05 9.99998571e-01 -5.28766924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:-17.95, Z:-0.52 [[ 9.88228746e-01 1.52974380e-01 1.66860709e-03 1.87989984e+02] [-1.52974139e-01 9.88230155e-01 -2.71927681e-04 -1.79500001e+01] [-1.69056581e-03 1.34730176e-05 9.99998571e-01 -5.24653775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.02, Y:-17.96, Z:-0.52 [[ 9.88396544e-01 1.51886428e-01 1.66861629e-03 1.88020108e+02] [-1.51886185e-01 9.88397953e-01 -2.71871250e-04 -1.79559914e+01] [-1.69055047e-03 1.52768411e-05 9.99998571e-01 -5.22859640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:-17.96, Z:-0.52 [[ 9.88794631e-01 1.49272884e-01 1.66861629e-03 1.88048896e+02] [-1.49272638e-01 9.88796038e-01 -2.71871250e-04 -1.79625653e+01] [-1.69050418e-03 1.97460772e-05 9.99998571e-01 -5.23582746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.08, Y:-17.97, Z:-0.52 [[ 9.89015685e-01 1.47801183e-01 1.66861941e-03 1.88078486e+02] [-1.47800935e-01 9.89017093e-01 -2.71852093e-04 -1.79689293e+01] [-1.69047318e-03 2.22424758e-05 9.99998571e-01 -5.24497083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:-17.98, Z:-0.52 [[ 9.89260478e-01 1.46153762e-01 1.66861941e-03 1.88107702e+02] [-1.46153511e-01 9.89261885e-01 -2.71852093e-04 -1.79759474e+01] [-1.69043379e-03 2.50579461e-05 9.99998571e-01 -5.24563838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.14, Y:-17.98, Z:-0.52 [[ 9.89452086e-01 1.44850909e-01 1.66862247e-03 1.88138013e+02] [-1.44850657e-01 9.89453492e-01 -2.71833271e-04 -1.79835918e+01] [-1.69039963e-03 2.72649363e-05 9.99998571e-01 -5.23752014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:-17.99, Z:-0.52 [[ 9.89641898e-01 1.43548351e-01 1.66861608e-03 1.88167274e+02] [-1.43548096e-01 9.89643304e-01 -2.71872527e-04 -1.79929839e+01] [-1.69036158e-03 2.95297823e-05 9.99998571e-01 -5.24408829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:-18.00, Z:-0.52 [[ 9.89492741e-01 1.44572929e-01 1.66861291e-03 1.88197164e+02] [-1.44572676e-01 9.89494147e-01 -2.71891984e-04 -1.80032379e+01] [-1.69039093e-03 2.77993109e-05 9.99998571e-01 -5.24870904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:-18.01, Z:-0.52 [[ 9.89291116e-01 1.45946237e-01 1.66860053e-03 1.88227557e+02] [-1.45945986e-01 9.89292523e-01 -2.71967936e-04 -1.80103572e+01] [-1.69042672e-03 2.55299135e-05 9.99998571e-01 -5.24228344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:-18.02, Z:-0.52 [[ 9.88996628e-01 1.47928648e-01 1.66857527e-03 1.88258316e+02] [-1.47928399e-01 9.88998036e-01 -2.72122800e-04 -1.80169391e+01] [-1.69047242e-03 2.22988627e-05 9.99998571e-01 -5.22368000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:-18.02, Z:-0.52 [[ 9.88276248e-01 1.52667197e-01 1.66856901e-03 1.88288631e+02] [-1.52666955e-01 9.88277657e-01 -2.72161169e-04 -1.80233537e+01] [-1.69055956e-03 1.42350678e-05 9.99998571e-01 -5.20077648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:-18.03, Z:-0.52 [[ 9.87976822e-01 1.54593065e-01 1.66856252e-03 1.88318942e+02] [-1.54592825e-01 9.87978231e-01 -2.72200974e-04 -1.80295249e+01] [-1.69058383e-03 1.09804588e-05 9.99998571e-01 -5.19827903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:-18.04, Z:-0.52 [[ 9.87829774e-01 1.55529912e-01 1.66855606e-03 1.88348997e+02] [-1.55529674e-01 9.87831183e-01 -2.72240584e-04 -1.80359575e+01] [-1.69059326e-03 9.41737439e-06 9.99998571e-01 -5.21105614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:-18.04, Z:-0.52 [[ 9.87942829e-01 1.54810153e-01 1.66855285e-03 1.88379369e+02] [-1.54809914e-01 9.87944238e-01 -2.72260257e-04 -1.80443576e+01] [-1.69058582e-03 1.06690460e-05 9.99998571e-01 -5.23210502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:-18.05, Z:-0.52 [[ 9.88153320e-01 1.53460849e-01 1.66851158e-03 1.88411371e+02] [-1.53460607e-01 9.88154729e-01 -2.72512947e-04 -1.80508963e+01] [-1.69056767e-03 1.32337737e-05 9.99998571e-01 -5.24412213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.805769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.44, Y:-18.06, Z:-0.53 [[ 9.88607576e-01 1.50506733e-01 1.66846656e-03 1.88442158e+02] [-1.50506486e-01 9.88608984e-01 -2.72788280e-04 -1.80578248e+01] [-1.69051750e-03 1.85655208e-05 9.99998571e-01 -5.26466426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:-18.06, Z:-0.53 [[ 9.88745684e-01 1.49596755e-01 1.66841853e-03 1.88473696e+02] [-1.49596508e-01 9.88747091e-01 -2.73081716e-04 -1.80649413e+01] [-1.69049611e-03 2.04187830e-05 9.99998571e-01 -5.25447382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:-18.07, Z:-0.52 [[ 9.88729065e-01 1.49706554e-01 1.66837361e-03 1.88505037e+02] [-1.49706306e-01 9.88730472e-01 -2.73355882e-04 -1.80724988e+01] [-1.69049500e-03 2.05088560e-05 9.99998571e-01 -5.23880100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:-18.08, Z:-0.52 [[ 9.88262350e-01 1.52757141e-01 1.66834163e-03 1.88536069e+02] [-1.52756897e-01 9.88263758e-01 -2.73550909e-04 -1.80803298e+01] [-1.69054843e-03 1.54893737e-05 9.99998571e-01 -5.24145355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:-18.09, Z:-0.53 [[ 9.87900696e-01 1.55078795e-01 1.66829721e-03 1.88567270e+02] [-1.55078553e-01 9.87902104e-01 -2.73821543e-04 -1.80860997e+01] [-1.69057824e-03 1.17913741e-05 9.99998571e-01 -5.26449827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:-18.09, Z:-0.53 [[ 9.87150411e-01 1.59785114e-01 1.66825303e-03 1.88597315e+02] [-1.59784879e-01 9.87151821e-01 -2.74090463e-04 -1.80923720e+01] [-1.69061459e-03 4.00690481e-06 9.99998571e-01 -5.29857836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:-18.10, Z:-0.53 [[ 9.86807279e-01 1.61890739e-01 1.66824990e-03 1.88628645e+02] [-1.61890507e-01 9.86808689e-01 -2.74109530e-04 -1.80981861e+01] [-1.69061929e-03 4.19458386e-07 9.99998571e-01 -5.30291930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:-18.10, Z:-0.53 [[ 9.86569427e-01 1.63333962e-01 1.66820617e-03 1.88660570e+02] [-1.63333731e-01 9.86570837e-01 -2.74375403e-04 -1.81047031e+01] [-1.69061838e-03 -1.78395419e-06 9.99998571e-01 -5.29649109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:-18.11, Z:-0.53 [[ 9.86424811e-01 1.64205085e-01 1.66816254e-03 1.88690930e+02] [-1.64204855e-01 9.86426221e-01 -2.74640423e-04 -1.81127261e+01] [-1.69061662e-03 -3.00826013e-06 9.99998571e-01 -5.27343664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:-18.12, Z:-0.53 [[ 9.86453669e-01 1.64031631e-01 1.66812226e-03 1.88722519e+02] [-1.64031401e-01 9.86455080e-01 -2.74884822e-04 -1.81200265e+01] [-1.69061748e-03 -2.46328976e-06 9.99998571e-01 -5.25209684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:-18.13, Z:-0.52 [[ 9.86709757e-01 1.62484071e-01 1.66807904e-03 1.88754659e+02] [-1.62483838e-01 9.86711167e-01 -2.75146838e-04 -1.81290144e+01] [-1.69061920e-03 4.54185093e-07 9.99998571e-01 -5.20825136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:-18.14, Z:-0.52 [[ 9.86890249e-01 1.61384181e-01 1.66802626e-03 1.88785949e+02] [-1.61383946e-01 9.86891659e-01 -2.75466442e-04 -1.81363288e+01] [-1.69061713e-03 2.66248611e-06 9.99998571e-01 -5.19762316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:-18.14, Z:-0.52 [[ 9.87112411e-01 1.60019707e-01 1.66797678e-03 1.88818134e+02] [-1.60019470e-01 9.87113820e-01 -2.75765746e-04 -1.81441718e+01] [-1.69061088e-03 5.30303064e-06 9.99998571e-01 -5.19608491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:-18.15, Z:-0.52 [[ 9.87308107e-01 1.58807811e-01 1.66792767e-03 1.88848861e+02] [-1.58807571e-01 9.87309515e-01 -2.76062456e-04 -1.81541794e+01] [-1.69060173e-03 7.67915843e-06 9.99998571e-01 -5.20771930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:-18.16, Z:-0.52 [[ 9.87172602e-01 1.59647963e-01 1.66788177e-03 1.88881536e+02] [-1.59647724e-01 9.87174011e-01 -2.76339464e-04 -1.81612955e+01] [-1.69060657e-03 6.52121783e-06 9.99998571e-01 -5.21016385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:-18.17, Z:-0.52 [[ 9.86840966e-01 1.61685268e-01 1.66782928e-03 1.88912689e+02] [-1.61685032e-01 9.86842375e-01 -2.76655898e-04 -1.81672150e+01] [-1.69061580e-03 3.35234334e-06 9.99998571e-01 -5.22604095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.95, Y:-18.17, Z:-0.52 [[ 9.86812673e-01 1.61857858e-01 1.66778041e-03 1.88945696e+02] [-1.61857621e-01 9.86814083e-01 -2.76950231e-04 -1.81729167e+01] [-1.69061576e-03 3.35502912e-06 9.99998571e-01 -5.22660761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:-18.18, Z:-0.52 [[ 9.85844756e-01 1.67652428e-01 1.66773192e-03 1.88977670e+02] [-1.67652199e-01 9.85846166e-01 -2.77241905e-04 -1.81771003e+01] [-1.69060740e-03 -6.28144522e-06 9.99998571e-01 -5.23809230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.01, Y:-18.18, Z:-0.52 [[ 9.85298741e-01 1.70832110e-01 1.66768971e-03 1.89008377e+02] [-1.70831885e-01 9.85300152e-01 -2.77495597e-04 -1.81813540e+01] [-1.69058008e-03 -1.14785139e-05 9.99998571e-01 -5.23644669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.04, Y:-18.19, Z:-0.52 [[ 9.84484848e-01 1.75461687e-01 1.66768372e-03 1.89040624e+02] [-1.75461469e-01 9.84486260e-01 -2.77531575e-04 -1.81864343e+01] [-1.69050787e-03 -1.93886046e-05 9.99998571e-01 -5.20522452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:-18.19, Z:-0.52 [[ 9.84368207e-01 1.76114880e-01 1.66763899e-03 1.89072244e+02] [-1.76114662e-01 9.84369620e-01 -2.77800082e-04 -1.81920186e+01] [-1.69049789e-03 -2.02381090e-05 9.99998571e-01 -5.20266463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:-18.20, Z:-0.52 [[ 9.84435797e-01 1.75736682e-01 1.66759128e-03 1.89103635e+02] [-1.75736463e-01 9.84437209e-01 -2.78086196e-04 -1.81975884e+01] [-1.69050885e-03 -1.92985867e-05 9.99998571e-01 -5.20962113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:-18.20, Z:-0.52 [[ 9.85012204e-01 1.72476597e-01 1.66754377e-03 1.89134467e+02] [-1.72476373e-01 9.85013616e-01 -2.78370810e-04 -1.82019474e+01] [-1.69056577e-03 -1.34132554e-05 9.99998571e-01 -5.22027249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:-18.21, Z:-0.52 [[ 9.85287052e-01 1.70899514e-01 1.66750562e-03 1.89165942e+02] [-1.70899287e-01 9.85288463e-01 -2.78599134e-04 -1.82065303e+01] [-1.69058651e-03 -1.04754018e-05 9.99998571e-01 -5.22154249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:-18.21, Z:-0.52 [[ 9.85695844e-01 1.68525734e-01 1.66746459e-03 1.89197573e+02] [-1.68525503e-01 9.85697254e-01 -2.78844475e-04 -1.82092762e+01] [-1.69060774e-03 -6.15446939e-06 9.99998571e-01 -5.23222343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.555769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:-18.21, Z:-0.53 [[ 9.85825795e-01 1.67763889e-01 1.66742664e-03 1.89227550e+02] [-1.67763657e-01 9.85827205e-01 -2.79071230e-04 -1.82126534e+01] [-1.69061262e-03 -4.61797342e-06 9.99998571e-01 -5.26217585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:-18.22, Z:-0.53 [[ 9.85880979e-01 1.67439288e-01 1.66741157e-03 1.89259235e+02] [-1.67439055e-01 9.85882389e-01 -2.79161230e-04 -1.82163078e+01] [-1.69061426e-03 -3.97007217e-06 9.99998571e-01 -5.27891625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:-18.22, Z:-0.53 [[ 9.85806721e-01 1.67875933e-01 1.66736453e-03 1.89290765e+02] [-1.67875701e-01 9.85808131e-01 -2.79441899e-04 -1.82196039e+01] [-1.69061308e-03 -4.43428679e-06 9.99998571e-01 -5.34017314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.32, Y:-18.23, Z:-0.53 [[ 9.85871368e-01 1.67495866e-01 1.66731770e-03 1.89323624e+02] [-1.67495632e-01 9.85872778e-01 -2.79721065e-04 -1.82250173e+01] [-1.69061525e-03 -3.49944345e-06 9.99998571e-01 -5.32932821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.36, Y:-18.23, Z:-0.53 [[ 9.86319399e-01 1.64837082e-01 1.66726515e-03 1.89355407e+02] [-1.64836844e-01 9.86320808e-01 -2.80033939e-04 -1.82295858e+01] [-1.69061829e-03 1.37618149e-06 9.99998571e-01 -5.28235941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:-18.23, Z:-0.53 [[ 9.86567581e-01 1.63345122e-01 1.66721920e-03 1.89386594e+02] [-1.63344882e-01 9.86568989e-01 -2.80307221e-04 -1.82348698e+01] [-1.69061358e-03 4.21029338e-06 9.99998571e-01 -5.27442209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:-18.24, Z:-0.53 [[ 9.86723100e-01 1.62403029e-01 1.66717006e-03 1.89419042e+02] [-1.62402787e-01 9.86724509e-01 -2.80599221e-04 -1.82403367e+01] [-1.69060772e-03 6.12067022e-06 9.99998571e-01 -5.28254278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.45, Y:-18.24, Z:-0.53 [[ 9.86718513e-01 1.62430897e-01 1.66711614e-03 1.89450290e+02] [-1.62430654e-01 9.86719922e-01 -2.80919158e-04 -1.82433529e+01] [-1.69060666e-03 6.39736790e-06 9.99998571e-01 -5.32450590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.795769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.48, Y:-18.25, Z:-0.53 [[ 9.86617323e-01 1.63044407e-01 1.66707242e-03 1.89482346e+02] [-1.63044165e-01 9.86618731e-01 -2.81178393e-04 -1.82473548e+01] [-1.69060944e-03 5.60904273e-06 9.99998571e-01 -5.33340832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:-18.25, Z:-0.53 [[ 9.86461047e-01 1.63987267e-01 1.66702254e-03 1.89514259e+02] [-1.63987025e-01 9.86462456e-01 -2.81473794e-04 -1.82524789e+01] [-1.69061327e-03 4.29286558e-06 9.99998571e-01 -5.29482930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.55, Y:-18.26, Z:-0.53 [[ 9.86353250e-01 1.64634406e-01 1.66697554e-03 1.89546723e+02] [-1.64634165e-01 9.86354658e-01 -2.81751886e-04 -1.82593613e+01] [-1.69061514e-03 3.46576129e-06 9.99998571e-01 -5.27809471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:-18.27, Z:-0.53 [[ 9.86205004e-01 1.65520123e-01 1.66692188e-03 1.89577684e+02] [-1.65519883e-01 9.86206413e-01 -2.82069010e-04 -1.82657382e+01] [-1.69061714e-03 2.26915490e-06 9.99998571e-01 -5.27185525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:-18.27, Z:-0.53 [[ 9.85913552e-01 1.67247391e-01 1.66687191e-03 1.89609981e+02] [-1.67247152e-01 9.85914961e-01 -2.82363978e-04 -1.82705541e+01] [-1.69061859e-03 -3.93108242e-07 9.99998571e-01 -5.25047518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:-18.28, Z:-0.52 [[ 9.85688572e-01 1.68568270e-01 1.66681778e-03 1.89643027e+02] [-1.68568033e-01 9.85689981e-01 -2.82683165e-04 -1.82750673e+01] [-1.69061700e-03 -2.33462933e-06 9.99998571e-01 -5.23721414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:-18.28, Z:-0.52 [[ 9.85196368e-01 1.71421523e-01 1.66676214e-03 1.89675162e+02] [-1.71421290e-01 9.85197778e-01 -2.83010841e-04 -1.82785975e+01] [-1.69060451e-03 -6.89726292e-06 9.99998571e-01 -5.23160575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.71, Y:-18.28, Z:-0.52 [[ 9.85052091e-01 1.72248660e-01 1.66672755e-03 1.89707459e+02] [-1.72248428e-01 9.85053501e-01 -2.83214405e-04 -1.82832664e+01] [-1.69059911e-03 -8.11025802e-06 9.99998571e-01 -5.18017385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:-18.29, Z:-0.52 [[ 9.84889977e-01 1.73173197e-01 1.66667943e-03 1.89737997e+02] [-1.73172965e-01 9.84891387e-01 -2.83497298e-04 -1.82870613e+01] [-1.69059235e-03 -9.41017135e-06 9.99998571e-01 -5.21061953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:-18.29, Z:-0.52 [[ 9.85116486e-01 1.71879991e-01 1.66663496e-03 1.89769016e+02] [-1.71879757e-01 9.85117896e-01 -2.83758503e-04 -1.82914963e+01] [-1.69060433e-03 -6.92563309e-06 9.99998571e-01 -5.20465913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.80, Y:-18.30, Z:-0.52 [[ 9.85510883e-01 1.69604015e-01 1.66662854e-03 1.89800962e+02] [-1.69603778e-01 9.85512292e-01 -2.83796168e-04 -1.82977365e+01] [-1.69061589e-03 -2.98228539e-06 9.99998571e-01 -5.22205902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:-18.31, Z:-0.53 [[ 9.86498317e-01 1.63762920e-01 1.66658151e-03 1.89832233e+02] [-1.63762673e-01 9.86499724e-01 -2.84072101e-04 -1.83051853e+01] [-1.69060268e-03 7.31280574e-06 9.99998571e-01 -5.26683010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:-18.31, Z:-0.53 [[ 9.86834004e-01 1.61727770e-01 1.66655588e-03 1.89865058e+02] [-1.61727520e-01 9.86835411e-01 -2.84222406e-04 -1.83118913e+01] [-1.69058301e-03 1.09523853e-05 9.99998571e-01 -5.27178629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.90, Y:-18.32, Z:-0.53 [[ 9.87366544e-01 1.58444095e-01 1.66650167e-03 1.89896558e+02] [-1.58443840e-01 9.87367950e-01 -2.84539898e-04 -1.83207530e+01] [-1.69053400e-03 1.68982507e-05 9.99998571e-01 -5.25172138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:-18.33, Z:-0.52 [[ 9.87468012e-01 1.57810480e-01 1.66644667e-03 1.89929074e+02] [-1.57810224e-01 9.87469418e-01 -2.84861662e-04 -1.83275796e+01] [-1.69051928e-03 1.83094572e-05 9.99998571e-01 -5.23149978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:-18.33, Z:-0.52 [[ 9.87434853e-01 1.58017830e-01 1.66639114e-03 1.89960093e+02] [-1.58017574e-01 9.87436259e-01 -2.85186108e-04 -1.83335209e+01] [-1.69051952e-03 1.82836168e-05 9.99998571e-01 -5.22464153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:-18.34, Z:-0.53 [[ 9.86995671e-01 1.60738200e-01 1.66635661e-03 1.89992072e+02] [-1.60737947e-01 9.86997077e-01 -2.85387745e-04 -1.83412345e+01] [-1.69056181e-03 1.38297279e-05 9.99998571e-01 -5.25002151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.305769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:-18.35, Z:-0.53 [[ 9.86796343e-01 1.61957403e-01 1.66630159e-03 1.90022284e+02] [-1.61957151e-01 9.86797750e-01 -2.85708594e-04 -1.83486273e+01] [-1.69057529e-03 1.20667365e-05 9.99998571e-01 -5.28609583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:-18.36, Z:-0.53 [[ 9.86741119e-01 1.62293525e-01 1.66625714e-03 1.90052274e+02] [-1.62293273e-01 9.86742525e-01 -2.85967629e-04 -1.83573916e+01] [-1.69057747e-03 1.17536927e-05 9.99998571e-01 -5.32314531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:-18.36, Z:-0.53 [[ 9.86833992e-01 1.61727843e-01 1.66621287e-03 1.90084615e+02] [-1.61727591e-01 9.86835399e-01 -2.86225317e-04 -1.83643177e+01] [-1.69056845e-03 1.29842794e-05 9.99998571e-01 -5.32185798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:-18.37, Z:-0.53 [[ 9.86957139e-01 1.60974627e-01 1.66615856e-03 1.90116876e+02] [-1.60974373e-01 9.86958545e-01 -2.86541149e-04 -1.83719517e+01] [-1.69055528e-03 1.45950036e-05 9.99998571e-01 -5.30465304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:-18.38, Z:-0.53 [[ 9.87247396e-01 1.59184808e-01 1.66610204e-03 1.90146445e+02] [-1.59184550e-01 9.87248802e-01 -2.86869393e-04 -1.83844190e+01] [-1.69052249e-03 1.79933576e-05 9.99998571e-01 -5.28530344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:-18.39, Z:-0.53 [[ 9.87381590e-01 1.58350307e-01 1.66605632e-03 1.90177432e+02] [-1.58350048e-01 9.87382996e-01 -2.87134661e-04 -1.83929859e+01] [-1.69050354e-03 1.96913795e-05 9.99998571e-01 -5.28700451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:-18.40, Z:-0.53 [[ 9.87551845e-01 1.57285022e-01 1.66600608e-03 1.90209184e+02] [-1.57284761e-01 9.87553250e-01 -2.87425892e-04 -1.84030454e+01] [-1.69047750e-03 2.18106018e-05 9.99998571e-01 -5.30719493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:-18.41, Z:-0.53 [[ 9.87477035e-01 1.57754016e-01 1.66595284e-03 1.90239939e+02] [-1.57753755e-01 9.87478440e-01 -2.87734101e-04 -1.84108949e+01] [-1.69048373e-03 2.13205011e-05 9.99998571e-01 -5.32455752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:-18.42, Z:-0.53 [[ 9.87257378e-01 1.59122892e-01 1.66590315e-03 1.90271207e+02] [-1.59122632e-01 9.87258783e-01 -2.88021521e-04 -1.84217250e+01] [-1.69050834e-03 1.92684766e-05 9.99998571e-01 -5.31680664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:-18.43, Z:-0.53 [[ 9.87234691e-01 1.59263586e-01 1.66585017e-03 1.90303196e+02] [-1.59263327e-01 9.87236096e-01 -2.88327647e-04 -1.84299162e+01] [-1.69050751e-03 1.93382163e-05 9.99998571e-01 -5.29514039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:-18.44, Z:-0.53 [[ 9.87268686e-01 1.59052716e-01 1.66579753e-03 1.90335184e+02] [-1.59052455e-01 9.87270091e-01 -2.88631462e-04 -1.84386077e+01] [-1.69049969e-03 2.00076177e-05 9.99998571e-01 -5.25609917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:-18.45, Z:-0.52 [[ 9.87359752e-01 1.58486422e-01 1.66574198e-03 1.90365206e+02] [-1.58486160e-01 9.87361157e-01 -2.88951668e-04 -1.84512870e+01] [-1.69048384e-03 2.13021975e-05 9.99998571e-01 -5.20517752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:-18.46, Z:-0.52 [[ 9.87301884e-01 1.58846517e-01 1.66570747e-03 1.90397060e+02] [-1.58846255e-01 9.87303289e-01 -2.89150470e-04 -1.84595724e+01] [-1.69048901e-03 2.08874096e-05 9.99998571e-01 -5.20544481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-18.47, Z:-0.52 [[ 9.86841146e-01 1.61684190e-01 1.66565524e-03 1.90428951e+02] [-1.61683931e-01 9.86842552e-01 -2.89451022e-04 -1.84670550e+01] [-1.69053912e-03 1.63324905e-05 9.99998571e-01 -5.24508967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:-18.47, Z:-0.52 [[ 9.86436340e-01 1.64135838e-01 1.66560285e-03 1.90461525e+02] [-1.64135583e-01 9.86437746e-01 -2.89752178e-04 -1.84741606e+01] [-1.69057224e-03 1.24373840e-05 9.99998571e-01 -5.24434411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-18.48, Z:-0.52 [[ 9.85994573e-01 1.66769085e-01 1.66554795e-03 1.90493762e+02] [-1.66768833e-01 9.85995980e-01 -2.90067428e-04 -1.84825575e+01] [-1.69059786e-03 8.24342171e-06 9.99998571e-01 -5.24304764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.52, Y:-18.49, Z:-0.52 [[ 9.85230219e-01 1.71226871e-01 1.66549229e-03 1.90523952e+02] [-1.71226624e-01 9.85231627e-01 -2.90386654e-04 -1.84932170e+01] [-1.69061768e-03 9.21083998e-07 9.99998571e-01 -5.21562734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:-18.50, Z:-0.52 [[ 9.84801637e-01 1.73674877e-01 1.66545758e-03 1.90556288e+02] [-1.73674634e-01 9.84803045e-01 -2.90585607e-04 -1.85003486e+01] [-1.69061511e-03 -3.07855329e-06 9.99998571e-01 -5.19884296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:-18.51, Z:-0.52 [[ 9.83972336e-01 1.78313399e-01 1.66540262e-03 1.90587498e+02] [-1.78313162e-01 9.83973745e-01 -2.90900261e-04 -1.85073193e+01] [-1.69058386e-03 -1.07253976e-05 9.99998571e-01 -5.20545668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:-18.51, Z:-0.52 [[ 9.83570511e-01 1.80516691e-01 1.66535141e-03 1.90619194e+02] [-1.80516456e-01 9.83571921e-01 -2.91193112e-04 -1.85140827e+01] [-1.69055810e-03 -1.42143775e-05 9.99998571e-01 -5.22227835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:-18.52, Z:-0.52 [[ 9.83153651e-01 1.82773424e-01 1.66530046e-03 1.90651688e+02] [-1.82773192e-01 9.83155062e-01 -2.91484220e-04 -1.85205538e+01] [-1.69052414e-03 -1.77985054e-05 9.99998571e-01 -5.24393332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:-18.52, Z:-0.53 [[ 9.82184114e-01 1.87913793e-01 1.66524652e-03 1.90682673e+02] [-1.87913568e-01 9.82185525e-01 -2.91792026e-04 -1.85239321e+01] [-1.69041277e-03 -2.63289222e-05 9.99998571e-01 -5.26922737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:-18.53, Z:-0.53 [[ 9.81661770e-01 1.90623703e-01 1.66520286e-03 1.90715329e+02] [-1.90623481e-01 9.81663182e-01 -2.92040961e-04 -1.85278016e+01] [-1.69033827e-03 -3.07413205e-05 9.99998571e-01 -5.26743393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:-18.53, Z:-0.52 [[ 9.80770337e-01 1.95158330e-01 1.66514937e-03 1.90746431e+02] [-1.95158114e-01 9.80771750e-01 -2.92345670e-04 -1.85292016e+01] [-1.69018515e-03 -3.82434488e-05 9.99998571e-01 -5.24704416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:-18.53, Z:-0.52 [[ 9.80502916e-01 1.96497478e-01 1.66512371e-03 1.90778443e+02] [-1.96497265e-01 9.80504329e-01 -2.92491733e-04 -1.85334877e+01] [-1.69013489e-03 -4.04032577e-05 9.99998571e-01 -5.23515759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.055769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:-18.54, Z:-0.52 [[ 9.80447624e-01 1.96773182e-01 1.66507441e-03 1.90810674e+02] [-1.96772968e-01 9.80449037e-01 -2.92772111e-04 -1.85380325e+01] [-1.69013030e-03 -4.05939136e-05 9.99998571e-01 -5.23380919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.84, Y:-18.54, Z:-0.52 [[ 9.80994137e-01 1.94030234e-01 1.66502165e-03 1.90843381e+02] [-1.94030016e-01 9.80995549e-01 -2.93071868e-04 -1.85430796e+01] [-1.69024363e-03 -3.55623918e-05 9.99998571e-01 -5.24991316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:-18.55, Z:-0.53 [[ 9.82147679e-01 1.88104133e-01 1.66496709e-03 1.90874761e+02] [-1.88103906e-01 9.82149090e-01 -2.93381463e-04 -1.85495510e+01] [-1.69043218e-03 -2.50428906e-05 9.99998571e-01 -5.28394953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:-18.56, Z:-0.53 [[ 9.82114035e-01 1.88279713e-01 1.66491599e-03 1.90907705e+02] [-1.88279486e-01 9.82115446e-01 -2.93671169e-04 -1.85555657e+01] [-1.69043204e-03 -2.50509505e-05 9.99998571e-01 -5.28451618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-18.56, Z:-0.53 [[ 9.82729279e-01 1.85041599e-01 1.66486344e-03 1.90940121e+02] [-1.85041366e-01 9.82730689e-01 -2.93968804e-04 -1.85622865e+01] [-1.69050885e-03 -1.91768546e-05 9.99998571e-01 -5.28293277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-18.57, Z:-0.53 [[ 9.83278628e-01 1.82099884e-01 1.66481042e-03 1.90972047e+02] [-1.82099647e-01 9.83280037e-01 -2.94268734e-04 -1.85689813e+01] [-1.69056116e-03 -1.38132328e-05 9.99998571e-01 -5.28282984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:-18.58, Z:-0.53 [[ 9.83889050e-01 1.78772386e-01 1.66475604e-03 1.91003966e+02] [-1.78772144e-01 9.83890458e-01 -2.94576057e-04 -1.85774007e+01] [-1.69059965e-03 -7.78184951e-06 9.99998571e-01 -5.29083528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.04, Y:-18.58, Z:-0.53 [[ 9.83952835e-01 1.78420983e-01 1.66470148e-03 1.91036413e+02] [-1.78420740e-01 9.83954243e-01 -2.94884085e-04 -1.85840018e+01] [-1.69060359e-03 -6.86523830e-06 9.99998571e-01 -5.28562361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:-18.59, Z:-0.53 [[ 9.83723676e-01 1.79680157e-01 1.66464543e-03 1.91067790e+02] [-1.79679915e-01 9.83725084e-01 -2.95200149e-04 -1.85900041e+01] [-1.69059508e-03 -8.70797307e-06 9.99998571e-01 -5.27883036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:-18.60, Z:-0.53 [[ 9.83408024e-01 1.81399803e-01 1.66459313e-03 1.91100573e+02] [-1.81399562e-01 9.83409432e-01 -2.95494760e-04 -1.85962009e+01] [-1.69057928e-03 -1.13645478e-05 9.99998571e-01 -5.26280221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:-18.60, Z:-0.52 [[ 9.82981295e-01 1.83698131e-01 1.66453766e-03 1.91132343e+02] [-1.83697893e-01 9.82982704e-01 -2.95806894e-04 -1.86027722e+01] [-1.69055091e-03 -1.49994179e-05 9.99998571e-01 -5.24605776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-18.61, Z:-0.52 [[ 9.82180022e-01 1.87935184e-01 1.66448594e-03 1.91164583e+02] [-1.87934952e-01 9.82181432e-01 -2.96097646e-04 -1.86098480e+01] [-1.69047435e-03 -2.19938925e-05 9.99998571e-01 -5.20624231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:-18.62, Z:-0.52 [[ 9.81761048e-01 1.90111741e-01 1.66443028e-03 1.91196458e+02] [-1.90111511e-01 9.81762459e-01 -2.96410194e-04 -1.86154738e+01] [-1.69042622e-03 -2.54233733e-05 9.99998571e-01 -5.20410150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:-18.62, Z:-0.52 [[ 9.80705017e-01 1.95486317e-01 1.66439558e-03 1.91228440e+02] [-1.95486095e-01 9.80706428e-01 -2.96604933e-04 -1.86196432e+01] [-1.69026565e-03 -3.44842469e-05 9.99998571e-01 -5.20325760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:-18.62, Z:-0.52 [[ 9.80065775e-01 1.98666319e-01 1.66436228e-03 1.91260695e+02] [-1.98666102e-01 9.80067188e-01 -2.96791656e-04 -1.86242759e+01] [-1.69014936e-03 -3.97770213e-05 9.99998571e-01 -5.21129092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:-18.63, Z:-0.52 [[ 9.79549936e-01 2.01194317e-01 1.66430767e-03 1.91293225e+02] [-2.01194103e-01 9.79551349e-01 -2.97097597e-04 -1.86280045e+01] [-1.69004917e-03 -4.38269554e-05 9.99998571e-01 -5.22079511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.33, Y:-18.63, Z:-0.52 [[ 9.78939212e-01 2.04145169e-01 1.66425158e-03 1.91325547e+02] [-2.04144958e-01 9.78940625e-01 -2.97411467e-04 -1.86295886e+01] [-1.68991859e-03 -4.86008217e-05 9.99998571e-01 -5.24075975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:-18.63, Z:-0.52 [[ 9.78873360e-01 2.04460694e-01 1.66419921e-03 1.91358328e+02] [-2.04460483e-01 9.78874774e-01 -2.97704207e-04 -1.86341250e+01] [-1.68991143e-03 -4.88482561e-05 9.99998571e-01 -5.24142758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-18.64, Z:-0.52 [[ 9.79219705e-01 2.02795463e-01 1.66414488e-03 1.91390694e+02] [-2.02795249e-01 9.79221118e-01 -2.98007575e-04 -1.86383142e+01] [-1.69000040e-03 -4.56657859e-05 9.99998571e-01 -5.24061288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:-18.64, Z:-0.52 [[ 9.79453788e-01 2.01661864e-01 1.66408772e-03 1.91422540e+02] [-2.01661648e-01 9.79455201e-01 -2.98326424e-04 -1.86431791e+01] [-1.69006044e-03 -4.33857266e-05 9.99998571e-01 -5.24976038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.46, Y:-18.65, Z:-0.53 [[ 9.80042473e-01 1.98781239e-01 1.66405216e-03 1.91456122e+02] [-1.98781019e-01 9.80043885e-01 -2.98524667e-04 -1.86454497e+01] [-1.69018524e-03 -3.82151303e-05 9.99998571e-01 -5.25728248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.49, Y:-18.65, Z:-0.53 [[ 9.80249468e-01 1.97757960e-01 1.66399743e-03 1.91489259e+02] [-1.97757737e-01 9.80250880e-01 -2.98829383e-04 -1.86489239e+01] [-1.69023084e-03 -3.61410240e-05 9.99998571e-01 -5.25570224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.52, Y:-18.65, Z:-0.52 [[ 9.80309113e-01 1.97462081e-01 1.66394243e-03 1.91521728e+02] [-1.97461857e-01 9.80310525e-01 -2.99135328e-04 -1.86521177e+01] [-1.69024816e-03 -3.53200749e-05 9.99998571e-01 -5.24828611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:-18.65, Z:-0.53 [[ 9.79973549e-01 1.99120754e-01 1.66388750e-03 1.91555446e+02] [-1.99120532e-01 9.79974961e-01 -2.99440558e-04 -1.86525684e+01] [-1.69019292e-03 -3.78703387e-05 9.99998571e-01 -5.25273929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:-18.65, Z:-0.53 [[ 9.79702785e-01 2.00448711e-01 1.66383152e-03 1.91588784e+02] [-2.00448490e-01 9.79704197e-01 -2.99751321e-04 -1.86538057e+01] [-1.69014748e-03 -3.98453117e-05 9.99998571e-01 -5.27007815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.62, Y:-18.66, Z:-0.53 [[ 9.79734803e-01 2.00292155e-01 1.66377588e-03 1.91620848e+02] [-2.00291934e-01 9.79736215e-01 -3.00059823e-04 -1.86589089e+01] [-1.69016111e-03 -3.92618365e-05 9.99998571e-01 -5.26704963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:-18.66, Z:-0.52 [[ 9.79862955e-01 1.99664273e-01 1.66374109e-03 1.91653653e+02] [-1.99664051e-01 9.79864366e-01 -3.00252590e-04 -1.86648872e+01] [-1.69019032e-03 -3.79828967e-05 9.99998571e-01 -5.24903039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:-18.67, Z:-0.52 [[ 9.80226882e-01 1.97869886e-01 1.66368517e-03 1.91686214e+02] [-1.97869661e-01 9.80228293e-01 -3.00562120e-04 -1.86709334e+01] [-1.69026347e-03 -3.45737508e-05 9.99998571e-01 -5.24025811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:-18.68, Z:-0.52 [[ 9.80383211e-01 1.97093868e-01 1.66362894e-03 1.91718814e+02] [-1.97093641e-01 9.80384622e-01 -3.00873021e-04 -1.86774895e+01] [-1.69029646e-03 -3.29198269e-05 9.99998571e-01 -5.23773325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-18.69, Z:-0.52 [[ 9.80328468e-01 1.97365975e-01 1.66357184e-03 1.91750227e+02] [-1.97365747e-01 9.80329879e-01 -3.01188415e-04 -1.86850970e+01] [-1.69029353e-03 -3.30685226e-05 9.99998571e-01 -5.21185849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:-18.69, Z:-0.52 [[ 9.80032785e-01 1.98829004e-01 1.66353629e-03 1.91782936e+02] [-1.98828779e-01 9.80034196e-01 -3.01384632e-04 -1.86920339e+01] [-1.69024646e-03 -3.53920700e-05 9.99998571e-01 -5.19264740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.82, Y:-18.70, Z:-0.52 [[ 9.79737395e-01 2.00279478e-01 1.66348035e-03 1.91815305e+02] [-2.00279254e-01 9.79738807e-01 -3.01693079e-04 -1.86981947e+01] [-1.69019919e-03 -3.75806130e-05 9.99998571e-01 -5.18646218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:-18.71, Z:-0.52 [[ 9.79072046e-01 2.03507156e-01 1.66342448e-03 1.91847462e+02] [-2.03506937e-01 9.79073458e-01 -3.02000820e-04 -1.87052932e+01] [-1.69007409e-03 -4.28378595e-05 9.99998571e-01 -5.21334910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:-18.71, Z:-0.52 [[ 9.78594404e-01 2.05791702e-01 1.66336870e-03 1.91879699e+02] [-2.05791486e-01 9.78595817e-01 -3.02307738e-04 -1.87129039e+01] [-1.68997808e-03 -4.64704552e-05 9.99998571e-01 -5.23564733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:-18.72, Z:-0.52 [[ 9.78392389e-01 2.06750009e-01 1.66331279e-03 1.91910689e+02] [-2.06749793e-01 9.78393802e-01 -3.02615065e-04 -1.87188610e+01] [-1.68994059e-03 -4.78132970e-05 9.99998571e-01 -5.23466800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-18.72, Z:-0.52 [[ 9.78178159e-01 2.07761215e-01 1.66326073e-03 1.91943278e+02] [-2.07761000e-01 9.78179572e-01 -3.02900892e-04 -1.87241723e+01] [-1.68989873e-03 -4.92696756e-05 9.99998571e-01 -5.22998101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:-18.73, Z:-0.52 [[ 9.77818540e-01 2.09447216e-01 1.66320539e-03 1.91973924e+02] [-2.09447003e-01 9.77819953e-01 -3.03204450e-04 -1.87270863e+01] [-1.68982075e-03 -5.18744523e-05 9.99998571e-01 -5.23312686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-18.73, Z:-0.52 [[ 9.77757403e-01 2.09732438e-01 1.66316079e-03 1.92005460e+02] [-2.09732225e-01 9.77758816e-01 -3.03448932e-04 -1.87325046e+01] [-1.68981321e-03 -5.21189728e-05 9.99998571e-01 -5.23967957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-18.74, Z:-0.52 [[ 9.78185844e-01 2.07725032e-01 1.66311275e-03 1.92035658e+02] [-2.07724815e-01 9.78187257e-01 -3.03711972e-04 -1.87393995e+01] [-1.68992428e-03 -4.83830381e-05 9.99998571e-01 -5.24511394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:-18.75, Z:-0.52 [[ 9.78532939e-01 2.06083771e-01 1.66308539e-03 1.92066687e+02] [-2.06083552e-01 9.78534352e-01 -3.03861734e-04 -1.87466059e+01] [-1.69000715e-03 -4.53958286e-05 9.99998571e-01 -5.23458088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:-18.75, Z:-0.52 [[ 9.78800145e-01 2.04810914e-01 1.66321214e-03 1.92098845e+02] [-2.04810695e-01 9.78801557e-01 -3.03168278e-04 -1.87541303e+01] [-1.69004681e-03 -4.39024796e-05 9.99998571e-01 -5.24392284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.13, Y:-18.76, Z:-0.53 [[ 9.79052479e-01 2.03601269e-01 1.66301811e-03 1.92129371e+02] [-2.03601046e-01 9.79053891e-01 -3.04228901e-04 -1.87625190e+01] [-1.69012574e-03 -4.07361674e-05 9.99998571e-01 -5.25556356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:-18.77, Z:-0.52 [[ 9.78251363e-01 2.07416262e-01 1.66296392e-03 1.92161269e+02] [-2.07416043e-01 9.78252775e-01 -3.04524824e-04 -1.87698002e+01] [-1.68996247e-03 -4.70235728e-05 9.99998571e-01 -5.23741942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:-18.78, Z:-0.52 [[ 9.77484251e-01 2.11001834e-01 1.66290661e-03 1.92192515e+02] [-2.11001620e-01 9.77485664e-01 -3.04837492e-04 -1.87753494e+01] [-1.68978864e-03 -5.29021405e-05 9.99998571e-01 -5.23390069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-18.78, Z:-0.52 [[ 9.76646606e-01 2.14845624e-01 1.66285312e-03 1.92224936e+02] [-2.14845416e-01 9.76648020e-01 -3.05128951e-04 -1.87800490e+01] [-1.68957783e-03 -5.92532159e-05 9.99998571e-01 -5.23788462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:-18.78, Z:-0.53 [[ 9.75000444e-01 2.22196691e-01 1.66279509e-03 1.92256474e+02] [-2.22196493e-01 9.75001859e-01 -3.05444874e-04 -1.87802747e+01] [-1.68909715e-03 -7.16583496e-05 9.99998571e-01 -5.25865908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:-18.78, Z:-0.53 [[ 9.74341502e-01 2.25068598e-01 1.66274830e-03 1.92286656e+02] [-2.25068403e-01 9.74342917e-01 -3.05699375e-04 -1.87819424e+01] [-1.68889036e-03 -7.63765167e-05 9.99998571e-01 -5.26069945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-18.78, Z:-0.52 [[ 9.73800546e-01 2.27397738e-01 1.66275175e-03 1.92318466e+02] [-2.27397547e-01 9.73801962e-01 -3.05680630e-04 -1.87790911e+01] [-1.68870200e-03 -8.04337044e-05 9.99998571e-01 -5.23445758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:-18.78, Z:-0.52 [[ 9.73994621e-01 2.26565030e-01 1.66275175e-03 1.92347749e+02] [-2.26564837e-01 9.73996038e-01 -3.05680630e-04 -1.87790792e+01] [-1.68877015e-03 -7.89897898e-05 9.99998571e-01 -5.22570344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-18.77, Z:-0.52 [[ 9.75168034e-01 2.21460022e-01 1.66276218e-03 1.92378621e+02] [-2.21459822e-01 9.75169449e-01 -3.05623889e-04 -1.87727759e+01] [-1.68915835e-03 -7.02003688e-05 9.99998571e-01 -5.22891158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-18.77, Z:-0.52 [[ 9.75926323e-01 2.18094124e-01 1.66276935e-03 1.92408868e+02] [-2.18093920e-01 9.75927737e-01 -3.05584864e-04 -1.87735077e+01] [-1.68938899e-03 -6.44115716e-05 9.99998571e-01 -5.23082902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.585769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.44, Y:-18.77, Z:-0.52 [[ 9.76760973e-01 2.14325073e-01 1.66277292e-03 1.92437360e+02] [-2.14324863e-01 9.76762387e-01 -3.05565414e-04 -1.87749612e+01] [-1.68962438e-03 -5.79092075e-05 9.99998571e-01 -5.22733245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:-18.77, Z:-0.52 [[ 9.78760654e-01 2.04999557e-01 1.66278365e-03 1.92467534e+02] [-2.04999333e-01 9.78762065e-01 -3.05507034e-04 -1.87744396e+01] [-1.69009836e-03 -4.18512750e-05 9.99998571e-01 -5.24947707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:-18.78, Z:-0.53 [[ 9.79808800e-01 1.99929865e-01 1.66278726e-03 1.92496236e+02] [-1.99929634e-01 9.79810210e-01 -3.05487350e-04 -1.87772405e+01] [-1.69029198e-03 -3.31212560e-05 9.99998571e-01 -5.27047794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-18.78, Z:-0.53 [[ 9.81623800e-01 1.90819158e-01 1.66279812e-03 1.92525506e+02] [-1.90818915e-01 9.81625208e-01 -3.05428266e-04 -1.87807854e+01] [-1.69052611e-03 -1.74776770e-05 9.99998571e-01 -5.27134146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:-18.79, Z:-0.53 [[ 9.82305734e-01 1.87277016e-01 1.66280516e-03 1.92554900e+02] [-1.87276767e-01 9.82307141e-01 -3.05389896e-04 -1.87865073e+01] [-1.69057790e-03 -1.14185290e-05 9.99998571e-01 -5.26622003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:-18.79, Z:-0.53 [[ 9.83126382e-01 1.82920071e-01 1.66281237e-03 1.92584626e+02] [-1.82919816e-01 9.83127788e-01 -3.05350651e-04 -1.87936345e+01] [-1.69061181e-03 -3.96305262e-06 9.99998571e-01 -5.28917027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:-18.80, Z:-0.53 [[ 9.83267193e-01 1.82161640e-01 1.66281237e-03 1.92613342e+02] [-1.82161384e-01 9.83268599e-01 -3.05350651e-04 -1.88004148e+01] [-1.69061437e-03 -2.65892557e-06 9.99998571e-01 -5.30783370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:-18.81, Z:-0.53 [[ 9.83271366e-01 1.82139113e-01 1.66281598e-03 1.92643139e+02] [-1.82138857e-01 9.83272772e-01 -3.05330991e-04 -1.88076373e+01] [-1.69061439e-03 -2.64018214e-06 9.99998571e-01 -5.30715766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:-18.82, Z:-0.53 [[ 9.83023227e-01 1.83473623e-01 1.66281598e-03 1.92672018e+02] [-1.83473369e-01 9.83024633e-01 -3.05330991e-04 -1.88156828e+01] [-1.69060925e-03 -4.93499394e-06 9.99998571e-01 -5.29593724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.70, Y:-18.82, Z:-0.53 [[ 9.82969981e-01 1.83758676e-01 1.66281958e-03 1.92702119e+02] [-1.83758423e-01 9.82971388e-01 -3.05311383e-04 -1.88223421e+01] [-1.69060769e-03 -5.44517899e-06 9.99998571e-01 -5.28487497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:-18.83, Z:-0.53 [[ 9.82915636e-01 1.84049147e-01 1.66281958e-03 1.92730665e+02] [-1.84048893e-01 9.82917042e-01 -3.05311383e-04 -1.88305899e+01] [-1.69060600e-03 -5.94477177e-06 9.99998571e-01 -5.27793459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.76, Y:-18.84, Z:-0.53 [[ 9.82874136e-01 1.84270638e-01 1.66282320e-03 1.92759984e+02] [-1.84270386e-01 9.82875542e-01 -3.05291687e-04 -1.88378744e+01] [-1.69060455e-03 -6.34576891e-06 9.99998571e-01 -5.28530029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:-18.85, Z:-0.53 [[ 9.82787592e-01 1.84731652e-01 1.66281961e-03 1.92789133e+02] [-1.84731400e-01 9.82788999e-01 -3.05311209e-04 -1.88467469e+01] [-1.69060147e-03 -7.11892710e-06 9.99998571e-01 -5.28995874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:-18.85, Z:-0.53 [[ 9.82738153e-01 1.84994478e-01 1.66281961e-03 1.92818365e+02] [-1.84994227e-01 9.82739560e-01 -3.05311209e-04 -1.88539225e+01] [-1.69059950e-03 -7.57105406e-06 9.99998571e-01 -5.27453996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.85, Y:-18.86, Z:-0.52 [[ 9.82811903e-01 1.84602273e-01 1.66281611e-03 1.92849207e+02] [-1.84602020e-01 9.82813309e-01 -3.05330276e-04 -1.88635552e+01] [-1.69060247e-03 -6.87698483e-06 9.99998571e-01 -5.22732717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:-18.87, Z:-0.52 [[ 9.82872629e-01 1.84278677e-01 1.66276425e-03 1.92880393e+02] [-1.84278424e-01 9.82874035e-01 -3.05612461e-04 -1.88706157e+01] [-1.69060567e-03 -6.03345216e-06 9.99998571e-01 -5.21706250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:-18.88, Z:-0.52 [[ 9.82886439e-01 1.84205003e-01 1.66271278e-03 1.92910707e+02] [-1.84204749e-01 9.82887846e-01 -3.05892220e-04 -1.88788767e+01] [-1.69060706e-03 -5.62227535e-06 9.99998571e-01 -5.21867543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:-18.88, Z:-0.52 [[ 9.82855658e-01 1.84369169e-01 1.66266510e-03 1.92942802e+02] [-1.84368915e-01 9.82857065e-01 -3.06151169e-04 -1.88849381e+01] [-1.69060697e-03 -5.64135167e-06 9.99998571e-01 -5.21922794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:-18.89, Z:-0.52 [[ 9.82766743e-01 1.84842542e-01 1.66261392e-03 1.92974043e+02] [-1.84842288e-01 9.82768149e-01 -3.06428872e-04 -1.88917968e+01] [-1.69060509e-03 -6.17325630e-06 9.99998571e-01 -5.21799279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-18.90, Z:-0.52 [[ 9.82412251e-01 1.86717447e-01 1.66256280e-03 1.93004896e+02] [-1.86717195e-01 9.82413658e-01 -3.06705975e-04 -1.88977702e+01] [-1.69059176e-03 -9.11735443e-06 9.99998571e-01 -5.23962901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:-18.90, Z:-0.53 [[ 9.82227392e-01 1.87687470e-01 1.66251550e-03 1.93035955e+02] [-1.87687220e-01 9.82228799e-01 -3.06962160e-04 -1.89027895e+01] [-1.69058355e-03 -1.05262688e-05 9.99998571e-01 -5.26628781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:-18.91, Z:-0.53 [[ 9.82063003e-01 1.88545736e-01 1.66250828e-03 1.93065650e+02] [-1.88545486e-01 9.82064410e-01 -3.07001227e-04 -1.89078434e+01] [-1.69057399e-03 -1.19638860e-05 9.99998571e-01 -5.28845019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.10, Y:-18.91, Z:-0.53 [[ 9.81779723e-01 1.90015296e-01 1.66250470e-03 1.93096490e+02] [-1.90015048e-01 9.81781130e-01 -3.07020646e-04 -1.89127443e+01] [-1.69055436e-03 -1.44742646e-05 9.99998571e-01 -5.27318370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-18.92, Z:-0.53 [[ 9.81627640e-01 1.90799406e-01 1.66249755e-03 1.93126089e+02] [-1.90799160e-01 9.81629047e-01 -3.07059307e-04 -1.89174689e+01] [-1.69054262e-03 -1.57852345e-05 9.99998571e-01 -5.26371861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.16, Y:-18.92, Z:-0.53 [[ 9.81274840e-01 1.92605619e-01 1.66249402e-03 1.93156680e+02] [-1.92605375e-01 9.81276248e-01 -3.07078465e-04 -1.89217008e+01] [-1.69051093e-03 -1.88769122e-05 9.99998571e-01 -5.27271418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.19, Y:-18.93, Z:-0.53 [[ 9.81101814e-01 1.93485053e-01 1.66249402e-03 1.93188189e+02] [-1.93484810e-01 9.81103223e-01 -3.07078465e-04 -1.89266329e+01] [-1.69049333e-03 -2.03921006e-05 9.99998571e-01 -5.28505795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.22, Y:-18.93, Z:-0.53 [[ 9.80585448e-01 1.96085223e-01 1.66244098e-03 1.93219121e+02] [-1.96084984e-01 9.80586857e-01 -3.07365333e-04 -1.89280311e+01] [-1.69043757e-03 -2.45817397e-05 9.99998571e-01 -5.32647190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:-18.93, Z:-0.54 [[ 9.80244468e-01 1.97782760e-01 1.66243720e-03 1.93247484e+02] [-1.97782523e-01 9.80245877e-01 -3.07385760e-04 -1.89305999e+01] [-1.69039282e-03 -2.74878322e-05 9.99998571e-01 -5.35065872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-18.93, Z:-0.54 [[ 9.79927233e-01 1.99348574e-01 1.66244783e-03 1.93276585e+02] [-1.99348340e-01 9.79928643e-01 -3.07328250e-04 -1.89333613e+01] [-1.69034570e-03 -3.02468934e-05 9.99998571e-01 -5.35996982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:-18.94, Z:-0.53 [[ 9.79646258e-01 2.00724800e-01 1.66245835e-03 1.93307211e+02] [-2.00724568e-01 9.79647668e-01 -3.07271341e-04 -1.89356162e+01] [-1.69030043e-03 -3.26790142e-05 9.99998571e-01 -5.32922589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:-18.94, Z:-0.53 [[ 9.79993916e-01 1.99020501e-01 1.66245835e-03 1.93337006e+02] [-1.99020266e-01 9.79995326e-01 -3.07271341e-04 -1.89378467e+01] [-1.69035471e-03 -2.97388584e-05 9.99998571e-01 -5.33887727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.37, Y:-18.94, Z:-0.53 [[ 9.80367921e-01 1.97169917e-01 1.66246207e-03 1.93366862e+02] [-1.97169679e-01 9.80369330e-01 -3.07251212e-04 -1.89420287e+01] [-1.69040752e-03 -2.65678809e-05 9.99998571e-01 -5.34374739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:-18.95, Z:-0.53 [[ 9.80842510e-01 1.94795296e-01 1.66246897e-03 1.93396708e+02] [-1.94795055e-01 9.80843918e-01 -3.07213859e-04 -1.89463945e+01] [-1.69046640e-03 -2.25123236e-05 9.99998571e-01 -5.33005857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:-18.95, Z:-0.53 [[ 9.81951454e-01 1.89125826e-01 1.66247634e-03 1.93425740e+02] [-1.89125577e-01 9.81952861e-01 -3.07173983e-04 -1.89492157e+01] [-1.69056793e-03 -1.27868584e-05 9.99998571e-01 -5.27997091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:-18.95, Z:-0.52 [[ 9.82443828e-01 1.86551229e-01 1.66247268e-03 1.93455151e+02] [-1.86550976e-01 9.82445235e-01 -3.07193805e-04 -1.89538137e+01] [-1.69059574e-03 -8.33524289e-06 9.99998571e-01 -5.24109946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:-18.96, Z:-0.52 [[ 9.83549301e-01 1.80632248e-01 1.66247995e-03 1.93485583e+02] [-1.80631987e-01 9.83550706e-01 -3.07154470e-04 -1.89595323e+01] [-1.69061533e-03 1.80450806e-06 9.99998571e-01 -5.19114306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:-18.97, Z:-0.52 [[ 9.84023310e-01 1.78031913e-01 1.66247995e-03 1.93514519e+02] [-1.78031648e-01 9.84024714e-01 -3.07154470e-04 -1.89653584e+01] [-1.69060465e-03 6.27311419e-06 9.99998571e-01 -5.18309048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.54, Y:-18.97, Z:-0.52 [[ 9.84501629e-01 1.75367552e-01 1.66248360e-03 1.93544231e+02] [-1.75367283e-01 9.84503033e-01 -3.07134672e-04 -1.89709472e+01] [-1.69058161e-03 1.08293516e-05 9.99998571e-01 -5.23986062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:-18.98, Z:-0.53 [[ 9.84452782e-01 1.75641555e-01 1.66248360e-03 1.93572836e+02] [-1.75641287e-01 9.84454186e-01 -3.07134672e-04 -1.89769259e+01] [-1.69058455e-03 1.03588218e-05 9.99998571e-01 -5.27622963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:-18.98, Z:-0.53 [[ 9.84241369e-01 1.76822405e-01 1.66248722e-03 1.93602520e+02] [-1.76822139e-01 9.84242773e-01 -3.07115087e-04 -1.89832930e+01] [-1.69059586e-03 8.31082798e-06 9.99998571e-01 -5.29329485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-18.99, Z:-0.53 [[ 9.83455347e-01 1.81143085e-01 1.66248722e-03 1.93631286e+02] [-1.81142824e-01 9.83456752e-01 -3.07115087e-04 -1.89909257e+01] [-1.69061606e-03 8.86343845e-07 9.99998571e-01 -5.29626657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:-19.00, Z:-0.53 [[ 9.83041726e-01 1.83374482e-01 1.66249087e-03 1.93659726e+02] [-1.83374225e-01 9.83043132e-01 -3.07095324e-04 -1.89968797e+01] [-1.69061368e-03 -2.97045788e-06 9.99998571e-01 -5.28560264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:-19.00, Z:-0.53 [[ 9.82255025e-01 1.87542800e-01 1.66248738e-03 1.93689632e+02] [-1.87542549e-01 9.82256432e-01 -3.07114242e-04 -1.90027165e+01] [-1.69058598e-03 -1.01226125e-05 9.99998571e-01 -5.25160536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:-19.01, Z:-0.52 [[ 9.81840648e-01 1.89700231e-01 1.66248738e-03 1.93719566e+02] [-1.89699982e-01 9.81842056e-01 -3.07114242e-04 -1.90080105e+01] [-1.69055967e-03 -1.38365802e-05 9.99998571e-01 -5.23477089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:-19.01, Z:-0.52 [[ 9.81064438e-01 1.93674480e-01 1.66248738e-03 1.93748072e+02] [-1.93674238e-01 9.81065847e-01 -3.07114242e-04 -1.90122157e+01] [-1.69048978e-03 -2.06821148e-05 9.99998571e-01 -5.20706666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:-19.02, Z:-0.52 [[ 9.80754573e-01 1.95237559e-01 1.66249837e-03 1.93776314e+02] [-1.95237319e-01 9.80755981e-01 -3.07054738e-04 -1.90166284e+01] [-1.69045384e-03 -2.34363861e-05 9.99998571e-01 -5.20027915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.80, Y:-19.02, Z:-0.52 [[ 9.80497991e-01 1.96522077e-01 1.66250911e-03 1.93804931e+02] [-1.96521838e-01 9.80499400e-01 -3.06996539e-04 -1.90209747e+01] [-1.69042079e-03 -2.57098577e-05 9.99998571e-01 -5.21665510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:-19.02, Z:-0.53 [[ 9.80311547e-01 1.97450011e-01 1.66252327e-03 1.93833524e+02] [-1.97449774e-01 9.80312956e-01 -3.06919874e-04 -1.90218670e+01] [-1.69039443e-03 -2.73877476e-05 9.99998571e-01 -5.29953863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:-19.02, Z:-0.53 [[ 9.80376252e-01 1.97128489e-01 1.66254202e-03 1.93862272e+02] [-1.97128252e-01 9.80377661e-01 -3.06818276e-04 -1.90237607e+01] [-1.69040168e-03 -2.69366507e-05 9.99998571e-01 -5.33732082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:-19.02, Z:-0.53 [[ 9.80665060e-01 1.95686677e-01 1.66255631e-03 1.93891848e+02] [-1.95686438e-01 9.80666469e-01 -3.06740795e-04 -1.90214277e+01] [-1.69043832e-03 -2.45297426e-05 9.99998571e-01 -5.33229670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:-19.02, Z:-0.53 [[ 9.80860015e-01 1.94707129e-01 1.66257063e-03 1.93920316e+02] [-1.94706889e-01 9.80861424e-01 -3.06663154e-04 -1.90231259e+01] [-1.69046090e-03 -2.29203299e-05 9.99998571e-01 -5.29003182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.95, Y:-19.02, Z:-0.53 [[ 9.81587203e-01 1.91007324e-01 1.66258847e-03 1.93950266e+02] [-1.91007079e-01 9.81588611e-01 -3.06566435e-04 -1.90220640e+01] [-1.69053434e-03 -1.66444771e-05 9.99998571e-01 -5.27972519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.98, Y:-19.02, Z:-0.53 [[ 9.82198361e-01 1.87839333e-01 1.66260271e-03 1.93979292e+02] [-1.87839083e-01 9.82199768e-01 -3.06489153e-04 -1.90237803e+01] [-1.69057872e-03 -1.12686258e-05 9.99998571e-01 -5.29310794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.01, Y:-19.02, Z:-0.53 [[ 9.83746340e-01 1.79556050e-01 1.66261759e-03 1.94009813e+02] [-1.79555788e-01 9.83747745e-01 -3.06408407e-04 -1.90244205e+01] [-1.69061379e-03 2.89553645e-06 9.99998571e-01 -5.30247998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:-19.03, Z:-0.53 [[ 9.84572008e-01 1.74971987e-01 1.66262507e-03 1.94039089e+02] [-1.74971719e-01 9.84573412e-01 -3.06367859e-04 -1.90286223e+01] [-1.69058223e-03 1.07288525e-05 9.99998571e-01 -5.29942140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:-19.03, Z:-0.53 [[ 9.85352168e-01 1.70523727e-01 1.66263258e-03 1.94067065e+02] [-1.70523453e-01 9.85353570e-01 -3.06327071e-04 -1.90330378e+01] [-1.69051698e-03 1.83221953e-05 9.99998571e-01 -5.30706355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:-19.04, Z:-0.53 [[ 9.86696865e-01 1.62562397e-01 1.66264382e-03 1.94095991e+02] [-1.62562111e-01 9.86698265e-01 -3.06266078e-04 -1.90378157e+01] [-1.69031512e-03 3.19088894e-05 9.99998571e-01 -5.31972998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.13, Y:-19.04, Z:-0.53 [[ 9.87502489e-01 1.57594638e-01 1.66265104e-03 1.94125949e+02] [-1.57594346e-01 9.87503888e-01 -3.06226847e-04 -1.90440459e+01] [-1.69013408e-03 4.03753701e-05 9.99998571e-01 -5.30611199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:-19.05, Z:-0.53 [[ 9.87642750e-01 1.56713221e-01 1.66265104e-03 1.94154136e+02] [-1.56712927e-01 9.87644149e-01 -3.06226847e-04 -1.90501406e+01] [-1.69009737e-03 4.18838141e-05 9.99998571e-01 -5.28862296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:-19.06, Z:-0.53 [[ 9.87706039e-01 1.56313836e-01 1.66265861e-03 1.94183057e+02] [-1.56313542e-01 9.87707438e-01 -3.06185731e-04 -1.90563839e+01] [-1.69008135e-03 4.25254396e-05 9.99998571e-01 -5.26422222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:-19.06, Z:-0.53 [[ 9.87633575e-01 1.56771034e-01 1.66266582e-03 1.94211461e+02] [-1.56770740e-01 9.87634974e-01 -3.06146582e-04 -1.90614204e+01] [-1.69010183e-03 4.17032917e-05 9.99998571e-01 -5.27295532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.24, Y:-19.07, Z:-0.53 [[ 9.87275180e-01 1.59012437e-01 1.66267663e-03 1.94240147e+02] [-1.59012147e-01 9.87276579e-01 -3.06087870e-04 -1.90677620e+01] [-1.69019347e-03 3.78071760e-05 9.99998571e-01 -5.28683518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:-19.07, Z:-0.53 [[ 9.87125809e-01 1.59937090e-01 1.66268387e-03 1.94269591e+02] [-1.59936801e-01 9.87127209e-01 -3.06048530e-04 -1.90739636e+01] [-1.69022900e-03 3.61840636e-05 9.99998571e-01 -5.27137688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:-19.08, Z:-0.53 [[ 9.87034721e-01 1.60498272e-01 1.66269109e-03 1.94298047e+02] [-1.60497984e-01 9.87036121e-01 -3.06009331e-04 -1.90798983e+01] [-1.69025013e-03 3.51832676e-05 9.99998571e-01 -5.26470816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:-19.09, Z:-0.53 [[ 9.86953606e-01 1.60996323e-01 1.66270183e-03 1.94327216e+02] [-1.60996036e-01 9.86955006e-01 -3.05950970e-04 -1.90868559e+01] [-1.69026887e-03 3.42710110e-05 9.99998571e-01 -5.29471823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:-19.09, Z:-0.53 [[ 9.86921475e-01 1.61193167e-01 1.66270919e-03 1.94355115e+02] [-1.61192881e-01 9.86922875e-01 -3.05910945e-04 -1.90928924e+01] [-1.69027649e-03 3.38931968e-05 9.99998571e-01 -5.33680428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:-19.10, Z:-0.54 [[ 9.86604873e-01 1.63119773e-01 1.66272016e-03 1.94383188e+02] [-1.63119489e-01 9.86606273e-01 -3.05851320e-04 -1.90999884e+01] [-1.69034054e-03 3.05323405e-05 9.99998571e-01 -5.37924391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.41, Y:-19.11, Z:-0.54 [[ 9.86259121e-01 1.65197403e-01 1.66273087e-03 1.94412599e+02] [-1.65197122e-01 9.86260522e-01 -3.05793046e-04 -1.91064648e+01] [-1.69040204e-03 2.69128256e-05 9.99998571e-01 -5.35815387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.44, Y:-19.11, Z:-0.53 [[ 9.85561470e-01 1.69309845e-01 1.66273787e-03 1.94441685e+02] [-1.69309570e-01 9.85562873e-01 -3.05754977e-04 -1.91128586e+01] [-1.69050004e-03 1.98228900e-05 9.99998571e-01 -5.32426979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.47, Y:-19.12, Z:-0.53 [[ 9.85309103e-01 1.70772385e-01 1.66274510e-03 1.94469557e+02] [-1.70772112e-01 9.85310505e-01 -3.05715707e-04 -1.91175842e+01] [-1.69052801e-03 1.72739763e-05 9.99998571e-01 -5.33363512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.50, Y:-19.12, Z:-0.53 [[ 9.85203163e-01 1.71382505e-01 1.66275590e-03 1.94498522e+02] [-1.71382234e-01 9.85204566e-01 -3.05656943e-04 -1.91231774e+01] [-1.69053895e-03 1.61673679e-05 9.99998571e-01 -5.34255653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:-19.13, Z:-0.54 [[ 9.85499070e-01 1.69672678e-01 1.66276337e-03 1.94527345e+02] [-1.69672404e-01 9.85500473e-01 -3.05616307e-04 -1.91319868e+01] [-1.69050882e-03 1.90595291e-05 9.99998571e-01 -5.35274758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:-19.14, Z:-0.53 [[ 9.85795227e-01 1.67943458e-01 1.66276709e-03 1.94556016e+02] [-1.67943181e-01 9.85796629e-01 -3.05596043e-04 -1.91394331e+01] [-1.69047305e-03 2.20047264e-05 9.99998571e-01 -5.34389398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:-19.15, Z:-0.53 [[ 9.86392461e-01 1.64399353e-01 1.66277073e-03 1.94585718e+02] [-1.64399071e-01 9.86393862e-01 -3.05576240e-04 -1.91473314e+01] [-1.69038338e-03 2.80601353e-05 9.99998571e-01 -5.32870297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-19.15, Z:-0.53 [[ 9.86598718e-01 1.63156995e-01 1.66277073e-03 1.94614177e+02] [-1.63156712e-01 9.86600119e-01 -3.05576240e-04 -1.91533092e+01] [-1.69034670e-03 3.01889214e-05 9.99998571e-01 -5.33359693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:-19.16, Z:-0.53 [[ 9.86705337e-01 1.62510964e-01 1.66277437e-03 1.94644328e+02] [-1.62510680e-01 9.86706737e-01 -3.05556449e-04 -1.91614054e+01] [-1.69032694e-03 3.12755857e-05 9.99998571e-01 -5.33777272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:-19.17, Z:-0.53 [[ 9.86601924e-01 1.63137607e-01 1.66276685e-03 1.94673851e+02] [-1.63137323e-01 9.86603325e-01 -3.05597334e-04 -1.91686144e+01] [-1.69034572e-03 3.02435835e-05 9.99998571e-01 -5.33889298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-19.18, Z:-0.53 [[ 9.86476035e-01 1.63897126e-01 1.66276311e-03 1.94703750e+02] [-1.63896844e-01 9.86477436e-01 -3.05617677e-04 -1.91756694e+01] [-1.69036815e-03 2.89628875e-05 9.99998571e-01 -5.33578007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:-19.18, Z:-0.53 [[ 9.85963697e-01 1.66951558e-01 1.66276311e-03 1.94732462e+02] [-1.66951280e-01 9.85965099e-01 -3.05617677e-04 -1.91847669e+01] [-1.69044975e-03 2.37275053e-05 9.99998571e-01 -5.32100716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:-19.19, Z:-0.53 [[ 9.85573367e-01 1.69240580e-01 1.66276674e-03 1.94761391e+02] [-1.69240306e-01 9.85574769e-01 -3.05597963e-04 -1.91923848e+01] [-1.69050052e-03 1.97820628e-05 9.99998571e-01 -5.31039008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:-19.20, Z:-0.53 [[ 9.85573367e-01 1.69240580e-01 1.66277032e-03 1.94791880e+02] [-1.69240306e-01 9.85574769e-01 -3.05578469e-04 -1.91979880e+01] [-1.69050075e-03 1.97622429e-05 9.99998571e-01 -5.31091416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:-19.21, Z:-0.53 [[ 9.84779033e-01 1.73803026e-01 1.66277032e-03 1.94821151e+02] [-1.73802757e-01 9.84780437e-01 -3.05578469e-04 -1.92069363e+01] [-1.69057414e-03 1.19332025e-05 9.99998571e-01 -5.29765946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:-19.21, Z:-0.53 [[ 9.84448629e-01 1.75664831e-01 1.66277032e-03 1.94850058e+02] [-1.75664565e-01 9.84450033e-01 -3.05578469e-04 -1.92138492e+01] [-1.69059369e-03 8.73647939e-06 9.99998571e-01 -5.29334680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:-19.22, Z:-0.53 [[ 9.83697696e-01 1.79822352e-01 1.66277393e-03 1.94879600e+02] [-1.79822093e-01 9.83699101e-01 -3.05558845e-04 -1.92221728e+01] [-1.69061553e-03 1.57404487e-06 9.99998571e-01 -5.25984418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:-19.23, Z:-0.52 [[ 9.83197539e-01 1.82537212e-01 1.66277393e-03 1.94908026e+02] [-1.82536957e-01 9.83198945e-01 -3.05558845e-04 -1.92284381e+01] [-1.69061343e-03 -3.09298726e-06 9.99998571e-01 -5.24123665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-19.23, Z:-0.53 [[ 9.82144214e-01 1.88122242e-01 1.66277752e-03 1.94936858e+02] [-1.88121994e-01 9.82145622e-01 -3.05539257e-04 -1.92325208e+01] [-1.69056840e-03 -1.27214106e-05 9.99998571e-01 -5.27185671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-19.24, Z:-0.53 [[ 9.81754208e-01 1.90147074e-01 1.66278461e-03 1.94965674e+02] [-1.90146829e-01 9.81755616e-01 -3.05500684e-04 -1.92371832e+01] [-1.69053819e-03 -1.62466386e-05 9.99998571e-01 -5.32301813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:-19.24, Z:-0.54 [[ 9.81593753e-01 1.90973661e-01 1.66279156e-03 1.94994744e+02] [-1.90973417e-01 9.81595161e-01 -3.05462859e-04 -1.92423886e+01] [-1.69052351e-03 -1.77085526e-05 9.99998571e-01 -5.37258978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-19.25, Z:-0.54 [[ 9.82020258e-01 1.88768238e-01 1.66279866e-03 1.95023337e+02] [-1.88767992e-01 9.82021666e-01 -3.05424228e-04 -1.92483732e+01] [-1.69055870e-03 -1.39503845e-05 9.99998571e-01 -5.38095232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:-19.25, Z:-0.54 [[ 9.82443328e-01 1.86553860e-01 1.66280219e-03 1.95051981e+02] [-1.86553610e-01 9.82444735e-01 -3.05404979e-04 -1.92542664e+01] [-1.69058574e-03 -1.01586677e-05 9.99998571e-01 -5.35711553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-19.26, Z:-0.53 [[ 9.83539890e-01 1.80683482e-01 1.66280572e-03 1.95082488e+02] [-1.80683224e-01 9.83541295e-01 -3.05385788e-04 -1.92623505e+01] [-1.69061626e-03 -8.19938101e-08 9.99998571e-01 -5.34215970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-19.27, Z:-0.54 [[ 9.84040211e-01 1.77938465e-01 1.66279859e-03 1.95111639e+02] [-1.77938203e-01 9.84041616e-01 -3.05424606e-04 -1.92694982e+01] [-1.69060979e-03 4.67470189e-06 9.99998571e-01 -5.37334702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:-19.28, Z:-0.54 [[ 9.84869031e-01 1.73292317e-01 1.66279503e-03 1.95142320e+02] [-1.73292048e-01 9.84870435e-01 -3.05443943e-04 -1.92786775e+01] [-1.69056876e-03 1.26731236e-05 9.99998571e-01 -5.40409737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-19.29, Z:-0.54 [[ 9.84964259e-01 1.72750234e-01 1.66274464e-03 1.95172164e+02] [-1.72749964e-01 9.84965663e-01 -3.05718044e-04 -1.92863270e+01] [-1.69055924e-03 1.38822709e-05 9.99998571e-01 -5.37983368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-19.29, Z:-0.53 [[ 9.84938378e-01 1.72897738e-01 1.66269780e-03 1.95203149e+02] [-1.72897467e-01 9.84939781e-01 -3.05972537e-04 -1.92942373e+01] [-1.69055917e-03 1.38878548e-05 9.99998571e-01 -5.33559251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-19.30, Z:-0.53 [[ 9.84993263e-01 1.72584785e-01 1.66264785e-03 1.95233945e+02] [-1.72584514e-01 9.84994666e-01 -3.06243735e-04 -1.93040549e+01] [-1.69055227e-03 1.47007438e-05 9.99998571e-01 -5.29385941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:-19.31, Z:-0.53 [[ 9.85031354e-01 1.72367245e-01 1.66259761e-03 1.95265044e+02] [-1.72366973e-01 9.85032757e-01 -3.06516259e-04 -1.93120714e+01] [-1.69054647e-03 1.53512080e-05 9.99998571e-01 -5.29300748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-19.32, Z:-0.53 [[ 9.85044237e-01 1.72293605e-01 1.66254669e-03 1.95295196e+02] [-1.72293332e-01 9.85045640e-01 -3.06792189e-04 -1.93224765e+01] [-1.69054270e-03 1.57581688e-05 9.99998571e-01 -5.31467160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-19.33, Z:-0.53 [[ 9.85024024e-01 1.72409133e-01 1.66249243e-03 1.95326351e+02] [-1.72408860e-01 9.85025426e-01 -3.07085945e-04 -1.93302834e+01] [-1.69054174e-03 1.58586077e-05 9.99998571e-01 -5.32206543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-19.34, Z:-0.53 [[ 9.84968478e-01 1.72726179e-01 1.66243982e-03 1.95357752e+02] [-1.72725906e-01 9.84969881e-01 -3.07370473e-04 -1.93374029e+01] [-1.69054408e-03 1.56038021e-05 9.99998571e-01 -5.32014980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-19.35, Z:-0.53 [[ 9.84621430e-01 1.74693661e-01 1.66239152e-03 1.95388267e+02] [-1.74693391e-01 9.84622834e-01 -3.07631485e-04 -1.93451098e+01] [-1.69056992e-03 1.24917403e-05 9.99998571e-01 -5.29250738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:-19.35, Z:-0.53 [[ 9.84052900e-01 1.77868283e-01 1.66234699e-03 1.95420337e+02] [-1.77868017e-01 9.84054304e-01 -3.07871932e-04 -1.93543026e+01] [-1.69060036e-03 7.28390478e-06 9.99998571e-01 -5.27973811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-19.36, Z:-0.53 [[ 9.83681062e-01 1.79913324e-01 1.66228799e-03 1.95451862e+02] [-1.79913060e-01 9.83682467e-01 -3.08190145e-04 -1.93614831e+01] [-1.69061107e-03 4.09348996e-06 9.99998571e-01 -5.29712105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-19.37, Z:-0.53 [[ 9.83400744e-01 1.81439285e-01 1.66223291e-03 1.95483722e+02] [-1.81439023e-01 9.83402149e-01 -3.08486967e-04 -1.93683748e+01] [-1.69061507e-03 1.77239775e-06 9.99998571e-01 -5.31447320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:-19.38, Z:-0.53 [[ 9.83032263e-01 1.83425211e-01 1.66217505e-03 1.95515876e+02] [-1.83424951e-01 9.83033668e-01 -3.08798431e-04 -1.93752932e+01] [-1.69061545e-03 -1.32555630e-06 9.99998571e-01 -5.30381118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-19.38, Z:-0.53 [[ 9.82974609e-01 1.83733923e-01 1.66211729e-03 1.95548202e+02] [-1.83733663e-01 9.82976015e-01 -3.09108998e-04 -1.93824130e+01] [-1.69061524e-03 -1.54060144e-06 9.99998571e-01 -5.26226003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-19.39, Z:-0.53 [[ 9.83018072e-01 1.83501248e-01 1.66205896e-03 1.95579751e+02] [-1.83500987e-01 9.83019477e-01 -3.09422299e-04 -1.93886524e+01] [-1.69061571e-03 -8.21748322e-07 9.99998571e-01 -5.27781808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:-19.40, Z:-0.53 [[ 9.83044820e-01 1.83357899e-01 1.66202261e-03 1.95612413e+02] [-1.83357638e-01 9.83046225e-01 -3.09617458e-04 -1.93954842e+01] [-1.69061585e-03 -3.76699985e-07 9.99998571e-01 -5.30997868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-19.40, Z:-0.54 [[ 9.83301386e-01 1.81976981e-01 1.66196478e-03 1.95642303e+02] [-1.81976717e-01 9.83302791e-01 -3.09927546e-04 -1.94029903e+01] [-1.69061428e-03 2.31329094e-06 9.99998571e-01 -5.36797463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:-19.41, Z:-0.54 [[ 9.83409065e-01 1.81394183e-01 1.66193621e-03 1.95674773e+02] [-1.81393918e-01 9.83410469e-01 -3.10080675e-04 -1.94111027e+01] [-1.69061230e-03 3.47102595e-06 9.99998571e-01 -5.36551416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-19.42, Z:-0.54 [[ 9.83500167e-01 1.80899582e-01 1.66187947e-03 1.95706204e+02] [-1.80899316e-01 9.83501572e-01 -3.10384472e-04 -1.94207466e+01] [-1.69060949e-03 4.63032111e-06 9.99998571e-01 -5.36204728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-19.43, Z:-0.54 [[ 9.83390695e-01 1.81493742e-01 1.66182310e-03 1.95738181e+02] [-1.81493476e-01 9.83392100e-01 -3.10685986e-04 -1.94280747e+01] [-1.69061127e-03 3.91565690e-06 9.99998571e-01 -5.35003708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-19.44, Z:-0.53 [[ 9.83104845e-01 1.83035793e-01 1.66176665e-03 1.95769982e+02] [-1.83035528e-01 9.83106250e-01 -3.10987608e-04 -1.94353334e+01] [-1.69061505e-03 1.57108652e-06 9.99998571e-01 -5.34518264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:-19.44, Z:-0.54 [[ 9.82237049e-01 1.87636932e-01 1.66171037e-03 1.95802040e+02] [-1.87636674e-01 9.82238455e-01 -3.11288061e-04 -1.94422207e+01] [-1.69060496e-03 -6.03914013e-06 9.99998571e-01 -5.37866981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-19.45, Z:-0.54 [[ 9.81749848e-01 1.90169597e-01 1.66165405e-03 1.95834155e+02] [-1.90169342e-01 9.81751254e-01 -3.11588408e-04 -1.94486999e+01] [-1.69058559e-03 -1.00937856e-05 9.99998571e-01 -5.39708241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:-19.46, Z:-0.54 [[ 9.80990691e-01 1.94047681e-01 1.66159465e-03 1.95866674e+02] [-1.94047431e-01 9.80992098e-01 -3.11904859e-04 -1.94560680e+01] [-1.69053563e-03 -1.64524089e-05 9.99998571e-01 -5.38257654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:-19.46, Z:-0.54 [[ 9.80656718e-01 1.95728488e-01 1.66153538e-03 1.95898394e+02] [-1.95728240e-01 9.80658125e-01 -3.12220257e-04 -1.94620943e+01] [-1.69050857e-03 -1.90285034e-05 9.99998571e-01 -5.36052559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:-19.47, Z:-0.53 [[ 9.80309094e-01 1.97462200e-01 1.66148016e-03 1.95929602e+02] [-1.97461953e-01 9.80310501e-01 -3.12513834e-04 -1.94676504e+01] [-1.69047612e-03 -2.17189650e-05 9.99998571e-01 -5.33553426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:-19.47, Z:-0.53 [[ 9.79785637e-01 2.00043359e-01 1.66142519e-03 1.95962049e+02] [-2.00043116e-01 9.79787045e-01 -3.12805778e-04 -1.94731544e+01] [-1.69041760e-03 -2.58740643e-05 9.99998571e-01 -5.30062405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:-19.48, Z:-0.53 [[ 9.79637976e-01 2.00765227e-01 1.66136776e-03 1.95994081e+02] [-2.00764985e-01 9.79639384e-01 -3.13110546e-04 -1.94789938e+01] [-1.69040300e-03 -2.68094915e-05 9.99998571e-01 -5.30218164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:-19.48, Z:-0.53 [[ 9.79318896e-01 2.02315941e-01 1.66130985e-03 1.96025545e+02] [-2.02315700e-01 9.79320305e-01 -3.13417503e-04 -1.94840075e+01] [-1.69036382e-03 -2.91733824e-05 9.99998571e-01 -5.32431880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:-19.49, Z:-0.53 [[ 9.79018829e-01 2.03763029e-01 1.66125579e-03 1.96058246e+02] [-2.03762790e-01 9.79020238e-01 -3.13703781e-04 -1.94899151e+01] [-1.69032427e-03 -3.13802055e-05 9.99998571e-01 -5.32739163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:-19.50, Z:-0.53 [[ 9.78627673e-01 2.05633458e-01 1.66119769e-03 1.96089861e+02] [-2.05633221e-01 9.78629082e-01 -3.14011111e-04 -1.94956046e+01] [-1.69026756e-03 -3.42974695e-05 9.99998571e-01 -5.33206528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:-19.50, Z:-0.53 [[ 9.77754586e-01 2.09745582e-01 1.66116161e-03 1.96120278e+02] [-2.09745351e-01 9.77755997e-01 -3.14201890e-04 -1.94983690e+01] [-1.69011318e-03 -4.12085861e-05 9.99998571e-01 -5.31524712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:-19.50, Z:-0.53 [[ 9.77332390e-01 2.11704132e-01 1.66115804e-03 1.96151410e+02] [-2.11703904e-01 9.77333801e-01 -3.14220734e-04 -1.95014982e+01] [-1.69002773e-03 -4.45755419e-05 9.99998571e-01 -5.29113384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.18, Y:-19.50, Z:-0.53 [[ 9.76406884e-01 2.15932483e-01 1.66115096e-03 1.96181005e+02] [-2.15932261e-01 9.76408296e-01 -3.14258198e-04 -1.95012501e+01] [-1.68982013e-03 -5.18522141e-05 9.99998571e-01 -5.26436627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-19.50, Z:-0.53 [[ 9.76039523e-01 2.17586969e-01 1.66115447e-03 1.96210788e+02] [-2.17586749e-01 9.76040936e-01 -3.14239615e-04 -1.95035712e+01] [-1.68972921e-03 -5.47349179e-05 9.99998571e-01 -5.27253088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-19.51, Z:-0.53 [[ 9.75775826e-01 2.18766491e-01 1.66116144e-03 1.96240936e+02] [-2.18766273e-01 9.75777239e-01 -3.14202774e-04 -1.95053652e+01] [-1.68966056e-03 -5.68146246e-05 9.99998571e-01 -5.29762729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:-19.50, Z:-0.53 [[ 9.75638051e-01 2.19380113e-01 1.66116852e-03 1.96270149e+02] [-2.19379895e-01 9.75639464e-01 -3.14165324e-04 -1.95037989e+01] [-1.68962319e-03 -5.79153326e-05 9.99998571e-01 -5.33318272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.30, Y:-19.51, Z:-0.53 [[ 9.75980182e-01 2.17852987e-01 1.66117910e-03 1.96299880e+02] [-2.17852768e-01 9.75981595e-01 -3.14109385e-04 -1.95065212e+01] [-1.68970990e-03 -5.53279294e-05 9.99998571e-01 -5.33755161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.33, Y:-19.51, Z:-0.53 [[ 9.76354707e-01 2.16168282e-01 1.66118639e-03 1.96328419e+02] [-2.16168060e-01 9.76356119e-01 -3.14070849e-04 -1.95102264e+01] [-1.68980165e-03 -5.24508860e-05 9.99998571e-01 -5.34189519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:-19.51, Z:-0.53 [[ 9.76717393e-01 2.14523601e-01 1.66119722e-03 1.96357639e+02] [-2.14523377e-01 9.76718804e-01 -3.14013530e-04 -1.95134828e+01] [-1.68988588e-03 -4.96631612e-05 9.99998571e-01 -5.34222621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:-19.52, Z:-0.54 [[ 9.77020359e-01 2.13139526e-01 1.66120452e-03 1.96386647e+02] [-2.13139300e-01 9.77021770e-01 -3.13974923e-04 -1.95164123e+01] [-1.68995345e-03 -4.73080772e-05 9.99998571e-01 -5.35067761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-19.52, Z:-0.54 [[ 9.77469968e-01 2.11068004e-01 1.66121543e-03 1.96416220e+02] [-2.11067775e-01 9.77471379e-01 -3.13917165e-04 -1.95179389e+01] [-1.69004841e-03 -4.37844435e-05 9.99998571e-01 -5.36047046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:-19.52, Z:-0.54 [[ 9.77811777e-01 2.09478803e-01 1.66122266e-03 1.96444914e+02] [-2.09478571e-01 9.77813187e-01 -3.13878897e-04 -1.95213771e+01] [-1.69011640e-03 -4.10760677e-05 9.99998571e-01 -5.37298147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.47, Y:-19.53, Z:-0.54 [[ 9.78050371e-01 2.08361974e-01 1.66123346e-03 1.96472906e+02] [-2.08361741e-01 9.78051781e-01 -3.13821731e-04 -1.95251623e+01] [-1.69016086e-03 -3.92040355e-05 9.99998571e-01 -5.37621603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.50, Y:-19.53, Z:-0.54 [[ 9.78198452e-01 2.07665666e-01 1.66124412e-03 1.96500245e+02] [-2.07665432e-01 9.78199862e-01 -3.13765303e-04 -1.95288552e+01] [-1.69018705e-03 -3.80582443e-05 9.99998571e-01 -5.36686557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.53, Y:-19.53, Z:-0.53 [[ 9.78303014e-01 2.07172521e-01 1.66126262e-03 1.96528620e+02] [-2.07172287e-01 9.78304424e-01 -3.13667333e-04 -1.95322661e+01] [-1.69020382e-03 -3.73058791e-05 9.99998571e-01 -5.34984507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-19.54, Z:-0.53 [[ 9.78352275e-01 2.06939766e-01 1.66127679e-03 1.96557210e+02] [-2.06939531e-01 9.78353685e-01 -3.13592250e-04 -1.95374978e+01] [-1.69021098e-03 -3.69801493e-05 9.99998571e-01 -5.34494601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:-19.54, Z:-0.54 [[ 9.78739252e-01 2.05101722e-01 1.66129099e-03 1.96584587e+02] [-2.05101485e-01 9.78740662e-01 -3.13516993e-04 -1.95398986e+01] [-1.69027592e-03 -3.38818632e-05 9.99998571e-01 -5.35803295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:-19.54, Z:-0.54 [[ 9.78964894e-01 2.04022000e-01 1.66130868e-03 1.96613539e+02] [-2.04021762e-01 9.78966303e-01 -3.13423270e-04 -1.95436234e+01] [-1.69031045e-03 -3.21127448e-05 9.99998571e-01 -5.37895991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:-19.55, Z:-0.54 [[ 9.79196337e-01 2.02908289e-01 1.66132269e-03 1.96641534e+02] [-2.02908049e-01 9.79197746e-01 -3.13348975e-04 -1.95482990e+01] [-1.69034454e-03 -3.02655774e-05 9.99998571e-01 -5.40748012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:-19.55, Z:-0.54 [[ 9.79450312e-01 2.01678772e-01 1.66133670e-03 1.96668994e+02] [-2.01678530e-01 9.79451720e-01 -3.13274680e-04 -1.95538785e+01] [-1.69037994e-03 -2.82189609e-05 9.99998571e-01 -5.41126906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:-19.56, Z:-0.54 [[ 9.79401563e-01 2.01915373e-01 1.66135412e-03 1.96697798e+02] [-2.01915132e-01 9.79402972e-01 -3.13182254e-04 -1.95587729e+01] [-1.69037148e-03 -2.87213475e-05 9.99998571e-01 -5.38980465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:-19.56, Z:-0.54 [[ 9.79410936e-01 2.01869903e-01 1.66136861e-03 1.96726641e+02] [-2.01869663e-01 9.79412345e-01 -3.13105397e-04 -1.95641166e+01] [-1.69037148e-03 -2.87210701e-05 9.99998571e-01 -5.39030049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:-19.57, Z:-0.54 [[ 9.78946406e-01 2.04110693e-01 1.66138314e-03 1.96755243e+02] [-2.04110455e-01 9.78947815e-01 -3.13028266e-04 -1.95672817e+01] [-1.69029981e-03 -3.26677728e-05 9.99998571e-01 -5.35587145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:-19.57, Z:-0.53 [[ 9.78616361e-01 2.05687282e-01 1.66139762e-03 1.96783841e+02] [-2.05687047e-01 9.78617771e-01 -3.12951408e-04 -1.95712760e+01] [-1.69024336e-03 -3.54686018e-05 9.99998571e-01 -5.33412168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:-19.57, Z:-0.53 [[ 9.77735931e-01 2.09832528e-01 1.66141210e-03 1.96812080e+02] [-2.09832299e-01 9.77737341e-01 -3.12874480e-04 -1.95713394e+01] [-1.69007590e-03 -4.27093005e-05 9.99998571e-01 -5.29307716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.84, Y:-19.57, Z:-0.53 [[ 9.77231836e-01 2.12167808e-01 1.66143010e-03 1.96839798e+02] [-2.12167583e-01 9.77233247e-01 -3.12778907e-04 -1.95719447e+01] [-1.68996634e-03 -4.68441020e-05 9.99998571e-01 -5.29007238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:-19.57, Z:-0.53 [[ 9.76662337e-01 2.14774114e-01 1.66144696e-03 1.96867820e+02] [-2.14773892e-01 9.76663748e-01 -3.12689272e-04 -1.95724049e+01] [-1.68983258e-03 -5.14435964e-05 9.99998571e-01 -5.31274312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:-19.57, Z:-0.54 [[ 9.75647891e-01 2.19336344e-01 1.66146718e-03 1.96897348e+02] [-2.19336129e-01 9.75649304e-01 -3.12581827e-04 -1.95685555e+01] [-1.68956985e-03 -5.94499796e-05 9.99998571e-01 -5.39267417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:-19.57, Z:-0.54 [[ 9.75435168e-01 2.20280439e-01 1.66148058e-03 1.96926249e+02] [-2.20280226e-01 9.75436581e-01 -3.12510590e-04 -1.95683991e+01] [-1.68950891e-03 -6.11574974e-05 9.99998571e-01 -5.40590886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:-19.56, Z:-0.53 [[ 9.75445999e-01 2.20232472e-01 1.66149389e-03 1.96955923e+02] [-2.20232259e-01 9.75447412e-01 -3.12439813e-04 -1.95619554e+01] [-1.68950931e-03 -6.11463865e-05 9.99998571e-01 -5.33262363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:-19.56, Z:-0.53 [[ 9.75588995e-01 2.19598161e-01 1.66151039e-03 1.96984920e+02] [-2.19597947e-01 9.75590408e-01 -3.12352006e-04 -1.95618745e+01] [-1.68954553e-03 -6.01370915e-05 9.99998571e-01 -5.29177637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:-19.56, Z:-0.53 [[ 9.76026284e-01 2.17646348e-01 1.66152353e-03 1.97013029e+02] [-2.17646132e-01 9.76027696e-01 -3.12282103e-04 -1.95578044e+01] [-1.68966005e-03 -5.68286295e-05 9.99998571e-01 -5.30049934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:-19.56, Z:-0.53 [[ 9.76295516e-01 2.16435450e-01 1.66155942e-03 1.97041238e+02] [-2.16435232e-01 9.76296929e-01 -3.12091019e-04 -1.95582410e+01] [-1.68972292e-03 -5.49269377e-05 9.99998571e-01 -5.32214426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-19.56, Z:-0.53 [[ 9.76608141e-01 2.15020414e-01 1.66157893e-03 1.97069596e+02] [-2.15020195e-01 9.76609553e-01 -3.11987133e-04 -1.95581679e+01] [-1.68979746e-03 -5.25838511e-05 9.99998571e-01 -5.32907685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:-19.55, Z:-0.53 [[ 9.77225860e-01 2.12195329e-01 1.66159843e-03 1.97099153e+02] [-2.12195105e-01 9.77227271e-01 -3.11883271e-04 -1.95543190e+01] [-1.68993947e-03 -4.78026551e-05 9.99998571e-01 -5.33136763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-19.56, Z:-0.53 [[ 9.77635539e-01 2.10299768e-01 1.66161792e-03 1.97127097e+02] [-2.10299542e-01 9.77636950e-01 -3.11779383e-04 -1.95560876e+01] [-1.69002621e-03 -4.46308823e-05 9.99998571e-01 -5.32505018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:-19.56, Z:-0.54 [[ 9.78536498e-01 2.06066886e-01 1.66164081e-03 1.97155755e+02] [-2.06066654e-01 9.78537908e-01 -3.11657313e-04 -1.95568992e+01] [-1.69020078e-03 -3.74407075e-05 9.99998571e-01 -5.37134780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:-19.56, Z:-0.54 [[ 9.79082830e-01 2.03455278e-01 1.66165601e-03 1.97183808e+02] [-2.03455042e-01 9.79084240e-01 -3.11576261e-04 -1.95604211e+01] [-1.69029305e-03 -3.30133266e-05 9.99998571e-01 -5.38350093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:-19.56, Z:-0.54 [[ 9.79869982e-01 1.99629801e-01 1.66167542e-03 1.97212410e+02] [-1.99629560e-01 9.79871390e-01 -3.11472699e-04 -1.95641848e+01] [-1.69040744e-03 -2.65167860e-05 9.99998571e-01 -5.36302368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-19.57, Z:-0.53 [[ 9.80167175e-01 1.98165454e-01 1.66168837e-03 1.97240233e+02] [-1.98165211e-01 9.80168584e-01 -3.11403604e-04 -1.95692367e+01] [-1.69044418e-03 -2.40612365e-05 9.99998571e-01 -5.34667135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:-19.57, Z:-0.53 [[ 9.80437624e-01 1.96823029e-01 1.66170783e-03 1.97267754e+02] [-1.96822784e-01 9.80439032e-01 -3.11299761e-04 -1.95740073e+01] [-1.69047417e-03 -2.18519627e-05 9.99998571e-01 -5.32130015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.29, Y:-19.58, Z:-0.53 [[ 9.80753200e-01 1.95244461e-01 1.66173093e-03 1.97294345e+02] [-1.95244214e-01 9.80754608e-01 -3.11176379e-04 -1.95788187e+01] [-1.69050573e-03 -1.92561196e-05 9.99998571e-01 -5.31299744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:-19.58, Z:-0.53 [[ 9.80863945e-01 1.94687339e-01 1.66175391e-03 1.97320565e+02] [-1.94687091e-01 9.80865353e-01 -3.11053620e-04 -1.95842816e+01] [-1.69051504e-03 -1.84207537e-05 9.99998571e-01 -5.31143850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:-19.59, Z:-0.53 [[ 9.81174674e-01 1.93115246e-01 1.66177843e-03 1.97347709e+02] [-1.93114997e-01 9.81176081e-01 -3.10922551e-04 -1.95915332e+01] [-1.69054113e-03 -1.58450042e-05 9.99998571e-01 -5.31513627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:-19.60, Z:-0.53 [[ 9.81371412e-01 1.92112964e-01 1.66180080e-03 1.97373868e+02] [-1.92112713e-01 9.81372819e-01 -3.10802965e-04 -1.95976400e+01] [-1.69055541e-03 -1.42399154e-05 9.99998571e-01 -5.32627271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:-19.60, Z:-0.53 [[ 9.81711063e-01 1.90369710e-01 1.66182679e-03 1.97400869e+02] [-1.90369457e-01 9.81712470e-01 -3.10663909e-04 -1.96047739e+01] [-1.69057708e-03 -1.13788681e-05 9.99998571e-01 -5.33836981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-19.61, Z:-0.53 [[ 9.81868498e-01 1.89556036e-01 1.66184843e-03 1.97427662e+02] [-1.89555782e-01 9.81869904e-01 -3.10548138e-04 -1.96112623e+01] [-1.69058523e-03 -1.00955443e-05 9.99998571e-01 -5.33850428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:-19.62, Z:-0.53 [[ 9.82106070e-01 1.88321282e-01 1.66187045e-03 1.97455122e+02] [-1.88321026e-01 9.82107476e-01 -3.10430250e-04 -1.96179470e+01] [-1.69059602e-03 -8.08971520e-06 9.99998571e-01 -5.33074935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:-19.62, Z:-0.53 [[ 9.82313886e-01 1.87234261e-01 1.66189275e-03 1.97480988e+02] [-1.87234004e-01 9.82315291e-01 -3.10310808e-04 -1.96244221e+01] [-1.69060348e-03 -6.34021749e-06 9.99998571e-01 -5.32594965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:-19.63, Z:-0.53 [[ 9.82572967e-01 1.85869854e-01 1.66192436e-03 1.97507999e+02] [-1.85869595e-01 9.82574372e-01 -3.10141437e-04 -1.96309438e+01] [-1.69061023e-03 -4.16461622e-06 9.99998571e-01 -5.31638664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:-19.64, Z:-0.53 [[ 9.82430030e-01 1.86623887e-01 1.66194698e-03 1.97534275e+02] [-1.86623629e-01 9.82431435e-01 -3.10020147e-04 -1.96371276e+01] [-1.69060613e-03 -5.58547589e-06 9.99998571e-01 -5.34671708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:-19.64, Z:-0.54 [[ 9.82192747e-01 1.87868692e-01 1.66197933e-03 1.97561918e+02] [-1.87868437e-01 9.82194153e-01 -3.09846625e-04 -1.96432119e+01] [-1.69059687e-03 -7.90435237e-06 9.99998571e-01 -5.36090882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:-19.65, Z:-0.54 [[ 9.81889226e-01 1.89448635e-01 1.66200130e-03 1.97590249e+02] [-1.89448382e-01 9.81890633e-01 -3.09728752e-04 -1.96491910e+01] [-1.69058120e-03 -1.07441329e-05 9.99998571e-01 -5.38281933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:-19.65, Z:-0.54 [[ 9.81294571e-01 1.92505070e-01 1.66201591e-03 1.97618423e+02] [-1.92504822e-01 9.81295979e-01 -3.09650319e-04 -1.96538081e+01] [-1.69053879e-03 -1.60879008e-05 9.99998571e-01 -5.40454820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.65, Y:-19.66, Z:-0.54 [[ 9.81038506e-01 1.93805796e-01 1.66203050e-03 1.97646203e+02] [-1.93805550e-01 9.81039914e-01 -3.09572021e-04 -1.96584121e+01] [-1.69051511e-03 -1.84086620e-05 9.99998571e-01 -5.40404121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:-19.66, Z:-0.54 [[ 9.80426898e-01 1.96876448e-01 1.66205310e-03 1.97673903e+02] [-1.96876206e-01 9.80428306e-01 -3.09450610e-04 -1.96624791e+01] [-1.69044745e-03 -2.38250079e-05 9.99998571e-01 -5.38473133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:-19.67, Z:-0.54 [[ 9.80120897e-01 1.98394215e-01 1.66207187e-03 1.97701171e+02] [-1.98393976e-01 9.80122306e-01 -3.09349771e-04 -1.96659758e+01] [-1.69040692e-03 -2.65448718e-05 9.99998571e-01 -5.36779083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:-19.67, Z:-0.53 [[ 9.79780636e-01 2.00067846e-01 1.66209001e-03 1.97729324e+02] [-2.00067609e-01 9.79782045e-01 -3.09252274e-04 -1.96687206e+01] [-1.69035739e-03 -2.95309844e-05 9.99998571e-01 -5.34283658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:-19.67, Z:-0.53 [[ 9.79156682e-01 2.03099557e-01 1.66210788e-03 1.97758533e+02] [-2.03099324e-01 9.79158092e-01 -3.09156214e-04 -1.96686466e+01] [-1.69025587e-03 -3.48606149e-05 9.99998571e-01 -5.31151844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:-19.67, Z:-0.53 [[ 9.79125918e-01 2.03247813e-01 1.66212243e-03 1.97787049e+02] [-2.03247581e-01 9.79127328e-01 -3.09077965e-04 -1.96708171e+01] [-1.69024891e-03 -3.51961172e-05 9.99998571e-01 -5.30665755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:-19.67, Z:-0.53 [[ 9.79281425e-01 2.02497229e-01 1.66214453e-03 1.97815348e+02] [-2.02496996e-01 9.79282835e-01 -3.08959050e-04 -1.96685060e+01] [-1.69027296e-03 -3.40214168e-05 9.99998571e-01 -5.31727306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:-19.67, Z:-0.53 [[ 9.79501443e-01 2.01430285e-01 1.66217016e-03 1.97842356e+02] [-2.01430051e-01 9.79502853e-01 -3.08821099e-04 -1.96693696e+01] [-1.69030634e-03 -3.23203094e-05 9.99998571e-01 -5.33889554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:-19.67, Z:-0.53 [[ 9.79854503e-01 1.99705758e-01 1.66219183e-03 1.97870520e+02] [-1.99705522e-01 9.79855913e-01 -3.08704452e-04 -1.96706776e+01] [-1.69035855e-03 -2.94634387e-05 9.99998571e-01 -5.34883127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:-19.67, Z:-0.53 [[ 9.80657871e-01 1.95722705e-01 1.66221363e-03 1.97898548e+02] [-1.95722463e-01 9.80659279e-01 -3.08586989e-04 -1.96702531e+01] [-1.69046271e-03 -2.27142874e-05 9.99998571e-01 -5.34864813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:-19.67, Z:-0.53 [[ 9.81134773e-01 1.93317856e-01 1.66223897e-03 1.97926952e+02] [-1.93317610e-01 9.81136181e-01 -3.08450440e-04 -1.96732187e+01] [-1.69051178e-03 -1.87086136e-05 9.99998571e-01 -5.34343162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:-19.67, Z:-0.53 [[ 9.82228466e-01 1.87681854e-01 1.66226073e-03 1.97954423e+02] [-1.87681601e-01 9.82229872e-01 -3.08333160e-04 -1.96736718e+01] [-1.69059068e-03 -9.12214769e-06 9.99998571e-01 -5.33619171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:-19.68, Z:-0.53 [[ 9.82813913e-01 1.84591572e-01 1.66229985e-03 1.97982301e+02] [-1.84591315e-01 9.82815319e-01 -3.08122108e-04 -1.96773800e+01] [-1.69061050e-03 -4.01942057e-06 9.99998571e-01 -5.33440314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.01, Y:-19.68, Z:-0.53 [[ 9.83452555e-01 1.81158244e-01 1.66232139e-03 1.98009298e+02] [-1.81157982e-01 9.83453960e-01 -3.08005860e-04 -1.96813291e+01] [-1.69061435e-03 1.76636193e-06 9.99998571e-01 -5.34119360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:-19.69, Z:-0.54 [[ 9.84667558e-01 1.74433477e-01 1.66234640e-03 1.98037498e+02] [-1.74433205e-01 9.84668961e-01 -3.07870793e-04 -1.96867575e+01] [-1.69056388e-03 1.31819704e-05 9.99998571e-01 -5.36487621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:-19.69, Z:-0.54 [[ 9.85228088e-01 1.71239162e-01 1.66236048e-03 1.98064617e+02] [-1.71238887e-01 9.85229491e-01 -3.07794738e-04 -1.96934155e+01] [-1.69051309e-03 1.85872624e-05 9.99998571e-01 -5.35841291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:-19.70, Z:-0.53 [[ 9.86161629e-01 1.65778401e-01 1.66238144e-03 1.98091357e+02] [-1.65778118e-01 9.86163030e-01 -3.07681517e-04 -1.97032841e+01] [-1.69038607e-03 2.78372395e-05 9.99998571e-01 -5.31909438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:198.12, Y:-19.71, Z:-0.53 [[ 9.86532473e-01 1.63557076e-01 1.66239878e-03 1.98118007e+02] [-1.63556789e-01 9.86533873e-01 -3.07587808e-04 -1.97104003e+01] [-1.69032087e-03 3.15487543e-05 9.99998571e-01 -5.31102947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:-19.72, Z:-0.53 [[ 9.86792719e-01 1.61979522e-01 1.66241934e-03 1.98145341e+02] [-1.61979234e-01 9.86794119e-01 -3.07476640e-04 -1.97178656e+01] [-1.69027055e-03 3.41382988e-05 9.99998571e-01 -5.31124947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:-19.73, Z:-0.53 [[ 9.86983074e-01 1.60815571e-01 1.66243982e-03 1.98171107e+02] [-1.60815281e-01 9.86984474e-01 -3.07365877e-04 -1.97290221e+01] [-1.69023151e-03 3.60191913e-05 9.99998571e-01 -5.31035600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:-19.74, Z:-0.53 [[ 9.86951715e-01 1.61007916e-01 1.66246919e-03 1.98198085e+02] [-1.61007626e-01 9.86953114e-01 -3.07206924e-04 -1.97376387e+01] [-1.69024189e-03 3.55281817e-05 9.99998571e-01 -5.31960617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:-19.75, Z:-0.54 [[ 9.86819661e-01 1.61815305e-01 1.66248947e-03 1.98225892e+02] [-1.61815017e-01 9.86821061e-01 -3.07097117e-04 -1.97485266e+01] [-1.69027264e-03 3.40337108e-05 9.99998571e-01 -5.38249677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-19.76, Z:-0.54 [[ 9.86646541e-01 1.62867549e-01 1.66249958e-03 1.98253523e+02] [-1.62867262e-01 9.86647942e-01 -3.07042418e-04 -1.97560006e+01] [-1.69030903e-03 3.21755852e-05 9.99998571e-01 -5.40311696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:-19.76, Z:-0.54 [[ 9.86348076e-01 1.64665447e-01 1.66251305e-03 1.98279472e+02] [-1.64665163e-01 9.86349477e-01 -3.06969441e-04 -1.97627938e+01] [-1.69036614e-03 2.90207351e-05 9.99998571e-01 -5.39887320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:-19.77, Z:-0.54 [[ 9.85420852e-01 1.70126367e-01 1.66253650e-03 1.98307859e+02] [-1.70126092e-01 9.85422254e-01 -3.06842401e-04 -1.97698333e+01] [-1.69050245e-03 1.95280634e-05 9.99998571e-01 -5.35523545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:-19.77, Z:-0.53 [[ 9.84925569e-01 1.72970687e-01 1.66254983e-03 1.98335592e+02] [-1.72970416e-01 9.84926972e-01 -3.06770149e-04 -1.97748905e+01] [-1.69055241e-03 1.45738283e-05 9.99998571e-01 -5.34886904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:-19.78, Z:-0.53 [[ 9.84217532e-01 1.76955040e-01 1.66256979e-03 1.98363008e+02] [-1.76954775e-01 9.84218936e-01 -3.06661947e-04 -1.97807248e+01] [-1.69059804e-03 7.62240267e-06 9.99998571e-01 -5.34567748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:-19.79, Z:-0.53 [[ 9.84131449e-01 1.77433160e-01 1.66258633e-03 1.98390793e+02] [-1.77432895e-01 9.84132854e-01 -3.06572251e-04 -1.97861769e+01] [-1.69060191e-03 6.70988854e-06 9.99998571e-01 -5.33949697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:-19.79, Z:-0.53 [[ 9.84134414e-01 1.77416714e-01 1.66261926e-03 1.98417500e+02] [-1.77416450e-01 9.84135819e-01 -3.06393529e-04 -1.97916365e+01] [-1.69060250e-03 6.55640944e-06 9.99998571e-01 -5.33245087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:-19.80, Z:-0.54 [[ 9.84408901e-01 1.75887323e-01 1.66265129e-03 1.98445753e+02] [-1.75887056e-01 9.84410306e-01 -3.06219647e-04 -1.97977231e+01] [-1.69059122e-03 9.00650529e-06 9.99998571e-01 -5.35623797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:-19.80, Z:-0.54 [[ 9.84420182e-01 1.75824178e-01 1.66266438e-03 1.98473803e+02] [-1.75823912e-01 9.84421586e-01 -3.06148552e-04 -1.98027398e+01] [-1.69059102e-03 9.04265882e-06 9.99998571e-01 -5.35671970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.50, Y:-19.81, Z:-0.53 [[ 9.84816277e-01 1.73591868e-01 1.66268401e-03 1.98501743e+02] [-1.73591599e-01 9.84817680e-01 -3.06041900e-04 -1.98116895e+01] [-1.69056699e-03 1.27670685e-05 9.99998571e-01 -5.34213053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:-19.82, Z:-0.53 [[ 9.85021199e-01 1.72425266e-01 1.66269915e-03 1.98529079e+02] [-1.72424996e-01 9.85022602e-01 -3.05959630e-04 -1.98194515e+01] [-1.69055141e-03 1.46858281e-05 9.99998571e-01 -5.32457223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:-19.83, Z:-0.53 [[ 9.85203327e-01 1.71381561e-01 1.66271794e-03 1.98556645e+02] [-1.71381289e-01 9.85204730e-01 -3.05857454e-04 -1.98270451e+01] [-1.69053591e-03 1.63730368e-05 9.99998571e-01 -5.30329573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:-19.84, Z:-0.53 [[ 9.85310745e-01 1.70762907e-01 1.66273251e-03 1.98583062e+02] [-1.70762634e-01 9.85312148e-01 -3.05778268e-04 -1.98370297e+01] [-1.69052612e-03 1.73540307e-05 9.99998571e-01 -5.31259997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:-19.85, Z:-0.53 [[ 9.85279511e-01 1.70943031e-01 1.66275197e-03 1.98611233e+02] [-1.70942759e-01 9.85280914e-01 -3.05672381e-04 -1.98453915e+01] [-1.69053035e-03 1.69373249e-05 9.99998571e-01 -5.33825934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:-19.86, Z:-0.54 [[ 9.84964991e-01 1.72746062e-01 1.66276632e-03 1.98638730e+02] [-1.72745793e-01 9.84966394e-01 -3.05594334e-04 -1.98570060e+01] [-1.69055916e-03 1.37638352e-05 9.99998571e-01 -5.36458873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:-19.86, Z:-0.54 [[ 9.84653087e-01 1.74515139e-01 1.66278067e-03 1.98666545e+02] [-1.74514872e-01 9.84654491e-01 -3.05516195e-04 -1.98648119e+01] [-1.69058166e-03 1.06475082e-05 9.99998571e-01 -5.36266549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-19.87, Z:-0.54 [[ 9.84250071e-01 1.76773962e-01 1.66279504e-03 1.98692561e+02] [-1.76773698e-01 9.84251475e-01 -3.05437958e-04 -1.98725321e+01] [-1.69060195e-03 6.68890296e-06 9.99998571e-01 -5.35765496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:-19.88, Z:-0.53 [[ 9.83640002e-01 1.80137672e-01 1.66326827e-03 1.98720615e+02] [-1.80137417e-01 9.83641408e-01 -3.02861503e-04 -1.98826325e+01] [-1.69061631e-03 -1.71016093e-06 9.99998571e-01 -5.34489991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:-19.89, Z:-0.53 [[ 9.83242356e-01 1.82295654e-01 1.66278301e-03 1.98749015e+02] [-1.82295398e-01 9.83243762e-01 -3.05502645e-04 -1.98888528e+01] [-1.69061283e-03 -2.73455050e-06 9.99998571e-01 -5.34396306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:-19.89, Z:-0.54 [[ 9.82339489e-01 1.87099875e-01 1.66279764e-03 1.98775936e+02] [-1.87099626e-01 9.82340896e-01 -3.05423021e-04 -1.98948931e+01] [-1.69057873e-03 -1.10797224e-05 9.99998571e-01 -5.36953086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:-19.90, Z:-0.54 [[ 9.81927951e-01 1.89247814e-01 1.66281584e-03 1.98804534e+02] [-1.89247568e-01 9.81929358e-01 -3.05323882e-04 -1.99012560e+01] [-1.69054957e-03 -1.48778003e-05 9.99998571e-01 -5.37728427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:-19.91, Z:-0.54 [[ 9.81659968e-01 1.90633006e-01 1.66283014e-03 1.98832392e+02] [-1.90632762e-01 9.81661376e-01 -3.05246021e-04 -1.99073353e+01] [-1.69052608e-03 -1.73421029e-05 9.99998571e-01 -5.38713988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:-19.91, Z:-0.54 [[ 9.81510371e-01 1.91401744e-01 1.66284460e-03 1.98859893e+02] [-1.91401501e-01 9.81511779e-01 -3.05167193e-04 -1.99141292e+01] [-1.69051110e-03 -1.87461884e-05 9.99998571e-01 -5.40516739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:-19.92, Z:-0.54 [[ 9.81534455e-01 1.91278196e-01 1.66286260e-03 1.98888131e+02] [-1.91277954e-01 9.81535863e-01 -3.05069069e-04 -1.99198783e+01] [-1.69051234e-03 -1.86331541e-05 9.99998571e-01 -5.41192635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:-19.93, Z:-0.54 [[ 9.81663609e-01 1.90614254e-01 1.66287652e-03 1.98916343e+02] [-1.90614010e-01 9.81665017e-01 -3.04993174e-04 -1.99276560e+01] [-1.69052376e-03 -1.75668637e-05 9.99998571e-01 -5.43219805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:-19.93, Z:-0.54 [[ 9.81680422e-01 1.90527646e-01 1.66288711e-03 1.98944662e+02] [-1.90527402e-01 9.81681830e-01 -3.04935467e-04 -1.99341578e+01] [-1.69052469e-03 -1.74763828e-05 9.99998571e-01 -5.43009219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:-19.94, Z:-0.54 [[ 9.81583782e-01 1.91024905e-01 1.66290136e-03 1.98972801e+02] [-1.91024663e-01 9.81585190e-01 -3.04857736e-04 -1.99395354e+01] [-1.69051476e-03 -1.84117621e-05 9.99998571e-01 -5.40647322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:-19.94, Z:-0.54 [[ 9.80971757e-01 1.94143367e-01 1.66291574e-03 1.99001851e+02] [-1.94143129e-01 9.80973166e-01 -3.04779282e-04 -1.99424076e+01] [-1.69044659e-03 -2.38637966e-05 9.99998571e-01 -5.36702308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:-19.95, Z:-0.54 [[ 9.80512953e-01 1.96447408e-01 1.66293011e-03 1.99029880e+02] [-1.96447173e-01 9.80514363e-01 -3.04700854e-04 -1.99462742e+01] [-1.69038455e-03 -2.79147844e-05 9.99998571e-01 -5.35498883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:-19.95, Z:-0.53 [[ 9.79987731e-01 1.99050953e-01 1.66294794e-03 1.99057667e+02] [-1.99050722e-01 9.79989141e-01 -3.04603515e-04 -1.99484719e+01] [-1.69030254e-03 -3.25032797e-05 9.99998571e-01 -5.31972030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:-19.95, Z:-0.53 [[ 9.79913583e-01 1.99415658e-01 1.66296557e-03 1.99085477e+02] [-1.99415429e-01 9.79914993e-01 -3.04507235e-04 -1.99513192e+01] [-1.69028840e-03 -3.32302151e-05 9.99998571e-01 -5.29566896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.11, Y:-19.95, Z:-0.53 [[ 9.79906241e-01 1.99451731e-01 1.66298677e-03 1.99113043e+02] [-1.99451502e-01 9.79907652e-01 -3.04391361e-04 -1.99541419e+01] [-1.69028485e-03 -3.34102148e-05 9.99998571e-01 -5.28520438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:-19.96, Z:-0.53 [[ 9.80227483e-01 1.97866914e-01 1.66300853e-03 1.99140159e+02] [-1.97866683e-01 9.80228893e-01 -3.04272459e-04 -1.99563954e+01] [-1.69033446e-03 -3.07977544e-05 9.99998571e-01 -5.32736159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-19.96, Z:-0.54 [[ 9.80690684e-01 1.95558217e-01 1.66303374e-03 1.99168726e+02] [-1.95557983e-01 9.80692094e-01 -3.04134609e-04 -1.99610178e+01] [-1.69040006e-03 -2.69575456e-05 9.99998571e-01 -5.35312889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:-19.97, Z:-0.54 [[ 9.81970381e-01 1.89027525e-01 1.66304758e-03 1.99197186e+02] [-1.89027281e-01 9.81971789e-01 -3.04058899e-04 -1.99670139e+01] [-1.69054131e-03 -1.57845301e-05 9.99998571e-01 -5.35525145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:-19.97, Z:-0.53 [[ 9.82700541e-01 1.85194173e-01 1.66306187e-03 1.99223924e+02] [-1.85193924e-01 9.82701948e-01 -3.03980741e-04 -1.99729655e+01] [-1.69058960e-03 -9.26691419e-06 9.99998571e-01 -5.34090566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:-19.98, Z:-0.53 [[ 9.83435309e-01 1.81251834e-01 1.66307971e-03 1.99252202e+02] [-1.81251579e-01 9.83436715e-01 -3.03883099e-04 -1.99796532e+01] [-1.69061302e-03 -2.58645374e-06 9.99998571e-01 -5.32756405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:-19.99, Z:-0.53 [[ 9.84352309e-01 1.76203764e-01 1.66309412e-03 1.99278453e+02] [-1.76203502e-01 9.84353714e-01 -3.03804232e-04 -1.99883127e+01] [-1.69060432e-03 6.00739001e-06 9.99998571e-01 -5.34879851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:-19.99, Z:-0.54 [[ 9.84461292e-01 1.75593847e-01 1.66311208e-03 1.99305987e+02] [-1.75593584e-01 9.84462697e-01 -3.03705855e-04 -1.99945550e+01] [-1.69060068e-03 6.95484687e-06 9.99998571e-01 -5.37474006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:-20.00, Z:-0.54 [[ 9.84197223e-01 1.77067952e-01 1.66312989e-03 1.99334668e+02] [-1.77067692e-01 9.84198629e-01 -3.03608298e-04 -1.99998443e+01] [-1.69060946e-03 4.32387315e-06 9.99998571e-01 -5.40406437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-20.00, Z:-0.54 [[ 9.83849628e-01 1.78989227e-01 1.66314415e-03 1.99363012e+02] [-1.78988969e-01 9.83851034e-01 -3.03530185e-04 -2.00049074e+01] [-1.69061472e-03 9.43602703e-07 9.99998571e-01 -5.40208642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-20.01, Z:-0.54 [[ 9.82993204e-01 1.83634405e-01 1.66315848e-03 1.99390664e+02] [-1.83634154e-01 9.82994611e-01 -3.03451600e-04 -2.00080890e+01] [-1.69059998e-03 -7.12184092e-06 9.99998571e-01 -5.40079855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:-20.01, Z:-0.54 [[ 9.82550386e-01 1.85989173e-01 1.66317631e-03 1.99419260e+02] [-1.85988926e-01 9.82551794e-01 -3.03353891e-04 -2.00114157e+01] [-1.69057740e-03 -1.12718915e-05 9.99998571e-01 -5.39505663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-20.01, Z:-0.54 [[ 9.82114397e-01 1.88277841e-01 1.66319100e-03 1.99448444e+02] [-1.88277597e-01 9.82115805e-01 -3.03273296e-04 -2.00142532e+01] [-1.69054581e-03 -1.52925355e-05 9.99998571e-01 -5.40092855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:-20.02, Z:-0.54 [[ 9.81709825e-01 1.90376085e-01 1.66320564e-03 1.99476616e+02] [-1.90375845e-01 9.81711233e-01 -3.03192997e-04 -2.00166742e+01] [-1.69050836e-03 -1.89866348e-05 9.99998571e-01 -5.42376305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:-20.02, Z:-0.54 [[ 9.81093371e-01 1.93527855e-01 1.66322374e-03 1.99504634e+02] [-1.93527619e-01 9.81094781e-01 -3.03093653e-04 -2.00164145e+01] [-1.69043720e-03 -2.45165574e-05 9.99998571e-01 -5.41467326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-20.02, Z:-0.54 [[ 9.80889878e-01 1.94556626e-01 1.66324521e-03 1.99533359e+02] [-1.94556392e-01 9.80891288e-01 -3.02975807e-04 -2.00189538e+01] [-1.69040869e-03 -2.64090851e-05 9.99998571e-01 -5.39573074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-20.02, Z:-0.53 [[ 9.80763854e-01 1.95190922e-01 1.66325952e-03 1.99562640e+02] [-1.95190689e-01 9.80765264e-01 -3.02897244e-04 -2.00182810e+01] [-1.69038995e-03 -2.75821025e-05 9.99998571e-01 -5.34718559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-20.02, Z:-0.54 [[ 9.80882776e-01 1.94592428e-01 1.66327376e-03 1.99590164e+02] [-1.94592194e-01 9.80884186e-01 -3.02819006e-04 -2.00204321e+01] [-1.69040522e-03 -2.66301429e-05 9.99998571e-01 -5.35331346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:-20.02, Z:-0.54 [[ 9.81051102e-01 1.93742017e-01 1.66330326e-03 1.99618991e+02] [-1.93741782e-01 9.81052511e-01 -3.02656902e-04 -2.00233084e+01] [-1.69042520e-03 -2.53294509e-05 9.99998571e-01 -5.37523413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:-20.02, Z:-0.54 [[ 9.81444621e-01 1.91738598e-01 1.66331751e-03 1.99647343e+02] [-1.91738360e-01 9.81446030e-01 -3.02578548e-04 -2.00244782e+01] [-1.69047236e-03 -2.19576835e-05 9.99998571e-01 -5.40205013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-20.03, Z:-0.54 [[ 9.81638594e-01 1.90743034e-01 1.66334105e-03 1.99673889e+02] [-1.90742795e-01 9.81640003e-01 -3.02449110e-04 -2.00276940e+01] [-1.69049217e-03 -2.03746020e-05 9.99998571e-01 -5.39185420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:-20.03, Z:-0.53 [[ 9.81976391e-01 1.88996297e-01 1.66337577e-03 1.99702893e+02] [-1.88996057e-01 9.81977800e-01 -3.02258033e-04 -2.00315558e+01] [-1.69052373e-03 -1.75612086e-05 9.99998571e-01 -5.34268542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:-20.04, Z:-0.53 [[ 9.82183137e-01 1.87918913e-01 1.66338979e-03 1.99730056e+02] [-1.87918671e-01 9.82184546e-01 -3.02180835e-04 -2.00363653e+01] [-1.69054124e-03 -1.57850787e-05 9.99998571e-01 -5.32948263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:-20.04, Z:-0.53 [[ 9.82356015e-01 1.87013082e-01 1.66341079e-03 1.99757976e+02] [-1.87012839e-01 9.82357423e-01 -3.02065232e-04 -2.00420886e+01] [-1.69055408e-03 -1.43435756e-05 9.99998571e-01 -5.33196766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:-20.05, Z:-0.54 [[ 9.82605620e-01 1.85697142e-01 1.66344592e-03 1.99784759e+02] [-1.85696897e-01 9.82607028e-01 -3.01871635e-04 -2.00485490e+01] [-1.69057035e-03 -1.22759809e-05 9.99998571e-01 -5.36902219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:-20.05, Z:-0.54 [[ 9.82685201e-01 1.85275550e-01 1.66346938e-03 1.99811259e+02] [-1.85275304e-01 9.82686609e-01 -3.01742304e-04 -2.00541892e+01] [-1.69057455e-03 -1.16820993e-05 9.99998571e-01 -5.37789975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:-20.06, Z:-0.54 [[ 9.82848332e-01 1.84408214e-01 1.66349356e-03 1.99838413e+02] [-1.84407967e-01 9.82849740e-01 -3.01608954e-04 -2.00611091e+01] [-1.69058338e-03 -1.03256085e-05 9.99998571e-01 -5.36450150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:-20.07, Z:-0.54 [[ 9.83018728e-01 1.83497722e-01 1.66351475e-03 1.99865861e+02] [-1.83497474e-01 9.83020135e-01 -3.01492030e-04 -2.00674381e+01] [-1.69059159e-03 -8.87844268e-06 9.99998571e-01 -5.35619022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-20.07, Z:-0.54 [[ 9.83193065e-01 1.82561302e-01 1.66353596e-03 1.99892436e+02] [-1.82561053e-01 9.83194473e-01 -3.01374935e-04 -2.00735542e+01] [-1.69059876e-03 -7.38713124e-06 9.99998571e-01 -5.35134389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:-20.08, Z:-0.53 [[ 9.83337721e-01 1.81780524e-01 1.66356052e-03 1.99919690e+02] [-1.81780274e-01 9.83339128e-01 -3.01239288e-04 -2.00811717e+01] [-1.69060359e-03 -6.18253305e-06 9.99998571e-01 -5.34181406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-20.09, Z:-0.54 [[ 9.83237299e-01 1.82322920e-01 1.66358159e-03 1.99947361e+02] [-1.82322672e-01 9.83238706e-01 -3.01122920e-04 -2.00870307e+01] [-1.69059942e-03 -7.23335320e-06 9.99998571e-01 -5.35089184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-20.09, Z:-0.54 [[ 9.82820495e-01 1.84556517e-01 1.66360306e-03 1.99975051e+02] [-1.84556272e-01 9.82821902e-01 -3.01004266e-04 -2.00923466e+01] [-1.69057782e-03 -1.11952164e-05 9.99998571e-01 -5.38085686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-20.10, Z:-0.54 [[ 9.82535082e-01 1.86069999e-01 1.66362087e-03 2.00003132e+02] [-1.86069756e-01 9.82536491e-01 -3.00905797e-04 -2.00967190e+01] [-1.69055775e-03 -1.38990266e-05 9.99998571e-01 -5.38366378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:-20.10, Z:-0.54 [[ 9.82150414e-01 1.88089861e-01 1.66364218e-03 2.00029818e+02] [-1.88089621e-01 9.82151823e-01 -3.00787915e-04 -2.01002275e+01] [-1.69052436e-03 -1.74948528e-05 9.99998571e-01 -5.39386971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-20.10, Z:-0.54 [[ 9.81249712e-01 1.92733587e-01 1.66367322e-03 2.00058388e+02] [-1.92733355e-01 9.81251122e-01 -3.00616147e-04 -2.01017601e+01] [-1.69042004e-03 -2.56658130e-05 9.99998571e-01 -5.40103679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:-20.10, Z:-0.54 [[ 9.80710980e-01 1.95456402e-01 1.66368795e-03 2.00086876e+02] [-1.95456174e-01 9.80712391e-01 -3.00534598e-04 -2.01013270e+01] [-1.69034080e-03 -3.04405004e-05 9.99998571e-01 -5.44285704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:-20.10, Z:-0.54 [[ 9.80747108e-01 1.95275040e-01 1.66370624e-03 2.00115215e+02] [-1.95274812e-01 9.80748519e-01 -3.00433313e-04 -2.01038861e+01] [-1.69034456e-03 -3.02308199e-05 9.99998571e-01 -5.42720775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:-20.11, Z:-0.54 [[ 9.81043045e-01 1.93782804e-01 1.66372810e-03 2.00143337e+02] [-1.93782573e-01 9.81044456e-01 -3.00312187e-04 -2.01069898e+01] [-1.69038657e-03 -2.77823296e-05 9.99998571e-01 -5.42850790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:-20.11, Z:-0.54 [[ 9.81510063e-01 1.91403312e-01 1.66375305e-03 2.00171602e+02] [-1.91403078e-01 9.81511473e-01 -3.00173891e-04 -2.01113050e+01] [-1.69044699e-03 -2.38237619e-05 9.99998571e-01 -5.41473069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:-20.12, Z:-0.54 [[ 9.82791851e-01 1.84708987e-01 1.66376745e-03 2.00199496e+02] [-1.84708744e-01 9.82793259e-01 -3.00094103e-04 -2.01150847e+01] [-1.69056951e-03 -1.23823564e-05 9.99998571e-01 -5.40185695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:-20.12, Z:-0.54 [[ 9.83466275e-01 1.81083732e-01 1.66378533e-03 2.00227635e+02] [-1.81083484e-01 9.83467682e-01 -2.99994934e-04 -2.01194963e+01] [-1.69060330e-03 -6.24914333e-06 9.99998571e-01 -5.40471713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:-20.12, Z:-0.54 [[ 9.83479343e-01 1.81012745e-01 1.66380695e-03 2.00255703e+02] [-1.81012496e-01 9.83480750e-01 -2.99874984e-04 -2.01244163e+01] [-1.69060330e-03 -6.24899670e-06 9.99998571e-01 -5.40519885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:-20.13, Z:-0.54 [[ 9.84461072e-01 1.75595070e-01 1.66382858e-03 2.00284198e+02] [-1.75594814e-01 9.84462478e-01 -2.99754887e-04 -2.01305905e+01] [-1.69061229e-03 2.93734725e-06 9.99998571e-01 -5.38603560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:-20.14, Z:-0.54 [[ 9.84713411e-01 1.74174423e-01 1.66384304e-03 2.00311345e+02] [-1.74174165e-01 9.84714817e-01 -2.99674632e-04 -2.01377916e+01] [-1.69060655e-03 5.29515634e-06 9.99998571e-01 -5.37731249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:-20.15, Z:-0.54 [[ 9.84907637e-01 1.73072752e-01 1.66386093e-03 2.00338610e+02] [-1.73072493e-01 9.84909043e-01 -2.99575250e-04 -2.01454433e+01] [-1.69059999e-03 7.08539208e-06 9.99998571e-01 -5.37818943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:-20.15, Z:-0.54 [[ 9.85226937e-01 1.71245769e-01 1.66387858e-03 2.00365430e+02] [-1.71245508e-01 9.85228342e-01 -2.99477182e-04 -2.01549979e+01] [-1.69058454e-03 1.01212538e-05 9.99998571e-01 -5.39811443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:-20.16, Z:-0.54 [[ 9.85269439e-01 1.71001066e-01 1.66389604e-03 2.00392974e+02] [-1.71000804e-01 9.85270844e-01 -2.99380128e-04 -2.01623323e+01] [-1.69058258e-03 1.04425293e-05 9.99998571e-01 -5.40137232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:-20.17, Z:-0.54 [[ 9.85053689e-01 1.72239547e-01 1.66391012e-03 2.00420547e+02] [-1.72239287e-01 9.85055094e-01 -2.99301882e-04 -2.01723151e+01] [-1.69059476e-03 8.23773013e-06 9.99998571e-01 -5.39846380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:-20.18, Z:-0.54 [[ 9.84838828e-01 1.73463871e-01 1.66392436e-03 2.00447974e+02] [-1.73463613e-01 9.84840233e-01 -2.99222694e-04 -2.01789061e+01] [-1.69060398e-03 6.05579572e-06 9.99998571e-01 -5.39603845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:-20.19, Z:-0.54 [[ 9.84535984e-01 1.75174563e-01 1.66394351e-03 2.00475767e+02] [-1.75174308e-01 9.84537390e-01 -2.99116185e-04 -2.01850245e+01] [-1.69061214e-03 3.01049523e-06 9.99998571e-01 -5.37425778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:-20.19, Z:-0.53 [[ 9.83878000e-01 1.78833195e-01 1.66395724e-03 2.00504080e+02] [-1.78832945e-01 9.83879407e-01 -2.99039748e-04 -2.01892791e+01] [-1.69061150e-03 -3.35174502e-06 9.99998571e-01 -5.34525053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:-20.19, Z:-0.54 [[ 9.83628951e-01 1.80197999e-01 1.66397141e-03 2.00531196e+02] [-1.80197751e-01 9.83630358e-01 -2.98960911e-04 -2.01933732e+01] [-1.69060495e-03 -5.77729820e-06 9.99998571e-01 -5.36481822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:-20.20, Z:-0.54 [[ 9.83388153e-01 1.81507500e-01 1.66398903e-03 2.00560129e+02] [-1.81507254e-01 9.83389560e-01 -2.98862809e-04 -2.01978347e+01] [-1.69059528e-03 -8.12793297e-06 9.99998571e-01 -5.39361243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:-20.20, Z:-0.54 [[ 9.83378698e-01 1.81558714e-01 1.66400313e-03 2.00588044e+02] [-1.81558468e-01 9.83380106e-01 -2.98784277e-04 -2.02026240e+01] [-1.69059446e-03 -8.29576561e-06 9.99998571e-01 -5.39450023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.62, Y:-20.21, Z:-0.54 [[ 9.83441181e-01 1.81219960e-01 1.66402203e-03 2.00616336e+02] [-1.81219714e-01 9.83442589e-01 -2.98678990e-04 -2.02064942e+01] [-1.69059672e-03 -7.82037638e-06 9.99998571e-01 -5.37931818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:-20.21, Z:-0.54 [[ 9.83561579e-01 1.80565363e-01 1.66403569e-03 2.00643818e+02] [-1.80565117e-01 9.83562987e-01 -2.98602838e-04 -2.02100448e+01] [-1.69060125e-03 -6.77251995e-06 9.99998571e-01 -5.37274819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:-20.21, Z:-0.54 [[ 9.83696004e-01 1.79831594e-01 1.66405681e-03 2.00671695e+02] [-1.79831346e-01 9.83697412e-01 -2.98485106e-04 -2.02141468e+01] [-1.69060543e-03 -5.63096985e-06 9.99998571e-01 -5.36908821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:-20.22, Z:-0.54 [[ 9.84039960e-01 1.77939841e-01 1.66407794e-03 2.00700167e+02] [-1.77939591e-01 9.84041367e-01 -2.98367233e-04 -2.02197525e+01] [-1.69061295e-03 -2.50006839e-06 9.99998571e-01 -5.38704125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:-20.23, Z:-0.54 [[ 9.84281784e-01 1.76597285e-01 1.66409211e-03 2.00728047e+02] [-1.76597033e-01 9.84283190e-01 -2.98288225e-04 -2.02258099e+01] [-1.69061478e-03 -2.74062125e-07 9.99998571e-01 -5.40894497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:-20.23, Z:-0.54 [[ 9.84498364e-01 1.75385864e-01 1.66410622e-03 2.00755113e+02] [-1.75385611e-01 9.84499771e-01 -2.98209475e-04 -2.02318229e+01] [-1.69061392e-03 1.72645514e-06 9.99998571e-01 -5.43415440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.78, Y:-20.24, Z:-0.54 [[ 9.84720083e-01 1.74136693e-01 1.66412377e-03 2.00783130e+02] [-1.74136438e-01 9.84721490e-01 -2.98111481e-04 -2.02390858e+01] [-1.69061059e-03 3.77177585e-06 9.99998571e-01 -5.44869883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:-20.25, Z:-0.54 [[ 9.84652627e-01 1.74517721e-01 1.66413774e-03 2.00811613e+02] [-1.74517467e-01 9.84654033e-01 -2.98033505e-04 -2.02452155e+01] [-1.69061206e-03 3.03837054e-06 9.99998571e-01 -5.43041425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:-20.25, Z:-0.54 [[ 9.84360286e-01 1.76159182e-01 1.66415175e-03 2.00839014e+02] [-1.76158930e-01 9.84361693e-01 -2.97955226e-04 -2.02495743e+01] [-1.69061479e-03 1.40098405e-07 9.99998571e-01 -5.40420993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:-20.25, Z:-0.54 [[ 9.84133717e-01 1.77420565e-01 1.66417095e-03 2.00867564e+02] [-1.77420315e-01 9.84135124e-01 -2.97847983e-04 -2.02536164e+01] [-1.69061344e-03 -2.13549081e-06 9.99998571e-01 -5.40109809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.90, Y:-20.26, Z:-0.54 [[ 9.83912155e-01 1.78645182e-01 1.66418479e-03 2.00896402e+02] [-1.78644934e-01 9.83913563e-01 -2.97770607e-04 -2.02576475e+01] [-1.69060927e-03 -4.31806260e-06 9.99998571e-01 -5.40216359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-20.26, Z:-0.54 [[ 9.83625759e-01 1.80215415e-01 1.66419863e-03 2.00925002e+02] [-1.80215169e-01 9.83627167e-01 -2.97693256e-04 -2.02624773e+01] [-1.69059990e-03 -7.09508237e-06 9.99998571e-01 -5.40266015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:-20.27, Z:-0.54 [[ 9.83703180e-01 1.79792336e-01 1.66421276e-03 2.00953279e+02] [-1.79792089e-01 9.83704588e-01 -2.97614215e-04 -2.02678782e+01] [-1.69060249e-03 -6.44824034e-06 9.99998571e-01 -5.40400294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:-20.27, Z:-0.54 [[ 9.83876174e-01 1.78843239e-01 1.66422690e-03 2.00981825e+02] [-1.78842992e-01 9.83877582e-01 -2.97535156e-04 -2.02736580e+01] [-1.69060769e-03 -4.89756603e-06 9.99998571e-01 -5.40891240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:-20.28, Z:-0.54 [[ 9.84273929e-01 1.76641058e-01 1.66424109e-03 2.01009563e+02] [-1.76640808e-01 9.84275336e-01 -2.97455737e-04 -2.02797195e+01] [-1.69061436e-03 -1.19496436e-06 9.99998571e-01 -5.38312895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:-20.28, Z:-0.54 [[ 9.84372287e-01 1.76092107e-01 1.66425558e-03 2.01036927e+02] [-1.76091856e-01 9.84373694e-01 -2.97374640e-04 -2.02849014e+01] [-1.69061474e-03 -3.34500789e-07 9.99998571e-01 -5.36417245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:-20.29, Z:-0.53 [[ 9.84373700e-01 1.76084210e-01 1.66427360e-03 2.01065710e+02] [-1.76083959e-01 9.84375107e-01 -2.97273796e-04 -2.02899914e+01] [-1.69061472e-03 -4.23378141e-07 9.99998571e-01 -5.33247856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.615769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.09, Y:-20.29, Z:-0.53 [[ 9.84195627e-01 1.77076816e-01 1.66428715e-03 2.01093703e+02] [-1.77076566e-01 9.84197034e-01 -2.97197902e-04 -2.02948238e+01] [-1.69061333e-03 -2.20537830e-06 9.99998571e-01 -5.34657651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:-20.30, Z:-0.54 [[ 9.83830879e-01 1.79092241e-01 1.66430117e-03 2.01121484e+02] [-1.79091994e-01 9.83832287e-01 -2.97119355e-04 -2.03007462e+01] [-1.69060500e-03 -5.74781923e-06 9.99998571e-01 -5.40621510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:-20.31, Z:-0.54 [[ 9.83703011e-01 1.79793259e-01 1.66431541e-03 2.01148825e+02] [-1.79793013e-01 9.83704419e-01 -2.97039591e-04 -2.03066344e+01] [-1.69060014e-03 -7.03354180e-06 9.99998571e-01 -5.41902302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.18, Y:-20.31, Z:-0.54 [[ 9.83596906e-01 1.80372828e-01 1.66433306e-03 2.01176758e+02] [-1.80372584e-01 9.83598314e-01 -2.96940661e-04 -2.03128565e+01] [-1.69059522e-03 -8.13013968e-06 9.99998571e-01 -5.41944486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.735769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:201.20, Y:-20.32, Z:-0.54 [[ 9.83553941e-01 1.80606963e-01 1.66434699e-03 2.01204582e+02] [-1.80606719e-01 9.83555349e-01 -2.96862535e-04 -2.03195388e+01] [-1.69059283e-03 -8.61193360e-06 9.99998571e-01 -5.39161061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:-20.33, Z:-0.54 [[ 9.83555349e-01 1.80599293e-01 1.66436092e-03 2.01232742e+02] [-1.80599049e-01 9.83556758e-01 -2.96784456e-04 -2.03252683e+01] [-1.69059249e-03 -8.67805885e-06 9.99998571e-01 -5.38119236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:-20.33, Z:-0.54 [[ 9.83258811e-01 1.82206864e-01 1.66437488e-03 2.01260396e+02] [-1.82206623e-01 9.83260219e-01 -2.96706102e-04 -2.03299235e+01] [-1.69057550e-03 -1.15212375e-05 9.99998571e-01 -5.38601394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:-20.33, Z:-0.54 [[ 9.83036084e-01 1.83404707e-01 1.66439222e-03 2.01289360e+02] [-1.83404467e-01 9.83037493e-01 -2.96608819e-04 -2.03339965e+01] [-1.69055941e-03 -1.36797967e-05 9.99998571e-01 -5.38637322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.32, Y:-20.34, Z:-0.54 [[ 9.82855050e-01 1.84372398e-01 1.66440674e-03 2.01317464e+02] [-1.84372160e-01 9.82856459e-01 -2.96527335e-04 -2.03372132e+01] [-1.69054437e-03 -1.54268771e-05 9.99998571e-01 -5.38840250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.35, Y:-20.34, Z:-0.54 [[ 9.82615223e-01 1.85646312e-01 1.66442474e-03 2.01346045e+02] [-1.85646076e-01 9.82616633e-01 -2.96426230e-04 -2.03391445e+01] [-1.69052187e-03 -1.77209965e-05 9.99998571e-01 -5.38290099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:-20.34, Z:-0.54 [[ 9.82588626e-01 1.85787031e-01 1.66443893e-03 2.01374318e+02] [-1.85786795e-01 9.82590036e-01 -2.96346578e-04 -2.03425455e+01] [-1.69051845e-03 -1.80439966e-05 9.99998571e-01 -5.38668377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-20.34, Z:-0.54 [[ 9.82623719e-01 1.85601337e-01 1.66445340e-03 2.01402065e+02] [-1.85601102e-01 9.82625129e-01 -2.96265244e-04 -2.03434148e+01] [-1.69052096e-03 -1.78071295e-05 9.99998571e-01 -5.39504661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-20.34, Z:-0.54 [[ 9.82632012e-01 1.85557427e-01 1.66447134e-03 2.01429052e+02] [-1.85557192e-01 9.82633421e-01 -2.96164417e-04 -2.03445288e+01] [-1.69052068e-03 -1.78339916e-05 9.99998571e-01 -5.39446407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:-20.35, Z:-0.54 [[ 9.82618670e-01 1.85628068e-01 1.66449546e-03 2.01457192e+02] [-1.85627833e-01 9.82620079e-01 -2.96028814e-04 -2.03458367e+01] [-1.69051792e-03 -1.80932450e-05 9.99998571e-01 -5.39521793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:-20.34, Z:-0.54 [[ 9.82463553e-01 1.86447303e-01 1.66451548e-03 2.01485437e+02] [-1.86447069e-01 9.82464963e-01 -2.95916223e-04 -2.03440710e+01] [-1.69050092e-03 -1.96171287e-05 9.99998571e-01 -5.37280842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:-20.35, Z:-0.54 [[ 9.82443352e-01 1.86553717e-01 1.66453986e-03 2.01513845e+02] [-1.86553484e-01 9.82444762e-01 -2.95778993e-04 -2.03456206e+01] [-1.69049714e-03 -1.99396045e-05 9.99998571e-01 -5.35777856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.54, Y:-20.34, Z:-0.54 [[ 9.82724711e-01 1.85065859e-01 1.66456074e-03 2.01542106e+02] [-1.85065623e-01 9.82726120e-01 -2.95661437e-04 -2.03430941e+01] [-1.69052416e-03 -1.74991711e-05 9.99998571e-01 -5.35050183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:-20.34, Z:-0.54 [[ 9.82994453e-01 1.83627706e-01 1.66458500e-03 2.01568905e+02] [-1.83627469e-01 9.82995862e-01 -2.95524780e-04 -2.03445057e+01] [-1.69054671e-03 -1.51643108e-05 9.99998571e-01 -5.36636428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:-20.35, Z:-0.54 [[ 9.83329894e-01 1.81822849e-01 1.66460840e-03 2.01596926e+02] [-1.81822610e-01 9.83331303e-01 -2.95392956e-04 -2.03466785e+01] [-1.69057073e-03 -1.21947184e-05 9.99998571e-01 -5.38377911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:-20.35, Z:-0.54 [[ 9.84080369e-01 1.77716226e-01 1.66462945e-03 2.01624287e+02] [-1.77715981e-01 9.84081777e-01 -2.95274254e-04 -2.03465954e+01] [-1.69060653e-03 -5.25765880e-06 9.99998571e-01 -5.40132129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.65, Y:-20.35, Z:-0.54 [[ 9.84416104e-01 1.75846985e-01 1.66465397e-03 2.01651452e+02] [-1.75846738e-01 9.84417512e-01 -2.95135981e-04 -2.03487740e+01] [-1.69061329e-03 -2.18735678e-06 9.99998571e-01 -5.38550817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.68, Y:-20.35, Z:-0.54 [[ 9.85017697e-01 1.72445252e-01 1.66467837e-03 2.01679495e+02] [-1.72444999e-01 9.85019104e-01 -2.94998282e-04 -2.03496156e+01] [-1.69061105e-03 3.51306853e-06 9.99998571e-01 -5.35095715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:-20.35, Z:-0.54 [[ 9.85362298e-01 1.70465161e-01 1.66469887e-03 2.01706697e+02] [-1.70464906e-01 9.85363704e-01 -2.94882518e-04 -2.03522737e+01] [-1.69060105e-03 6.79337839e-06 9.99998571e-01 -5.35243141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:-20.36, Z:-0.54 [[ 9.85738831e-01 1.68274139e-01 1.66473289e-03 2.01734152e+02] [-1.68273881e-01 9.85740237e-01 -2.94690377e-04 -2.03551881e+01] [-1.69058296e-03 1.03566837e-05 9.99998571e-01 -5.36052140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:-20.36, Z:-0.54 [[ 9.86465064e-01 1.63963125e-01 1.66475406e-03 2.01761129e+02] [-1.63962861e-01 9.86466468e-01 -2.94570696e-04 -2.03584222e+01] [-1.69052279e-03 1.76258602e-05 9.99998571e-01 -5.37240649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:-20.36, Z:-0.54 [[ 9.86753255e-01 1.62219736e-01 1.66477863e-03 2.01788631e+02] [-1.62219470e-01 9.86754659e-01 -2.94431773e-04 -2.03633982e+01] [-1.69049072e-03 2.04720031e-05 9.99998571e-01 -5.37731499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:-20.37, Z:-0.54 [[ 9.87057803e-01 1.60356234e-01 1.66479977e-03 2.01815164e+02] [-1.60355965e-01 9.87059207e-01 -2.94312232e-04 -2.03683678e+01] [-1.69045074e-03 2.35426116e-05 9.99998571e-01 -5.36684107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.84, Y:-20.37, Z:-0.53 [[ 9.87745418e-01 1.56064788e-01 1.66482431e-03 2.01842016e+02] [-1.56064513e-01 9.87746820e-01 -2.94173315e-04 -2.03738105e+01] [-1.69033502e-03 3.07483478e-05 9.99998571e-01 -5.34194022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:-20.38, Z:-0.53 [[ 9.88112222e-01 1.53725288e-01 1.66484796e-03 2.01869116e+02] [-1.53725011e-01 9.88113624e-01 -2.94039433e-04 -2.03795206e+01] [-1.69026025e-03 3.46151869e-05 9.99998571e-01 -5.33867345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:-20.39, Z:-0.53 [[ 9.88793401e-01 1.49281071e-01 1.66486784e-03 2.01894735e+02] [-1.49280788e-01 9.88794802e-01 -2.93926848e-04 -2.03877841e+01] [-1.69009038e-03 4.21001457e-05 9.99998571e-01 -5.34734646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:-20.40, Z:-0.54 [[ 9.89111171e-01 1.47160865e-01 1.66489091e-03 2.01922543e+02] [-1.47160578e-01 9.89112571e-01 -2.93796096e-04 -2.03950139e+01] [-1.68999982e-03 4.55906913e-05 9.99998571e-01 -5.35637657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:-20.40, Z:-0.54 [[ 9.89309339e-01 1.45822699e-01 1.66490397e-03 2.01949924e+02] [-1.45822411e-01 9.89310739e-01 -2.93722045e-04 -2.04028888e+01] [-1.68993872e-03 4.78016498e-05 9.99998571e-01 -5.35983325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:-20.41, Z:-0.53 [[ 9.89559271e-01 1.44116888e-01 1.66491794e-03 2.01976290e+02] [-1.44116598e-01 9.89560670e-01 -2.93642882e-04 -2.04143491e+01] [-1.68985621e-03 5.06347275e-05 9.99998571e-01 -5.34323932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.01, Y:-20.42, Z:-0.53 [[ 9.89565585e-01 1.44073523e-01 1.66493683e-03 2.02005190e+02] [-1.44073233e-01 9.89566985e-01 -2.93535729e-04 -2.04193507e+01] [-1.68985724e-03 5.06000235e-05 9.99998571e-01 -5.34373516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:-20.43, Z:-0.53 [[ 9.89596493e-01 1.43861074e-01 1.66494969e-03 2.02033014e+02] [-1.43860784e-01 9.89597892e-01 -2.93462767e-04 -2.04276966e+01] [-1.68984857e-03 5.08887586e-05 9.99998571e-01 -5.34191083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:-20.44, Z:-0.54 [[ 9.89350851e-01 1.45540792e-01 1.66496248e-03 2.02060237e+02] [-1.45540505e-01 9.89352250e-01 -2.93390147e-04 -2.04367215e+01] [-1.68993462e-03 4.79463111e-05 9.99998571e-01 -5.36817343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:-20.44, Z:-0.54 [[ 9.89103714e-01 1.47210974e-01 1.66497531e-03 2.02086980e+02] [-1.47210689e-01 9.89105114e-01 -2.93317367e-04 -2.04432991e+01] [-1.69001513e-03 4.50191356e-05 9.99998571e-01 -5.38012057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:-20.45, Z:-0.54 [[ 9.88493887e-01 1.51251654e-01 1.66499124e-03 2.02113658e+02] [-1.51251374e-01 9.88495289e-01 -2.93226869e-04 -2.04525774e+01] [-1.69018705e-03 3.80207542e-05 9.99998571e-01 -5.36034766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:-20.46, Z:-0.53 [[ 9.88290324e-01 1.52576090e-01 1.66500706e-03 2.02141973e+02] [-1.52575813e-01 9.88291726e-01 -2.93137014e-04 -2.04593263e+01] [-1.69023840e-03 3.56646680e-05 9.99998571e-01 -5.34958621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:-20.47, Z:-0.53 [[ 9.87881617e-01 1.55200319e-01 1.66502039e-03 2.02169855e+02] [-1.55200045e-01 9.87883019e-01 -2.93061284e-04 -2.04666292e+01] [-1.69032858e-03 3.10986150e-05 9.99998571e-01 -5.34920483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-20.47, Z:-0.53 [[ 9.87552984e-01 1.57277879e-01 1.66503089e-03 2.02197189e+02] [-1.57277609e-01 9.87554387e-01 -2.93001638e-04 -2.04720250e+01] [-1.69039124e-03 2.74825659e-05 9.99998571e-01 -5.34973886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.23, Y:-20.48, Z:-0.53 [[ 9.87047392e-01 1.60420305e-01 1.66504838e-03 2.02225029e+02] [-1.60420040e-01 9.87048796e-01 -2.92902186e-04 -2.04773098e+01] [-1.69047146e-03 2.20012106e-05 9.99998571e-01 -5.34655703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:-20.48, Z:-0.53 [[ 9.86424605e-01 1.64206352e-01 1.66506224e-03 2.02252821e+02] [-1.64206091e-01 9.86426010e-01 -2.92823373e-04 -2.04819309e+01] [-1.69054416e-03 1.54348180e-05 9.99998571e-01 -5.34220522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:-20.48, Z:-0.53 [[ 9.85141269e-01 1.71737905e-01 1.66507946e-03 2.02280699e+02] [-1.71737656e-01 9.85142676e-01 -2.92725465e-04 -2.04843265e+01] [-1.69061289e-03 2.41909426e-06 9.99998571e-01 -5.34316422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:-20.49, Z:-0.53 [[ 9.84571862e-01 1.74972787e-01 1.66510019e-03 2.02307182e+02] [-1.74972542e-01 9.84573270e-01 -2.92607455e-04 -2.04872772e+01] [-1.69061148e-03 -3.25374759e-06 9.99998571e-01 -5.34215519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:-20.49, Z:-0.54 [[ 9.83575091e-01 1.80491738e-01 1.66512431e-03 2.02335860e+02] [-1.80491502e-01 9.83576500e-01 -2.92470139e-04 -2.04885769e+01] [-1.69056559e-03 -1.28744448e-05 9.99998571e-01 -5.36504440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:-20.49, Z:-0.54 [[ 9.83137767e-01 1.82858851e-01 1.66514462e-03 2.02362538e+02] [-1.82858618e-01 9.83139176e-01 -2.92354454e-04 -2.04917293e+01] [-1.69052851e-03 -1.70613402e-05 9.99998571e-01 -5.37302022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.39, Y:-20.49, Z:-0.54 [[ 9.82627701e-01 1.85580251e-01 1.66516825e-03 2.02390342e+02] [-1.85580022e-01 9.82629111e-01 -2.92219800e-04 -2.04940114e+01] [-1.69047303e-03 -2.18786907e-05 9.99998571e-01 -5.37685895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:-20.50, Z:-0.54 [[ 9.82592934e-01 1.85764243e-01 1.66518811e-03 2.02417897e+02] [-1.85764014e-01 9.82594344e-01 -2.92106608e-04 -2.04982376e+01] [-1.69046738e-03 -2.23101388e-05 9.99998571e-01 -5.37630034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.085769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.45, Y:-20.50, Z:-0.54 [[ 9.82812204e-01 1.84600645e-01 1.66520795e-03 2.02445218e+02] [-1.84600415e-01 9.82813615e-01 -2.91993483e-04 -2.05026771e+01] [-1.69049123e-03 -2.04233204e-05 9.99998571e-01 -5.36501178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:-20.51, Z:-0.54 [[ 9.83720337e-01 1.79698430e-01 1.66522763e-03 2.02472502e+02] [-1.79698193e-01 9.83721746e-01 -2.91881200e-04 -2.05090068e+01] [-1.69057122e-03 -1.21089240e-05 9.99998571e-01 -5.35788034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:-20.52, Z:-0.54 [[ 9.84216473e-01 1.76960905e-01 1.66524731e-03 2.02500180e+02] [-1.76960664e-01 9.84217881e-01 -2.91768849e-04 -2.05154667e+01] [-1.69059786e-03 -7.51956360e-06 9.99998571e-01 -5.35960572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:-20.52, Z:-0.54 [[ 9.85088948e-01 1.72037764e-01 1.66526709e-03 2.02526757e+02] [-1.72037517e-01 9.85090355e-01 -2.91655945e-04 -2.05249144e+01] [-1.69061438e-03 8.18633306e-07 9.99998571e-01 -5.38395818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:-20.53, Z:-0.54 [[ 9.85424559e-01 1.70104865e-01 1.66528349e-03 2.02554330e+02] [-1.70104615e-01 9.85425966e-01 -2.91562241e-04 -2.05325801e+01] [-1.69060975e-03 4.04018502e-06 9.99998571e-01 -5.38963229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:-20.54, Z:-0.54 [[ 9.85653814e-01 1.68771401e-01 1.66529771e-03 2.02580839e+02] [-1.68771149e-01 9.85655221e-01 -2.91481040e-04 -2.05400481e+01] [-1.69060304e-03 6.24519129e-06 9.99998571e-01 -5.38315546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:-20.55, Z:-0.54 [[ 9.85635034e-01 1.68881042e-01 1.66531538e-03 2.02608324e+02] [-1.68880791e-01 9.85636441e-01 -2.91380033e-04 -2.05512660e+01] [-1.69060409e-03 5.95458970e-06 9.99998571e-01 -5.35365306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:-20.56, Z:-0.53 [[ 9.85527865e-01 1.69505321e-01 1.66532905e-03 2.02635655e+02] [-1.69505070e-01 9.85529272e-01 -2.91301887e-04 -2.05591047e+01] [-1.69060774e-03 4.80440961e-06 9.99998571e-01 -5.33222316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:-20.57, Z:-0.53 [[ 9.85078402e-01 1.72098135e-01 1.66534607e-03 2.02662619e+02] [-1.72097889e-01 9.85079810e-01 -2.91204522e-04 -2.05701307e+01] [-1.69061455e-03 2.56741272e-07 9.99998571e-01 -5.30479573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.69, Y:-20.58, Z:-0.53 [[ 9.84781490e-01 1.73789080e-01 1.66535667e-03 2.02690133e+02] [-1.73788836e-01 9.84782898e-01 -2.91143925e-04 -2.05768533e+01] [-1.69061240e-03 -2.70724993e-06 9.99998571e-01 -5.27956743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.72, Y:-20.58, Z:-0.53 [[ 9.84474199e-01 1.75521444e-01 1.66537433e-03 2.02717839e+02] [-1.75521202e-01 9.84475608e-01 -2.91042885e-04 -2.05829841e+01] [-1.69060467e-03 -5.78429335e-06 9.99998571e-01 -5.29854995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.75, Y:-20.59, Z:-0.53 [[ 9.83677151e-01 1.79934678e-01 1.66538818e-03 2.02745144e+02] [-1.79934443e-01 9.83678561e-01 -2.90963599e-04 -2.05881999e+01] [-1.69056109e-03 -1.34464493e-05 9.99998571e-01 -5.33628008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:-20.59, Z:-0.54 [[ 9.83278484e-01 1.82100656e-01 1.66540537e-03 2.02773840e+02] [-1.82100424e-01 9.83279894e-01 -2.90865141e-04 -2.05928107e+01] [-1.69052635e-03 -1.72695897e-05 9.99998571e-01 -5.36557116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:-20.60, Z:-0.54 [[ 9.82726834e-01 1.85054578e-01 1.66541908e-03 2.02802784e+02] [-1.85054351e-01 9.82728245e-01 -2.90786662e-04 -2.05974108e+01] [-1.69046577e-03 -2.24291911e-05 9.99998571e-01 -5.39018645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.83, Y:-20.60, Z:-0.54 [[ 9.82655056e-01 1.85435343e-01 1.66543279e-03 2.02830004e+02] [-1.85435117e-01 9.82656467e-01 -2.90708111e-04 -2.06013750e+01] [-1.69045586e-03 -2.31639279e-05 9.99998571e-01 -5.37727051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.86, Y:-20.60, Z:-0.54 [[ 9.82655244e-01 1.85434350e-01 1.66545115e-03 2.02858493e+02] [-1.85434124e-01 9.82656655e-01 -2.90602880e-04 -2.06047565e+01] [-1.69045441e-03 -2.32690306e-05 9.99998571e-01 -5.37542653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.89, Y:-20.61, Z:-0.54 [[ 9.82745971e-01 1.84952921e-01 1.66546525e-03 2.02886996e+02] [-1.84952695e-01 9.82747382e-01 -2.90522071e-04 -2.06077287e+01] [-1.69046452e-03 -2.25228900e-05 9.99998571e-01 -5.38116754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.91, Y:-20.61, Z:-0.54 [[ 9.83016862e-01 1.83507697e-01 1.66547932e-03 2.02914290e+02] [-1.83507468e-01 9.83018273e-01 -2.90441336e-04 -2.06103333e+01] [-1.69049483e-03 -2.01191627e-05 9.99998571e-01 -5.39514464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:-20.61, Z:-0.54 [[ 9.83137565e-01 1.82859934e-01 1.66549680e-03 2.02942837e+02] [-1.82859704e-01 9.83138975e-01 -2.90341097e-04 -2.06149279e+01] [-1.69050657e-03 -1.91070133e-05 9.99998571e-01 -5.38626889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:-20.62, Z:-0.54 [[ 9.83307883e-01 1.81941838e-01 1.66551036e-03 2.02971218e+02] [-1.81941607e-01 9.83309294e-01 -2.90263265e-04 -2.06177817e+01] [-1.69052285e-03 -1.76074754e-05 9.99998571e-01 -5.38102957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.00, Y:-20.62, Z:-0.54 [[ 9.83310873e-01 1.81925682e-01 1.66552421e-03 2.02998660e+02] [-1.81925452e-01 9.83312283e-01 -2.90183779e-04 -2.06204939e+01] [-1.69052230e-03 -1.76603794e-05 9.99998571e-01 -5.39292738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.03, Y:-20.62, Z:-0.54 [[ 9.83116923e-01 1.82970877e-01 1.66554147e-03 2.03027361e+02] [-1.82970648e-01 9.83118334e-01 -2.90084686e-04 -2.06227314e+01] [-1.69050141e-03 -1.95580375e-05 9.99998571e-01 -5.41963165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.06, Y:-20.63, Z:-0.54 [[ 9.83056982e-01 1.83292653e-01 1.66555521e-03 2.03055008e+02] [-1.83292425e-01 9.83058392e-01 -2.90005780e-04 -2.06275010e+01] [-1.69049396e-03 -2.01914464e-05 9.99998571e-01 -5.42300410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.08, Y:-20.63, Z:-0.54 [[ 9.83011267e-01 1.83537663e-01 1.66557229e-03 2.03081448e+02] [-1.83537436e-01 9.83012678e-01 -2.89907639e-04 -2.06314729e+01] [-1.69048765e-03 -2.07123919e-05 9.99998571e-01 -5.41514474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.11, Y:-20.63, Z:-0.54 [[ 9.83029785e-01 1.83438460e-01 1.66559490e-03 2.03109191e+02] [-1.83438232e-01 9.83031195e-01 -2.89777723e-04 -2.06342444e+01] [-1.69048812e-03 -2.06736504e-05 9.99998571e-01 -5.38821699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.835769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:-20.64, Z:-0.54 [[ 9.83095865e-01 1.83083986e-01 1.66561513e-03 2.03136649e+02] [-1.83083758e-01 9.83097276e-01 -2.89661380e-04 -2.06386626e+01] [-1.69049406e-03 -2.01821723e-05 9.99998571e-01 -5.37694910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.865769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.17, Y:-20.65, Z:-0.54 [[ 9.83403115e-01 1.81426404e-01 1.66563543e-03 2.03165168e+02] [-1.81426173e-01 9.83404525e-01 -2.89544596e-04 -2.06450674e+01] [-1.69052445e-03 -1.74508046e-05 9.99998571e-01 -5.38130789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.19, Y:-20.65, Z:-0.54 [[ 9.83693136e-01 1.79847270e-01 1.66564924e-03 2.03192169e+02] [-1.79847038e-01 9.83694546e-01 -2.89465127e-04 -2.06500393e+01] [-1.69054959e-03 -1.48172236e-05 9.99998571e-01 -5.40099442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.925769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.22, Y:-20.65, Z:-0.54 [[ 9.84337774e-01 1.76284918e-01 1.66566790e-03 2.03220108e+02] [-1.76284681e-01 9.84339183e-01 -2.89357686e-04 -2.06544450e+01] [-1.69059158e-03 -8.80603467e-06 9.99998571e-01 -5.40471755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.25, Y:-20.66, Z:-0.54 [[ 9.84649098e-01 1.74537614e-01 1.66568771e-03 2.03248214e+02] [-1.74537375e-01 9.84650507e-01 -2.89243640e-04 -2.06607198e+01] [-1.69060414e-03 -5.92127071e-06 9.99998571e-01 -5.38449260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.985769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.28, Y:-20.67, Z:-0.54 [[ 9.84910566e-01 1.73056068e-01 1.66570139e-03 2.03276125e+02] [-1.73055827e-01 9.84911974e-01 -2.89164841e-04 -2.06678843e+01] [-1.69061097e-03 -3.45782322e-06 9.99998571e-01 -5.36000778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.30, Y:-20.68, Z:-0.53 [[ 9.85244768e-01 1.71143132e-01 1.66571503e-03 2.03304066e+02] [-1.71142888e-01 9.85246177e-01 -2.89086234e-04 -2.06781374e+01] [-1.69061449e-03 -2.54581294e-07 9.99998571e-01 -5.34638037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:-20.68, Z:-0.54 [[ 9.85309817e-01 1.70768237e-01 1.66572867e-03 2.03332145e+02] [-1.70767993e-01 9.85311225e-01 -2.89007620e-04 -2.06842591e+01] [-1.69061448e-03 3.08903696e-07 9.99998571e-01 -5.36725683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:-20.69, Z:-0.54 [[ 9.85258651e-01 1.71063190e-01 1.66574244e-03 2.03360628e+02] [-1.71062946e-01 9.85260060e-01 -2.88928218e-04 -2.06904299e+01] [-1.69061448e-03 -2.77783644e-07 9.99998571e-01 -5.39020249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.39, Y:-20.70, Z:-0.54 [[ 9.85039540e-01 1.72320430e-01 1.66575623e-03 2.03387288e+02] [-1.72320188e-01 9.85040948e-01 -2.88848726e-04 -2.06996773e+01] [-1.69061263e-03 -2.51600933e-06 9.99998571e-01 -5.40602222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.42, Y:-20.71, Z:-0.54 [[ 9.84945193e-01 1.72858882e-01 1.66577340e-03 2.03415408e+02] [-1.72858640e-01 9.84946601e-01 -2.88749682e-04 -2.07077491e+01] [-1.69061079e-03 -3.54071292e-06 9.99998571e-01 -5.39666768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:-20.72, Z:-0.54 [[ 9.84792677e-01 1.73725672e-01 1.66578665e-03 2.03443081e+02] [-1.73725432e-01 9.84794086e-01 -2.88673187e-04 -2.07181310e+01] [-1.69060679e-03 -5.10626510e-06 9.99998571e-01 -5.38348373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.195769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.47, Y:-20.73, Z:-0.54 [[ 9.84736918e-01 1.74041456e-01 1.66580091e-03 2.03470457e+02] [-1.74041216e-01 9.84738327e-01 -2.88590859e-04 -2.07252784e+01] [-1.69060478e-03 -5.73194422e-06 9.99998571e-01 -5.38802388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:-20.74, Z:-0.54 [[ 9.84636771e-01 1.74607142e-01 1.66581152e-03 2.03499044e+02] [-1.74606904e-01 9.84638180e-01 -2.88529614e-04 -2.07353800e+01] [-1.69060096e-03 -6.76532513e-06 9.99998571e-01 -5.40795278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:-20.74, Z:-0.54 [[ 9.84613517e-01 1.74738226e-01 1.66581841e-03 2.03526595e+02] [-1.74737988e-01 9.84614926e-01 -2.88489817e-04 -2.07422092e+01] [-1.69059987e-03 -7.03078396e-06 9.99998571e-01 -5.41942335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:-20.75, Z:-0.54 [[ 9.84491299e-01 1.75425505e-01 1.66582871e-03 2.03555228e+02] [-1.75425268e-01 9.84492708e-01 -2.88430374e-04 -2.07495321e+01] [-1.69059426e-03 -8.27125363e-06 9.99998571e-01 -5.42488382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:-20.76, Z:-0.54 [[ 9.84157235e-01 1.77290049e-01 1.66583556e-03 2.03583817e+02] [-1.77289815e-01 9.84158645e-01 -2.88390816e-04 -2.07582417e+01] [-1.69057528e-03 -1.15137700e-05 9.99998571e-01 -5.42302557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:-20.77, Z:-0.54 [[ 9.83960511e-01 1.78378633e-01 1.66584255e-03 2.03611300e+02] [-1.78378401e-01 9.83961922e-01 -2.88350429e-04 -2.07650325e+01] [-1.69056119e-03 -1.34248934e-05 9.99998571e-01 -5.41499726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.64, Y:-20.77, Z:-0.54 [[ 9.83632681e-01 1.80177619e-01 1.66585294e-03 2.03638568e+02] [-1.80177389e-01 9.83634091e-01 -2.88290346e-04 -2.07733160e+01] [-1.69053321e-03 -1.65772277e-05 9.99998571e-01 -5.42130200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.67, Y:-20.78, Z:-0.54 [[ 9.83524222e-01 1.80768721e-01 1.66586319e-03 2.03667738e+02] [-1.80768492e-01 9.83525632e-01 -2.88231116e-04 -2.07798939e+01] [-1.69052232e-03 -1.76532922e-05 9.99998571e-01 -5.42283180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:-20.79, Z:-0.54 [[ 9.83409384e-01 1.81392415e-01 1.66586995e-03 2.03696437e+02] [-1.81392187e-01 9.83410795e-01 -2.88192043e-04 -2.07858049e+01] [-1.69051034e-03 -1.87650340e-05 9.99998571e-01 -5.42227627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:-20.79, Z:-0.54 [[ 9.82761130e-01 1.84872353e-01 1.66587671e-03 2.03725495e+02] [-1.84872130e-01 9.82762541e-01 -2.88152980e-04 -2.07911009e+01] [-1.69043275e-03 -2.47886274e-05 9.99998571e-01 -5.42108321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:-20.79, Z:-0.54 [[ 9.82242850e-01 1.87606525e-01 1.66588345e-03 2.03754211e+02] [-1.87606306e-01 9.82244262e-01 -2.88114011e-04 -2.07946403e+01] [-1.69035653e-03 -2.95323124e-05 9.99998571e-01 -5.41546700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-20.80, Z:-0.54 [[ 9.82247199e-01 1.87583753e-01 1.66589351e-03 2.03783944e+02] [-1.87583534e-01 9.82248612e-01 -2.88055818e-04 -2.07997357e+01] [-1.69035618e-03 -2.95521715e-05 9.99998571e-01 -5.41597695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:-20.80, Z:-0.54 [[ 9.81087522e-01 1.93557481e-01 1.66590019e-03 2.03812465e+02] [-1.93557271e-01 9.81088936e-01 -2.88017196e-04 -2.08007205e+01] [-1.69014413e-03 -3.98770166e-05 9.99998571e-01 -5.40101305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.585769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:-20.80, Z:-0.54 [[ 9.80679164e-01 1.95615953e-01 1.66591679e-03 2.03841176e+02] [-1.95615746e-01 9.80680578e-01 -2.87921144e-04 -2.08034451e+01] [-1.69005421e-03 -4.35212894e-05 9.99998571e-01 -5.39844356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:-20.81, Z:-0.54 [[ 9.80438943e-01 1.96816421e-01 1.66592987e-03 2.03870304e+02] [-1.96816216e-01 9.80440357e-01 -2.87845454e-04 -2.08058670e+01] [-1.68999759e-03 -4.56671196e-05 9.99998571e-01 -5.40159654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:-20.80, Z:-0.54 [[ 9.80499325e-01 1.96515392e-01 1.66594289e-03 2.03899518e+02] [-1.96515186e-01 9.80500739e-01 -2.87770076e-04 -2.08046455e+01] [-1.69000948e-03 -4.52247113e-05 9.99998571e-01 -5.41940377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-20.81, Z:-0.54 [[ 9.80854923e-01 1.94732752e-01 1.66595591e-03 2.03927317e+02] [-1.94732544e-01 9.80856337e-01 -2.87694672e-04 -2.08071167e+01] [-1.69008698e-03 -4.22290967e-05 9.99998571e-01 -5.42770713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.705769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.96, Y:-20.81, Z:-0.54 [[ 9.82103073e-01 1.88336878e-01 1.66597334e-03 2.03956578e+02] [-1.88336661e-01 9.82104485e-01 -2.87593714e-04 -2.08099439e+01] [-1.69032439e-03 -3.13171849e-05 9.99998571e-01 -5.41760218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:-20.81, Z:-0.54 [[ 9.82903136e-01 1.84115861e-01 1.66598670e-03 2.03984108e+02] [-1.84115638e-01 9.82904547e-01 -2.87516275e-04 -2.08132750e+01] [-1.69044221e-03 -2.41335566e-05 9.99998571e-01 -5.41052911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.01, Y:-20.82, Z:-0.54 [[ 9.83685229e-01 1.79890505e-01 1.66600331e-03 2.04012253e+02] [-1.79890276e-01 9.83686640e-01 -2.87420015e-04 -2.08168287e+01] [-1.69052933e-03 -1.69669717e-05 9.99998571e-01 -5.40959864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:-20.82, Z:-0.54 [[ 9.84872709e-01 1.73271381e-01 1.66601615e-03 2.04039251e+02] [-1.73271143e-01 9.84874118e-01 -2.87345554e-04 -2.08214644e+01] [-1.69060495e-03 -5.67372721e-06 9.99998571e-01 -5.44258452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.07, Y:-20.83, Z:-0.55 [[ 9.85342984e-01 1.70576751e-01 1.66603214e-03 2.04067235e+02] [-1.70576509e-01 9.85344393e-01 -2.87252838e-04 -2.08265327e+01] [-1.69061408e-03 -1.14337615e-06 9.99998571e-01 -5.45285274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:-20.83, Z:-0.55 [[ 9.85638293e-01 1.68862017e-01 1.66604553e-03 2.04095869e+02] [-1.68861772e-01 9.85639701e-01 -2.87175147e-04 -2.08314321e+01] [-1.69061359e-03 1.71942082e-06 9.99998571e-01 -5.47601233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:-20.84, Z:-0.55 [[ 9.85535533e-01 1.69460728e-01 1.66605556e-03 2.04124829e+02] [-1.69460485e-01 9.85536941e-01 -2.87116944e-04 -2.08358345e+01] [-1.69061434e-03 6.33367946e-07 9.99998571e-01 -5.47293220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:-20.84, Z:-0.55 [[ 9.85221681e-01 1.71275984e-01 1.66606903e-03 2.04152676e+02] [-1.71275743e-01 9.85223090e-01 -2.87038721e-04 -2.08403109e+01] [-1.69061252e-03 -2.56044069e-06 9.99998571e-01 -5.46833893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:-20.85, Z:-0.55 [[ 9.85151220e-01 1.71680805e-01 1.66608579e-03 2.04181336e+02] [-1.71680565e-01 9.85152628e-01 -2.86941459e-04 -2.08450877e+01] [-1.69061113e-03 -3.35382094e-06 9.99998571e-01 -5.47099494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:-20.85, Z:-0.55 [[ 9.85182480e-01 1.71501329e-01 1.66609825e-03 2.04209324e+02] [-1.71501089e-01 9.85183888e-01 -2.86869076e-04 -2.08497797e+01] [-1.69061158e-03 -3.11927638e-06 9.99998571e-01 -5.47779980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:-20.86, Z:-0.55 [[ 9.85414343e-01 1.70164027e-01 1.66611062e-03 2.04236529e+02] [-1.70163785e-01 9.85415752e-01 -2.86797184e-04 -2.08567733e+01] [-1.69061422e-03 -8.97631532e-07 9.99998571e-01 -5.47968054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-20.86, Z:-0.55 [[ 9.85612271e-01 1.69013832e-01 1.66612603e-03 2.04265273e+02] [-1.69013589e-01 9.85613679e-01 -2.86707666e-04 -2.08630456e+01] [-1.69061417e-03 9.84654722e-07 9.99998571e-01 -5.46392608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:-20.87, Z:-0.54 [[ 9.85889268e-01 1.67390489e-01 1.66613278e-03 2.04294146e+02] [-1.67390243e-01 9.85890676e-01 -2.86668446e-04 -2.08702223e+01] [-1.69061034e-03 3.72897358e-06 9.99998571e-01 -5.43835521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:-20.88, Z:-0.54 [[ 9.85896734e-01 1.67346509e-01 1.66613956e-03 2.04322952e+02] [-1.67346263e-01 9.85898142e-01 -2.86628988e-04 -2.08764961e+01] [-1.69061026e-03 3.76435322e-06 9.99998571e-01 -5.43548770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.35, Y:-20.88, Z:-0.54 [[ 9.85820289e-01 1.67796253e-01 1.66614646e-03 2.04351144e+02] [-1.67796008e-01 9.85821697e-01 -2.86588905e-04 -2.08828120e+01] [-1.69061187e-03 2.95243289e-06 9.99998571e-01 -5.43001288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:-20.89, Z:-0.54 [[ 9.85423852e-01 1.70108950e-01 1.66615670e-03 2.04379848e+02] [-1.70108709e-01 9.85425261e-01 -2.86529379e-04 -2.08887531e+01] [-1.69061411e-03 -1.07488026e-06 9.99998571e-01 -5.39734353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:-20.89, Z:-0.54 [[ 9.85110527e-01 1.71914144e-01 1.66616352e-03 2.04408522e+02] [-1.71913905e-01 9.85111936e-01 -2.86489683e-04 -2.08936400e+01] [-1.69060920e-03 -4.21267460e-06 9.99998571e-01 -5.37765036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:-20.90, Z:-0.53 [[ 9.84791895e-01 1.73730101e-01 1.66617369e-03 2.04436736e+02] [-1.73729865e-01 9.84793304e-01 -2.86430533e-04 -2.08991445e+01] [-1.69059830e-03 -7.38966317e-06 9.99998571e-01 -5.34950357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:-20.91, Z:-0.53 [[ 9.84390071e-01 1.75992648e-01 1.66618028e-03 2.04465407e+02] [-1.75992415e-01 9.84391481e-01 -2.86392185e-04 -2.09072847e+01] [-1.69057659e-03 -1.13134679e-05 9.99998571e-01 -5.34088071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:-20.91, Z:-0.54 [[ 9.84361489e-01 1.76152440e-01 1.66618700e-03 2.04493136e+02] [-1.76152208e-01 9.84362899e-01 -2.86353107e-04 -2.09129701e+01] [-1.69057446e-03 -1.16275472e-05 9.99998571e-01 -5.35100154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:-20.92, Z:-0.54 [[ 9.84345917e-01 1.76239441e-01 1.66619702e-03 2.04522861e+02] [-1.76239208e-01 9.84347327e-01 -2.86294763e-04 -2.09179897e+01] [-1.69057301e-03 -1.18361633e-05 9.99998571e-01 -5.38599634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.335769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-20.92, Z:-0.54 [[ 9.84329490e-01 1.76331165e-01 1.66620356e-03 2.04551945e+02] [-1.76330933e-01 9.84330900e-01 -2.86256684e-04 -2.09235331e+01] [-1.69057163e-03 -1.20323330e-05 9.99998571e-01 -5.39178172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:-20.93, Z:-0.54 [[ 9.84272273e-01 1.76650268e-01 1.66621035e-03 2.04580062e+02] [-1.76650037e-01 9.84273683e-01 -2.86217153e-04 -2.09296668e+01] [-1.69056734e-03 -1.26205123e-05 9.99998571e-01 -5.39029924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-20.94, Z:-0.54 [[ 9.84186877e-01 1.77125419e-01 1.66622049e-03 2.04607827e+02] [-1.77125188e-01 9.84188288e-01 -2.86158158e-04 -2.09359492e+01] [-1.69056057e-03 -1.34965139e-05 9.99998571e-01 -5.39067191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:-20.94, Z:-0.54 [[ 9.84210360e-01 1.76994889e-01 1.66622724e-03 2.04635829e+02] [-1.76994658e-01 9.84211770e-01 -2.86118840e-04 -2.09408129e+01] [-1.69056203e-03 -1.33121936e-05 9.99998571e-01 -5.39853628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:-20.95, Z:-0.54 [[ 9.84158607e-01 1.77282427e-01 1.66623700e-03 2.04663826e+02] [-1.77282197e-01 9.84160018e-01 -2.86061966e-04 -2.09470760e+01] [-1.69055760e-03 -1.38638106e-05 9.99998571e-01 -5.42073351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:-20.95, Z:-0.54 [[ 9.84110594e-01 1.77548761e-01 1.66624666e-03 2.04692760e+02] [-1.77548531e-01 9.84112005e-01 -2.86005727e-04 -2.09524972e+01] [-1.69055330e-03 -1.43783799e-05 9.99998571e-01 -5.43507295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:-20.96, Z:-0.55 [[ 9.84044317e-01 1.77915729e-01 1.66625329e-03 2.04722415e+02] [-1.77915500e-01 9.84045727e-01 -2.85967084e-04 -2.09575658e+01] [-1.69054747e-03 -1.50480027e-05 9.99998571e-01 -5.46729627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:-20.96, Z:-0.55 [[ 9.83971989e-01 1.78315305e-01 1.66625997e-03 2.04750937e+02] [-1.78315077e-01 9.83973400e-01 -2.85928143e-04 -2.09623483e+01] [-1.69054085e-03 -1.57739899e-05 9.99998571e-01 -5.47552624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:-20.97, Z:-0.55 [[ 9.83926934e-01 1.78563747e-01 1.66626995e-03 2.04779713e+02] [-1.78563519e-01 9.83928345e-01 -2.85869985e-04 -2.09671922e+01] [-1.69053625e-03 -1.62598469e-05 9.99998571e-01 -5.46762723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:-20.97, Z:-0.55 [[ 9.83973003e-01 1.78309711e-01 1.66627665e-03 2.04807622e+02] [-1.78309482e-01 9.83974414e-01 -2.85830926e-04 -2.09717271e+01] [-1.69054002e-03 -1.58630114e-05 9.99998571e-01 -5.46352522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:-20.98, Z:-0.55 [[ 9.83964869e-01 1.78354592e-01 1.66628668e-03 2.04837307e+02] [-1.78354364e-01 9.83966279e-01 -2.85772403e-04 -2.09764422e+01] [-1.69053873e-03 -1.59994973e-05 9.99998571e-01 -5.45687564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-20.98, Z:-0.54 [[ 9.83850983e-01 1.78981751e-01 1.66629333e-03 2.04865912e+02] [-1.78981524e-01 9.83852394e-01 -2.85733622e-04 -2.09810407e+01] [-1.69052779e-03 -1.71164154e-05 9.99998571e-01 -5.41499293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:-20.99, Z:-0.54 [[ 9.83819378e-01 1.79155395e-01 1.66630328e-03 2.04895526e+02] [-1.79155168e-01 9.83820789e-01 -2.85675601e-04 -2.09851186e+01] [-1.69052413e-03 -1.74736520e-05 9.99998571e-01 -5.39515416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:-20.99, Z:-0.54 [[ 9.83875273e-01 1.78848178e-01 1.66631002e-03 2.04924018e+02] [-1.78847951e-01 9.83876684e-01 -2.85636317e-04 -2.09890174e+01] [-1.69052911e-03 -1.69856228e-05 9.99998571e-01 -5.38400262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:-20.99, Z:-0.54 [[ 9.84248184e-01 1.76784430e-01 1.66632006e-03 2.04953785e+02] [-1.76784200e-01 9.84249595e-01 -2.85577687e-04 -2.09911439e+01] [-1.69056054e-03 -1.34997394e-05 9.99998571e-01 -5.39867437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:-20.99, Z:-0.54 [[ 9.84690122e-01 1.74306018e-01 1.66632670e-03 2.04982937e+02] [-1.74305784e-01 9.84691531e-01 -2.85538961e-04 -2.09949190e+01] [-1.69058895e-03 -9.28298767e-06 9.99998571e-01 -5.42275951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.01, Y:-21.00, Z:-0.54 [[ 9.84990827e-01 1.72598649e-01 1.66633341e-03 2.05012157e+02] [-1.72598413e-01 9.84992237e-01 -2.85499782e-04 -2.09988698e+01] [-1.69060235e-03 -6.39183589e-06 9.99998571e-01 -5.41769579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-21.00, Z:-0.54 [[ 9.85218881e-01 1.71292089e-01 1.66634016e-03 2.05040210e+02] [-1.71291851e-01 9.85220290e-01 -2.85460383e-04 -2.10028895e+01] [-1.69060924e-03 -4.18953240e-06 9.99998571e-01 -5.41327758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-21.01, Z:-0.54 [[ 9.85824939e-01 1.67768927e-01 1.66635024e-03 2.05070048e+02] [-1.67768684e-01 9.85826347e-01 -2.85401525e-04 -2.10097771e+01] [-1.69061348e-03 1.79455301e-06 9.99998571e-01 -5.41170894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:-21.02, Z:-0.54 [[ 9.86205817e-01 1.65515283e-01 1.66635024e-03 2.05098843e+02] [-1.65515038e-01 9.86207225e-01 -2.85401525e-04 -2.10166918e+01] [-1.69060496e-03 5.65862124e-06 9.99998571e-01 -5.41637132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-21.02, Z:-0.54 [[ 9.86985485e-01 1.60800735e-01 1.66635368e-03 2.05128409e+02] [-1.60800483e-01 9.86986891e-01 -2.85381430e-04 -2.10238293e+01] [-1.69055879e-03 1.37168524e-05 9.99998571e-01 -5.40165172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-21.03, Z:-0.54 [[ 9.87233616e-01 1.59270247e-01 1.66635368e-03 2.05157854e+02] [-1.59269992e-01 9.87235022e-01 -2.85381430e-04 -2.10298995e+01] [-1.69053549e-03 1.63380023e-05 9.99998571e-01 -5.39923123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:-21.04, Z:-0.54 [[ 9.87432451e-01 1.58032839e-01 1.66635368e-03 2.05186467e+02] [-1.58032583e-01 9.87433857e-01 -2.85381430e-04 -2.10364979e+01] [-1.69051368e-03 1.84567088e-05 9.99998571e-01 -5.39735465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:-21.05, Z:-0.54 [[ 9.87692071e-01 1.56402031e-01 1.66635707e-03 2.05214784e+02] [-1.56401772e-01 9.87693477e-01 -2.85361658e-04 -2.10453210e+01] [-1.69048115e-03 2.12282472e-05 9.99998571e-01 -5.42059231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:-21.05, Z:-0.54 [[ 9.87807157e-01 1.55673518e-01 1.66636029e-03 2.05245086e+02] [-1.55673259e-01 9.87808562e-01 -2.85342873e-04 -2.10515035e+01] [-1.69046529e-03 2.24559959e-05 9.99998571e-01 -5.42728580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-21.06, Z:-0.54 [[ 9.87841782e-01 1.55453651e-01 1.66635354e-03 2.05274388e+02] [-1.55453390e-01 9.87843187e-01 -2.85382290e-04 -2.10583113e+01] [-1.69045971e-03 2.28722436e-05 9.99998571e-01 -5.41874020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:-21.06, Z:-0.54 [[ 9.87692511e-01 1.56399254e-01 1.66635018e-03 2.05304220e+02] [-1.56398995e-01 9.87693917e-01 -2.85401895e-04 -2.10649225e+01] [-1.69048058e-03 2.12738205e-05 9.99998571e-01 -5.40709152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:-21.07, Z:-0.54 [[ 9.87454310e-01 1.57896195e-01 1.66634688e-03 2.05334975e+02] [-1.57895938e-01 9.87455716e-01 -2.85421177e-04 -2.10718312e+01] [-1.69051067e-03 1.87309693e-05 9.99998571e-01 -5.40100837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:-21.08, Z:-0.54 [[ 9.86868310e-01 1.61518304e-01 1.66634024e-03 2.05364242e+02] [-1.61518053e-01 9.86869716e-01 -2.85459927e-04 -2.10771508e+01] [-1.69056772e-03 1.25673254e-05 9.99998571e-01 -5.40479611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:-21.08, Z:-0.54 [[ 9.86549207e-01 1.63456068e-01 1.66634354e-03 2.05394579e+02] [-1.63455819e-01 9.86550614e-01 -2.85440627e-04 -2.10818341e+01] [-1.69058925e-03 9.22767549e-06 9.99998571e-01 -5.41423484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:-21.09, Z:-0.54 [[ 9.86037989e-01 1.66512184e-01 1.66634354e-03 2.05423760e+02] [-1.66511940e-01 9.86039397e-01 -2.85440627e-04 -2.10861793e+01] [-1.69060973e-03 3.98920593e-06 9.99998571e-01 -5.44647071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:-21.09, Z:-0.55 [[ 9.85913547e-01 1.67247427e-01 1.66634023e-03 2.05454098e+02] [-1.67247183e-01 9.85914955e-01 -2.85459966e-04 -2.10912407e+01] [-1.69061220e-03 2.74813831e-06 9.99998571e-01 -5.45310825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.48, Y:-21.10, Z:-0.55 [[ 9.85906976e-01 1.67286156e-01 1.66634023e-03 2.05483765e+02] [-1.67285912e-01 9.85908384e-01 -2.85459966e-04 -2.10950167e+01] [-1.69061230e-03 2.68172645e-06 9.99998571e-01 -5.47342699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:-21.10, Z:-0.55 [[ 9.86035376e-01 1.66527659e-01 1.66634353e-03 2.05513739e+02] [-1.66527414e-01 9.86036784e-01 -2.85440717e-04 -2.10991218e+01] [-1.69060979e-03 3.96276641e-06 9.99998571e-01 -5.47511284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:-21.10, Z:-0.55 [[ 9.86102671e-01 1.66128703e-01 1.66634353e-03 2.05543336e+02] [-1.66128458e-01 9.86104079e-01 -2.85440717e-04 -2.11041394e+01] [-1.69060805e-03 4.64677267e-06 9.99998571e-01 -5.46176465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-21.11, Z:-0.54 [[ 9.86041458e-01 1.66491640e-01 1.66634995e-03 2.05573060e+02] [-1.66491396e-01 9.86042866e-01 -2.85403247e-04 -2.11090941e+01] [-1.69060973e-03 3.98650517e-06 9.99998571e-01 -5.41549398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:-21.11, Z:-0.54 [[ 9.86045181e-01 1.66469587e-01 1.66635634e-03 2.05602802e+02] [-1.66469342e-01 9.86046589e-01 -2.85365934e-04 -2.11141394e+01] [-1.69060973e-03 3.98646045e-06 9.99998571e-01 -5.41600395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:-21.12, Z:-0.54 [[ 9.85991534e-01 1.66787043e-01 1.66636272e-03 2.05633178e+02] [-1.66786799e-01 9.85992942e-01 -2.85328665e-04 -2.11179845e+01] [-1.69061100e-03 3.40434510e-06 9.99998571e-01 -5.40259858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:-21.12, Z:-0.54 [[ 9.85775951e-01 1.68056533e-01 1.66636272e-03 2.05662328e+02] [-1.68056291e-01 9.85777359e-01 -2.85328665e-04 -2.11204994e+01] [-1.69061398e-03 1.22739767e-06 9.99998571e-01 -5.40091074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:-21.13, Z:-0.54 [[ 9.85710180e-01 1.68441872e-01 1.66636618e-03 2.05691255e+02] [-1.68441630e-01 9.85711589e-01 -2.85308458e-04 -2.11253005e+01] [-1.69061434e-03 5.46016661e-07 9.99998571e-01 -5.41419293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:-21.13, Z:-0.54 [[ 9.85740220e-01 1.68265985e-01 1.66637265e-03 2.05719795e+02] [-1.68265743e-01 9.85741629e-01 -2.85270672e-04 -2.11306282e+01] [-1.69061424e-03 8.09344357e-07 9.99998571e-01 -5.42934240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:-21.13, Z:-0.54 [[ 9.85870212e-01 1.67502679e-01 1.66638229e-03 2.05748804e+02] [-1.67502436e-01 9.85871621e-01 -2.85214313e-04 -2.11349647e+01] [-1.69061317e-03 2.06120177e-06 9.99998571e-01 -5.44254322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:-21.14, Z:-0.54 [[ 9.85832734e-01 1.67723118e-01 1.66638877e-03 2.05777075e+02] [-1.67722876e-01 9.85834142e-01 -2.85176472e-04 -2.11394772e+01] [-1.69061363e-03 1.64478440e-06 9.99998571e-01 -5.44245472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:-21.14, Z:-0.54 [[ 9.85772518e-01 1.68076668e-01 1.66639527e-03 2.05805728e+02] [-1.68076426e-01 9.85773926e-01 -2.85138485e-04 -2.11445786e+01] [-1.69061413e-03 9.99920959e-07 9.99998571e-01 -5.44212142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.84, Y:-21.15, Z:-0.54 [[ 9.85641495e-01 1.68843318e-01 1.66640475e-03 2.05835163e+02] [-1.68843077e-01 9.85642904e-01 -2.85083051e-04 -2.11513649e+01] [-1.69061439e-03 -3.71221219e-07 9.99998571e-01 -5.44359375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:-21.16, Z:-0.54 [[ 9.85540046e-01 1.69434474e-01 1.66641109e-03 2.05865319e+02] [-1.69434234e-01 9.85541455e-01 -2.85046022e-04 -2.11568278e+01] [-1.69061383e-03 -1.42281674e-06 9.99998571e-01 -5.44623856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:-21.16, Z:-0.54 [[ 9.85271149e-01 1.70991188e-01 1.66641109e-03 2.05895689e+02] [-1.70990951e-01 9.85272558e-01 -2.85046022e-04 -2.11620707e+01] [-1.69060947e-03 -4.09359470e-06 9.99998571e-01 -5.43390031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:-21.17, Z:-0.54 [[ 9.85089874e-01 1.72032449e-01 1.66641109e-03 2.05924717e+02] [-1.72032212e-01 9.85091283e-01 -2.85046022e-04 -2.11675621e+01] [-1.69060420e-03 -5.88043634e-06 9.99998571e-01 -5.43116291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:-21.17, Z:-0.54 [[ 9.84932575e-01 1.72930754e-01 1.66641438e-03 2.05953848e+02] [-1.72930520e-01 9.84933985e-01 -2.85026777e-04 -2.11735483e+01] [-1.69059805e-03 -7.44174667e-06 9.99998571e-01 -5.44005484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:-21.18, Z:-0.55 [[ 9.84657366e-01 1.74490958e-01 1.66642059e-03 2.05982628e+02] [-1.74490725e-01 9.84658776e-01 -2.84990468e-04 -2.11805167e+01] [-1.69058391e-03 -1.01569728e-05 9.99998571e-01 -5.48423647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:-21.19, Z:-0.55 [[ 9.84280674e-01 1.76603450e-01 1.66642685e-03 2.06010626e+02] [-1.76603221e-01 9.84282084e-01 -2.84953845e-04 -2.11875275e+01] [-1.69055792e-03 -1.38217860e-05 9.99998571e-01 -5.49622864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:-21.19, Z:-0.55 [[ 9.84080564e-01 1.77715125e-01 1.66643620e-03 2.06040334e+02] [-1.77714897e-01 9.84081975e-01 -2.84899137e-04 -2.11926904e+01] [-1.69054071e-03 -1.57868348e-05 9.99998571e-01 -5.47336177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:-21.20, Z:-0.55 [[ 9.83776941e-01 1.79388274e-01 1.66644261e-03 2.06068705e+02] [-1.79388048e-01 9.83778353e-01 -2.84861672e-04 -2.11973446e+01] [-1.69051101e-03 -1.86995424e-05 9.99998571e-01 -5.45172842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:-21.20, Z:-0.54 [[ 9.83371849e-01 1.81595786e-01 1.66644907e-03 2.06098329e+02] [-1.81595564e-01 9.83373261e-01 -2.84823857e-04 -2.12016583e+01] [-1.69046427e-03 -2.25319965e-05 9.99998571e-01 -5.42197322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-21.21, Z:-0.54 [[ 9.82375958e-01 1.86908267e-01 1.66645547e-03 2.06126447e+02] [-1.86908053e-01 9.82377371e-01 -2.84786403e-04 -2.12054790e+01] [-1.69031708e-03 -3.17066314e-05 9.99998571e-01 -5.41291783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:-21.21, Z:-0.55 [[ 9.81408053e-01 1.91925653e-01 1.66646823e-03 2.06154251e+02] [-1.91925446e-01 9.81409467e-01 -2.84711687e-04 -2.12108236e+01] [-1.69013118e-03 -4.04193173e-05 9.99998571e-01 -5.46271335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:-21.22, Z:-0.55 [[ 9.80970471e-01 1.94149835e-01 1.66648405e-03 2.06181902e+02] [-1.94149631e-01 9.80971885e-01 -2.84619079e-04 -2.12151421e+01] [-1.69003275e-03 -4.43443518e-05 9.99998571e-01 -5.47437667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:-21.22, Z:-0.55 [[ 9.80592298e-01 1.96050932e-01 1.66649971e-03 2.06210745e+02] [-1.96050732e-01 9.80593713e-01 -2.84527357e-04 -2.12193453e+01] [-1.68994099e-03 -4.77131535e-05 9.99998571e-01 -5.47391979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:-21.22, Z:-0.55 [[ 9.79893608e-01 1.99513758e-01 1.66651228e-03 2.06238610e+02] [-1.99513562e-01 9.79895024e-01 -2.84453730e-04 -2.12226152e+01] [-1.68975952e-03 -5.37574103e-05 9.99998571e-01 -5.45974691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:-21.23, Z:-0.54 [[ 9.79622088e-01 2.00842692e-01 1.66652786e-03 2.06267390e+02] [-2.00842498e-01 9.79623504e-01 -2.84362390e-04 -2.12265511e+01] [-1.68968197e-03 -5.61419419e-05 9.99998571e-01 -5.44803652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-21.23, Z:-0.54 [[ 9.79336569e-01 2.02230332e-01 1.66654056e-03 2.06294710e+02] [-2.02230140e-01 9.79337985e-01 -2.84287964e-04 -2.12298517e+01] [-1.68959812e-03 -5.86111317e-05 9.99998571e-01 -5.44815024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-21.23, Z:-0.54 [[ 9.78734593e-01 2.05123909e-01 1.66655753e-03 2.06323288e+02] [-2.05123722e-01 9.78736010e-01 -2.84188450e-04 -2.12308278e+01] [-1.68941371e-03 -6.37054172e-05 9.99998571e-01 -5.44609601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:-21.23, Z:-0.54 [[ 9.78438192e-01 2.06533114e-01 1.66657103e-03 2.06352281e+02] [-2.06532930e-01 9.78439609e-01 -2.84109275e-04 -2.12338361e+01] [-1.68931708e-03 -6.62184318e-05 9.99998571e-01 -5.44937158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-21.24, Z:-0.55 [[ 9.78280348e-01 2.07279483e-01 1.66658448e-03 2.06380433e+02] [-2.07279300e-01 9.78281765e-01 -2.84030341e-04 -2.12360818e+01] [-1.68926287e-03 -6.75871628e-05 9.99998571e-01 -5.45456739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:-21.24, Z:-0.55 [[ 9.78443398e-01 2.06508446e-01 1.66660121e-03 2.06409095e+02] [-2.06508262e-01 9.78444816e-01 -2.83932113e-04 -2.12402406e+01] [-1.68931170e-03 -6.63554190e-05 9.99998571e-01 -5.46780581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:-21.24, Z:-0.55 [[ 9.78713902e-01 2.05222610e-01 1.66661347e-03 2.06437811e+02] [-2.05222424e-01 9.78715319e-01 -2.83860185e-04 -2.12448210e+01] [-1.68939466e-03 -6.42085454e-05 9.99998571e-01 -5.48672273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:-21.25, Z:-0.55 [[ 9.79279002e-01 2.02508908e-01 1.66662668e-03 2.06465353e+02] [-2.02508718e-01 9.79280419e-01 -2.83782578e-04 -2.12496981e+01] [-1.68956337e-03 -5.96041127e-05 9.99998571e-01 -5.53437440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:-21.25, Z:-0.55 [[ 9.79578062e-01 2.01057314e-01 1.66664314e-03 2.06492725e+02] [-2.01057122e-01 9.79579478e-01 -2.83685855e-04 -2.12539296e+01] [-1.68964654e-03 -5.71980340e-05 9.99998571e-01 -5.54687273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:-21.26, Z:-0.55 [[ 9.80103326e-01 1.98480961e-01 1.66665828e-03 2.06521374e+02] [-1.98480766e-01 9.80104742e-01 -2.83596892e-04 -2.12560379e+01] [-1.68978827e-03 -5.28453543e-05 9.99998571e-01 -5.51017703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:-21.26, Z:-0.55 [[ 9.80221546e-01 1.97896292e-01 1.66667007e-03 2.06549758e+02] [-1.97896096e-01 9.80222962e-01 -2.83527569e-04 -2.12590896e+01] [-1.68981733e-03 -5.19076690e-05 9.99998571e-01 -5.48812158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:-21.26, Z:-0.55 [[ 9.80154623e-01 1.98227489e-01 1.66668311e-03 2.06577353e+02] [-1.98227293e-01 9.80156039e-01 -2.83450919e-04 -2.12625041e+01] [-1.68979728e-03 -5.25563525e-05 9.99998571e-01 -5.49196496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:-21.27, Z:-0.55 [[ 9.79737092e-01 2.00280932e-01 1.66669928e-03 2.06606178e+02] [-2.00280740e-01 9.79738508e-01 -2.83355795e-04 -2.12656251e+01] [-1.68968023e-03 -5.61935826e-05 9.99998571e-01 -5.51862939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-21.27, Z:-0.55 [[ 9.79564661e-01 2.01122590e-01 1.66671214e-03 2.06634520e+02] [-2.01122399e-01 9.79566078e-01 -2.83280161e-04 -2.12675232e+01] [-1.68962871e-03 -5.77219083e-05 9.99998571e-01 -5.50220849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:-21.27, Z:-0.55 [[ 9.79605366e-01 2.00924237e-01 1.66672810e-03 2.06662548e+02] [-2.00924046e-01 9.79606782e-01 -2.83186214e-04 -2.12715356e+01] [-1.68963712e-03 -5.74750188e-05 9.99998571e-01 -5.48327157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:-21.28, Z:-0.55 [[ 9.79593431e-01 2.00982418e-01 1.66674392e-03 2.06691200e+02] [-2.00982226e-01 9.79594847e-01 -2.83093092e-04 -2.12761734e+01] [-1.68963049e-03 -5.76697695e-05 9.99998571e-01 -5.47185049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:-21.28, Z:-0.55 [[ 9.79648288e-01 2.00714856e-01 1.66675655e-03 2.06720114e+02] [-2.00714664e-01 9.79649704e-01 -2.83018662e-04 -2.12802764e+01] [-1.68964362e-03 -5.72837344e-05 9.99998571e-01 -5.46677143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.75, Y:-21.28, Z:-0.55 [[ 9.79710240e-01 2.00412242e-01 1.66676915e-03 2.06747734e+02] [-2.00412050e-01 9.79711657e-01 -2.82944484e-04 -2.12815736e+01] [-1.68965870e-03 -5.68370130e-05 9.99998571e-01 -5.48053010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:-21.28, Z:-0.55 [[ 9.79737490e-01 2.00278987e-01 1.66678604e-03 2.06776105e+02] [-2.00278796e-01 9.79738906e-01 -2.82844943e-04 -2.12820783e+01] [-1.68966303e-03 -5.67081053e-05 9.99998571e-01 -5.50955751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:-21.29, Z:-0.55 [[ 9.79874016e-01 1.99609956e-01 1.66680159e-03 2.06803927e+02] [-1.99609764e-01 9.79875432e-01 -2.82753276e-04 -2.12850381e+01] [-1.68969830e-03 -5.56472830e-05 9.99998571e-01 -5.49619011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-21.29, Z:-0.55 [[ 9.80058088e-01 1.98704215e-01 1.66682027e-03 2.06832090e+02] [-1.98704021e-01 9.80059504e-01 -2.82643126e-04 -2.12883424e+01] [-1.68974542e-03 -5.41972072e-05 9.99998571e-01 -5.47133390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:-21.29, Z:-0.55 [[ 9.80182181e-01 1.98091175e-01 1.66683571e-03 2.06860970e+02] [-1.98090981e-01 9.80183597e-01 -2.82551993e-04 -2.12925291e+01] [-1.68977608e-03 -5.32326929e-05 9.99998571e-01 -5.45205345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:-21.30, Z:-0.55 [[ 9.80540337e-01 1.96310644e-01 1.66684888e-03 2.06889642e+02] [-1.96310447e-01 9.80541753e-01 -2.82474333e-04 -2.12966767e+01] [-1.68986764e-03 -5.02423694e-05 9.99998571e-01 -5.45013135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:-21.30, Z:-0.55 [[ 9.80832040e-01 1.94847967e-01 1.66686210e-03 2.06918385e+02] [-1.94847768e-01 9.80833455e-01 -2.82396283e-04 -2.13016684e+01] [-1.68993845e-03 -4.78010381e-05 9.99998571e-01 -5.46397083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:-21.31, Z:-0.55 [[ 9.80916267e-01 1.94423502e-01 1.66687541e-03 2.06945901e+02] [-1.94423303e-01 9.80917682e-01 -2.82317664e-04 -2.13069656e+01] [-1.68995676e-03 -4.71494341e-05 9.99998571e-01 -5.48359037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:-21.31, Z:-0.55 [[ 9.80933734e-01 1.94335358e-01 1.66689195e-03 2.06973881e+02] [-1.94335159e-01 9.80935149e-01 -2.82219973e-04 -2.13127291e+01] [-1.68995823e-03 -4.70966211e-05 9.99998571e-01 -5.49695622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-21.32, Z:-0.55 [[ 9.80923780e-01 1.94385594e-01 1.66690552e-03 2.07001318e+02] [-1.94385395e-01 9.80925195e-01 -2.82139842e-04 -2.13198695e+01] [-1.68995354e-03 -4.72644066e-05 9.99998571e-01 -5.51276980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-21.33, Z:-0.55 [[ 9.80847652e-01 1.94769365e-01 1.66692239e-03 2.07029865e+02] [-1.94769167e-01 9.80849067e-01 -2.82040095e-04 -2.13262272e+01] [-1.68993204e-03 -4.80267200e-05 9.99998571e-01 -5.50946955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:-21.33, Z:-0.55 [[ 9.80386764e-01 1.97076166e-01 1.66693524e-03 2.07058286e+02] [-1.97075971e-01 9.80388179e-01 -2.81964122e-04 -2.13331257e+01] [-1.68981202e-03 -5.20789894e-05 9.99998571e-01 -5.52331916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:-21.34, Z:-0.55 [[ 9.80038462e-01 1.98800993e-01 1.66694828e-03 2.07087133e+02] [-1.98800801e-01 9.80039878e-01 -2.81887053e-04 -2.13382491e+01] [-1.68971521e-03 -5.51304977e-05 9.99998571e-01 -5.52454389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:-21.34, Z:-0.55 [[ 9.79621826e-01 2.00843965e-01 1.66696134e-03 2.07114760e+02] [-2.00843776e-01 9.79623243e-01 -2.81809775e-04 -2.13427051e+01] [-1.68959387e-03 -5.87318042e-05 9.99998571e-01 -5.51184810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:-21.35, Z:-0.55 [[ 9.78863627e-01 2.04507265e-01 1.66697758e-03 2.07142134e+02] [-2.04507082e-01 9.78865044e-01 -2.81713714e-04 -2.13460150e+01] [-1.68935858e-03 -6.51494119e-05 9.99998571e-01 -5.48470172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:-21.35, Z:-0.55 [[ 9.78594191e-01 2.05792689e-01 1.66699349e-03 2.07170146e+02] [-2.05792507e-01 9.78595608e-01 -2.81619533e-04 -2.13499676e+01] [-1.68926775e-03 -6.74635299e-05 9.99998571e-01 -5.48765494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:-21.35, Z:-0.55 [[ 9.78190043e-01 2.07705225e-01 1.66701083e-03 2.07198115e+02] [-2.07705046e-01 9.78191461e-01 -2.81516861e-04 -2.13524861e+01] [-1.68912828e-03 -7.08695705e-05 9.99998571e-01 -5.48659707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:-21.36, Z:-0.55 [[ 9.77949758e-01 2.08833645e-01 1.66702970e-03 2.07226376e+02] [-2.08833469e-01 9.77951176e-01 -2.81405069e-04 -2.13559337e+01] [-1.68904050e-03 -7.29315745e-05 9.99998571e-01 -5.49369856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-21.36, Z:-0.55 [[ 9.77587139e-01 2.10524598e-01 1.66704847e-03 2.07254141e+02] [-2.10524424e-01 9.77588557e-01 -2.81293839e-04 -2.13567727e+01] [-1.68890678e-03 -7.59651790e-05 9.99998571e-01 -5.49264519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:-21.36, Z:-0.55 [[ 9.77485051e-01 2.10998097e-01 1.66706719e-03 2.07282564e+02] [-2.10997923e-01 9.77486469e-01 -2.81182796e-04 -2.13593703e+01] [-1.68886466e-03 -7.68957365e-05 9.99998571e-01 -5.49148995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:-21.36, Z:-0.55 [[ 9.77460309e-01 2.11112682e-01 1.66708585e-03 2.07310729e+02] [-2.11112509e-01 9.77461728e-01 -2.81072157e-04 -2.13619469e+01] [-1.68885051e-03 -7.72057995e-05 9.99998571e-01 -5.49453353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:-21.37, Z:-0.55 [[ 9.77541571e-01 2.10736087e-01 1.66710508e-03 2.07339575e+02] [-2.10735914e-01 9.77542989e-01 -2.80958044e-04 -2.13651211e+01] [-1.68887488e-03 -7.66707443e-05 9.99998571e-01 -5.47370740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:-21.37, Z:-0.54 [[ 9.77648999e-01 2.10237143e-01 1.66711854e-03 2.07366678e+02] [-2.10236969e-01 9.77650417e-01 -2.80878140e-04 -2.13688662e+01] [-1.68891016e-03 -7.58897162e-05 9.99998571e-01 -5.44645150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:-21.37, Z:-0.54 [[ 9.77823884e-01 2.09422237e-01 1.66713525e-03 2.07394974e+02] [-2.09422062e-01 9.77825302e-01 -2.80778925e-04 -2.13702478e+01] [-1.68896838e-03 -7.45825630e-05 9.99998571e-01 -5.43126763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:-21.37, Z:-0.54 [[ 9.77837934e-01 2.09356624e-01 1.66715411e-03 2.07423098e+02] [-2.09356449e-01 9.77839352e-01 -2.80666934e-04 -2.13748468e+01] [-1.68896837e-03 -7.45826897e-05 9.99998571e-01 -5.43174936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:-21.38, Z:-0.55 [[ 9.77958359e-01 2.08793365e-01 1.66717293e-03 2.07450008e+02] [-2.08793190e-01 9.77959777e-01 -2.80555067e-04 -2.13772574e+01] [-1.68900610e-03 -7.37231815e-05 9.99998571e-01 -5.45461991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:-21.38, Z:-0.55 [[ 9.78057959e-01 2.08326304e-01 1.66719477e-03 2.07477628e+02] [-2.08326128e-01 9.78059377e-01 -2.80425213e-04 -2.13802857e+01] [-1.68903543e-03 -7.30481198e-05 9.99998571e-01 -5.47283400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:-21.38, Z:-0.55 [[ 9.77898621e-01 2.09072973e-01 1.66721433e-03 2.07504943e+02] [-2.09072798e-01 9.77900039e-01 -2.80308862e-04 -2.13802718e+01] [-1.68897397e-03 -7.44555173e-05 9.99998571e-01 -5.47275533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:-21.38, Z:-0.55 [[ 9.77762481e-01 2.09708729e-01 1.66723703e-03 2.07533573e+02] [-2.09708556e-01 9.77763899e-01 -2.80173803e-04 -2.13811648e+01] [-1.68891907e-03 -7.56904377e-05 9.99998571e-01 -5.45706834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:-21.38, Z:-0.55 [[ 9.77904633e-01 2.09044849e-01 1.66725671e-03 2.07561661e+02] [-2.09044675e-01 9.77906051e-01 -2.80056656e-04 -2.13789995e+01] [-1.68896483e-03 -7.46624360e-05 9.99998571e-01 -5.45560299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:-21.38, Z:-0.55 [[ 9.78337764e-01 2.07008309e-01 1.66727953e-03 2.07589681e+02] [-2.07008132e-01 9.78339182e-01 -2.79920743e-04 -2.13814653e+01] [-1.68911081e-03 -7.12833871e-05 9.99998571e-01 -5.47951151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:-21.38, Z:-0.55 [[ 9.78983530e-01 2.03932509e-01 1.66729959e-03 2.07617571e+02] [-2.03932328e-01 9.78984948e-01 -2.79801199e-04 -2.13838551e+01] [-1.68932176e-03 -6.60955201e-05 9.99998571e-01 -5.50981120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:-21.38, Z:-0.55 [[ 9.80648445e-01 1.95769882e-01 1.66731625e-03 2.07645594e+02] [-1.95769689e-01 9.80649861e-01 -2.79701911e-04 -2.13843116e+01] [-1.68981065e-03 -5.21207395e-05 9.99998571e-01 -5.52843838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:-21.39, Z:-0.55 [[ 9.81565248e-01 1.91120079e-01 1.66733274e-03 2.07673964e+02] [-1.91119880e-01 9.81566663e-01 -2.79603523e-04 -2.13870884e+01] [-1.69003608e-03 -4.42113326e-05 9.99998571e-01 -5.50166441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:-21.39, Z:-0.55 [[ 9.83202325e-01 1.82511390e-01 1.66734585e-03 2.07702435e+02] [-1.82511178e-01 9.83203739e-01 -2.79525332e-04 -2.13893622e+01] [-1.69035723e-03 -2.94792994e-05 9.99998571e-01 -5.45977518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:-21.39, Z:-0.55 [[ 9.83877076e-01 1.78838250e-01 1.66735573e-03 2.07729959e+02] [-1.78838033e-01 9.83878488e-01 -2.79466409e-04 -2.13929200e+01] [-1.69045472e-03 -2.32260262e-05 9.99998571e-01 -5.46479004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:-21.40, Z:-0.55 [[ 9.84739887e-01 1.74024636e-01 1.66737553e-03 2.07758284e+02] [-1.74024413e-01 9.84741299e-01 -2.79348229e-04 -2.13967859e+01] [-1.69054702e-03 -1.50787040e-05 9.99998571e-01 -5.49651694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:-21.40, Z:-0.55 [[ 9.85013377e-01 1.72469902e-01 1.66738876e-03 2.07785945e+02] [-1.72469677e-01 9.85014788e-01 -2.79269230e-04 -2.14021703e+01] [-1.69056812e-03 -1.24900731e-05 9.99998571e-01 -5.50600133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:-21.41, Z:-0.55 [[ 9.85275642e-01 1.70965284e-01 1.66740890e-03 2.07813859e+02] [-1.70965057e-01 9.85277053e-01 -2.79148940e-04 -2.14075995e+01] [-1.69058450e-03 -1.00300061e-05 9.99998571e-01 -5.49646939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:-21.41, Z:-0.55 [[ 9.85804251e-01 1.67890438e-01 1.66742869e-03 2.07840856e+02] [-1.67890206e-01 9.85805661e-01 -2.79030649e-04 -2.14126491e+01] [-1.69060722e-03 -4.87534770e-06 9.99998571e-01 -5.45099196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-21.42, Z:-0.54 [[ 9.86015513e-01 1.66645212e-01 1.66744512e-03 2.07869016e+02] [-1.66644979e-01 9.86016923e-01 -2.78932459e-04 -2.14176346e+01] [-1.69061186e-03 -2.83962453e-06 9.99998571e-01 -5.44116312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:-21.42, Z:-0.54 [[ 9.86191190e-01 1.65602407e-01 1.66745886e-03 2.07895967e+02] [-1.65602172e-01 9.86192599e-01 -2.78850282e-04 -2.14244437e+01] [-1.69061387e-03 -1.13511749e-06 9.99998571e-01 -5.44751563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:-21.43, Z:-0.54 [[ 9.86173686e-01 1.65706611e-01 1.66747592e-03 2.07924336e+02] [-1.65706377e-01 9.86175095e-01 -2.78748234e-04 -2.14300312e+01] [-1.69061365e-03 -1.41721997e-06 9.99998571e-01 -5.43875521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:-21.43, Z:-0.54 [[ 9.86152608e-01 1.65832005e-01 1.66748913e-03 2.07951394e+02] [-1.65831771e-01 9.86154017e-01 -2.78669181e-04 -2.14341241e+01] [-1.69061338e-03 -1.71233579e-06 9.99998571e-01 -5.43079411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:-21.44, Z:-0.54 [[ 9.85797244e-01 1.67931571e-01 1.66750561e-03 2.07979288e+02] [-1.67931340e-01 9.85798655e-01 -2.78570516e-04 -2.14375700e+01] [-1.69060558e-03 -5.41240551e-06 9.99998571e-01 -5.44789301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:-21.44, Z:-0.55 [[ 9.85544028e-01 1.69411296e-01 1.66752565e-03 2.08006924e+02] [-1.69411068e-01 9.85545439e-01 -2.78450526e-04 -2.14421121e+01] [-1.69059496e-03 -8.07204780e-06 9.99998571e-01 -5.47089955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:-21.45, Z:-0.55 [[ 9.85119718e-01 1.71861458e-01 1.66754226e-03 2.08035076e+02] [-1.71861233e-01 9.85121129e-01 -2.78351015e-04 -2.14453822e+01] [-1.69056893e-03 -1.23767960e-05 9.99998571e-01 -5.48886615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:-21.45, Z:-0.55 [[ 9.85037821e-01 1.72330238e-01 1.66756185e-03 2.08063373e+02] [-1.72330014e-01 9.85039232e-01 -2.78233637e-04 -2.14487390e+01] [-1.69056191e-03 -1.33003015e-05 9.99998571e-01 -5.49579800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-21.45, Z:-0.55 [[ 9.85024912e-01 1.72404011e-01 1.66758143e-03 2.08091099e+02] [-1.72403787e-01 9.85026323e-01 -2.78116225e-04 -2.14517612e+01] [-1.69055995e-03 -1.35459434e-05 9.99998571e-01 -5.49681376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:-21.45, Z:-0.55 [[ 9.85246000e-01 1.71136025e-01 1.66760193e-03 2.08117752e+02] [-1.71135799e-01 9.85247411e-01 -2.77993265e-04 -2.14540532e+01] [-1.69057514e-03 -1.14946359e-05 9.99998571e-01 -5.49118065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-21.46, Z:-0.55 [[ 9.85378880e-01 1.70369251e-01 1.66762565e-03 2.08145151e+02] [-1.70369025e-01 9.85380291e-01 -2.77850863e-04 -2.14581080e+01] [-1.69058269e-03 -1.03233845e-05 9.99998571e-01 -5.48609553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:-21.46, Z:-0.55 [[ 9.85627983e-01 1.68922166e-01 1.66764503e-03 2.08173166e+02] [-1.68921938e-01 9.85629394e-01 -2.77734521e-04 -2.14630324e+01] [-1.69059547e-03 -7.95891378e-06 9.99998571e-01 -5.50925459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:-21.47, Z:-0.55 [[ 9.85739552e-01 1.68269884e-01 1.66765835e-03 2.08199641e+02] [-1.68269655e-01 9.85740963e-01 -2.77654518e-04 -2.14679843e+01] [-1.69060004e-03 -6.92125409e-06 9.99998571e-01 -5.51480197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:-21.47, Z:-0.55 [[ 9.85874065e-01 1.67479987e-01 1.66768153e-03 2.08228058e+02] [-1.67479757e-01 9.85875476e-01 -2.77515236e-04 -2.14728710e+01] [-1.69060457e-03 -5.70782309e-06 9.99998571e-01 -5.50499750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:-21.48, Z:-0.55 [[ 9.86042056e-01 1.66488083e-01 1.66769470e-03 2.08255598e+02] [-1.66487852e-01 9.86043467e-01 -2.77436035e-04 -2.14758622e+01] [-1.69060926e-03 -4.08730925e-06 9.99998571e-01 -5.47806069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:-21.48, Z:-0.55 [[ 9.86048788e-01 1.66448207e-01 1.66771111e-03 2.08283005e+02] [-1.66447976e-01 9.86050199e-01 -2.77337386e-04 -2.14803643e+01] [-1.69060918e-03 -4.11894446e-06 9.99998571e-01 -5.46851782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:-21.49, Z:-0.55 [[ 9.86114128e-01 1.66060665e-01 1.66773070e-03 2.08310783e+02] [-1.66060434e-01 9.86115539e-01 -2.77219533e-04 -2.14867522e+01] [-1.69061041e-03 -3.57398470e-06 9.99998571e-01 -5.45749451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:-21.49, Z:-0.55 [[ 9.86237977e-01 1.65323535e-01 1.66775056e-03 2.08338123e+02] [-1.65323303e-01 9.86239387e-01 -2.77099998e-04 -2.14913053e+01] [-1.69061244e-03 -2.43148920e-06 9.99998571e-01 -5.45355792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:-21.50, Z:-0.54 [[ 9.86371558e-01 1.64524671e-01 1.66776697e-03 2.08366225e+02] [-1.64524438e-01 9.86372968e-01 -2.77001195e-04 -2.14955840e+01] [-1.69061378e-03 -1.16232302e-06 9.99998571e-01 -5.44722002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:-21.50, Z:-0.54 [[ 9.86482912e-01 1.63855678e-01 1.66778014e-03 2.08394955e+02] [-1.63855444e-01 9.86484322e-01 -2.76921846e-04 -2.14999754e+01] [-1.69061418e-03 -9.61867365e-08 9.99998571e-01 -5.42170523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:-21.50, Z:-0.54 [[ 9.86479779e-01 1.63874540e-01 1.66779329e-03 2.08422860e+02] [-1.63874306e-01 9.86481189e-01 -2.76842640e-04 -2.15040094e+01] [-1.69061417e-03 -2.08801279e-07 9.99998571e-01 -5.43149389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:-21.51, Z:-0.55 [[ 9.86481505e-01 1.63864147e-01 1.66780969e-03 2.08450169e+02] [-1.63863913e-01 9.86482915e-01 -2.76743806e-04 -2.15066155e+01] [-1.69061415e-03 -2.91176117e-07 9.99998571e-01 -5.46706878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:-21.51, Z:-0.55 [[ 9.86491666e-01 1.63802963e-01 1.66783243e-03 2.08476989e+02] [-1.63802729e-01 9.86493076e-01 -2.76606675e-04 -2.15112904e+01] [-1.69061414e-03 -3.25324548e-07 9.99998571e-01 -5.48478003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:-21.52, Z:-0.55 [[ 9.86558127e-01 1.63402202e-01 1.66785498e-03 2.08503632e+02] [-1.63401968e-01 9.86559537e-01 -2.76470641e-04 -2.15165529e+01] [-1.69061415e-03 2.23571833e-07 9.99998571e-01 -5.49948795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:-21.52, Z:-0.55 [[ 9.86738452e-01 1.62309724e-01 1.66787685e-03 2.08531867e+02] [-1.62309489e-01 9.86739861e-01 -2.76338637e-04 -2.15236977e+01] [-1.69061302e-03 1.96171915e-06 9.99998571e-01 -5.50552228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:-21.53, Z:-0.55 [[ 9.86792820e-01 1.61978853e-01 1.66788991e-03 2.08559968e+02] [-1.61978618e-01 9.86794229e-01 -2.76259833e-04 -2.15285451e+01] [-1.69061239e-03 2.44871794e-06 9.99998571e-01 -5.51180115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:-21.53, Z:-0.55 [[ 9.86670980e-01 1.62719375e-01 1.66790295e-03 2.08587603e+02] [-1.62719141e-01 9.86672390e-01 -2.76181046e-04 -2.15317256e+01] [-1.69061380e-03 1.10008800e-06 9.99998571e-01 -5.51179032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:-21.54, Z:-0.55 [[ 9.86485789e-01 1.63838356e-01 1.66792274e-03 2.08614006e+02] [-1.63838123e-01 9.86487199e-01 -2.76061499e-04 -2.15352000e+01] [-1.69061389e-03 -9.38585334e-07 9.99998571e-01 -5.51204945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:-21.54, Z:-0.55 [[ 9.85922008e-01 1.67197524e-01 1.66795232e-03 2.08642355e+02] [-1.67197297e-01 9.85923419e-01 -2.75882648e-04 -2.15407871e+01] [-1.69060015e-03 -6.87834465e-06 9.99998571e-01 -5.49194266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:-21.55, Z:-0.55 [[ 9.85647937e-01 1.68805695e-01 1.66796526e-03 2.08669637e+02] [-1.68805470e-01 9.85649348e-01 -2.75804428e-04 -2.15461739e+01] [-1.69058622e-03 -9.71559323e-06 9.99998571e-01 -5.48341761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:-21.55, Z:-0.55 [[ 9.85501280e-01 1.69659792e-01 1.66798464e-03 2.08695811e+02] [-1.69659568e-01 9.85502692e-01 -2.75687165e-04 -2.15505708e+01] [-1.69057638e-03 -1.12994990e-05 9.99998571e-01 -5.47944597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:-21.55, Z:-0.55 [[ 9.85403739e-01 1.70225405e-01 1.66800715e-03 2.08723719e+02] [-1.70225183e-01 9.85405151e-01 -2.75550876e-04 -2.15532369e+01] [-1.69056860e-03 -1.24079593e-05 9.99998571e-01 -5.48394692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:-21.56, Z:-0.55 [[ 9.85450484e-01 1.69954584e-01 1.66802654e-03 2.08751251e+02] [-1.69954361e-01 9.85451896e-01 -2.75433432e-04 -2.15558630e+01] [-1.69057109e-03 -1.20623766e-05 9.99998571e-01 -5.48526978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:-21.56, Z:-0.55 [[ 9.85448816e-01 1.69964256e-01 1.66804605e-03 2.08779497e+02] [-1.69964033e-01 9.85450228e-01 -2.75315238e-04 -2.15572183e+01] [-1.69057011e-03 -1.21987602e-05 9.99998571e-01 -5.48818947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:-21.56, Z:-0.55 [[ 9.85477224e-01 1.69799468e-01 1.66806566e-03 2.08806265e+02] [-1.69799246e-01 9.85478635e-01 -2.75196373e-04 -2.15605269e+01] [-1.69057127e-03 -1.20365339e-05 9.99998571e-01 -5.49463137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:-21.56, Z:-0.55 [[ 9.85566172e-01 1.69282423e-01 1.66808844e-03 2.08834370e+02] [-1.69282200e-01 9.85567583e-01 -2.75058229e-04 -2.15641841e+01] [-1.69057642e-03 -1.12895955e-05 9.99998571e-01 -5.50079435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:-21.57, Z:-0.55 [[ 9.85669461e-01 1.68679969e-01 1.66810767e-03 2.08862598e+02] [-1.68679745e-01 9.85670872e-01 -2.74941544e-04 -2.15676165e+01] [-1.69058228e-03 -1.03744941e-05 9.99998571e-01 -5.50145978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:-21.57, Z:-0.55 [[ 9.85788730e-01 1.67981541e-01 1.66812693e-03 2.08891217e+02] [-1.67981316e-01 9.85790141e-01 -2.74824682e-04 -2.15704477e+01] [-1.69058855e-03 -9.29508232e-06 9.99998571e-01 -5.47155036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:-21.57, Z:-0.55 [[ 9.85888257e-01 1.67396419e-01 1.66814012e-03 2.08917808e+02] [-1.67396194e-01 9.85889669e-01 -2.74744583e-04 -2.15737884e+01] [-1.69059337e-03 -8.37284844e-06 9.99998571e-01 -5.46306332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:-21.58, Z:-0.55 [[ 9.86273607e-01 1.65110843e-01 1.66816299e-03 2.08945420e+02] [-1.65110614e-01 9.86275017e-01 -2.74605631e-04 -2.15766233e+01] [-1.69060785e-03 -4.59513017e-06 9.99998571e-01 -5.45174075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:-21.58, Z:-0.54 [[ 9.86466345e-01 1.63955384e-01 1.66818308e-03 2.08972189e+02] [-1.63955155e-01 9.86467755e-01 -2.74483546e-04 -2.15806591e+01] [-1.69061187e-03 -2.73843466e-06 9.99998571e-01 -5.44728588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:-21.59, Z:-0.55 [[ 9.86584954e-01 1.63240150e-01 1.66821062e-03 2.09000089e+02] [-1.63239919e-01 9.86586364e-01 -2.74316073e-04 -2.15854129e+01] [-1.69061325e-03 -1.68245760e-06 9.99998571e-01 -5.45491274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:-21.59, Z:-0.55 [[ 9.86722680e-01 1.62405570e-01 1.66823004e-03 2.09027011e+02] [-1.62405339e-01 9.86724090e-01 -2.74197906e-04 -2.15909913e+01] [-1.69061404e-03 -3.72172904e-07 9.99998571e-01 -5.49172773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:-21.60, Z:-0.55 [[ 9.86774984e-01 1.62087468e-01 1.66825248e-03 2.09054558e+02] [-1.62087237e-01 9.86776394e-01 -2.74061306e-04 -2.15955827e+01] [-1.69061407e-03 3.44063106e-08 9.99998571e-01 -5.50258792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:-21.60, Z:-0.55 [[ 9.86745963e-01 1.62264049e-01 1.66827205e-03 2.09081543e+02] [-1.62263818e-01 9.86747373e-01 -2.73942128e-04 -2.16002446e+01] [-1.69061402e-03 -3.88903482e-07 9.99998571e-01 -5.49604206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:-21.61, Z:-0.55 [[ 9.86772773e-01 1.62100932e-01 1.66829471e-03 2.09108238e+02] [-1.62100701e-01 9.86774183e-01 -2.73804092e-04 -2.16050701e+01] [-1.69061405e-03 -2.49318572e-07 9.99998571e-01 -5.48489046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:-21.61, Z:-0.55 [[ 9.86806395e-01 1.61896123e-01 1.66832339e-03 2.09135301e+02] [-1.61895892e-01 9.86807806e-01 -2.73629231e-04 -2.16125500e+01] [-1.69061405e-03 -7.56284437e-08 9.99998571e-01 -5.47640641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:-21.62, Z:-0.55 [[ 9.86817641e-01 1.61827561e-01 1.66834244e-03 2.09163443e+02] [-1.61827329e-01 9.86819052e-01 -2.73513008e-04 -2.16170247e+01] [-1.69061405e-03 -7.59410220e-08 9.99998571e-01 -5.47688814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:-21.62, Z:-0.55 [[ 9.86777735e-01 1.62070720e-01 1.66836144e-03 2.09191245e+02] [-1.62070490e-01 9.86779145e-01 -2.73397092e-04 -2.16227369e+01] [-1.69061394e-03 -6.09992103e-07 9.99998571e-01 -5.47124315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:-21.63, Z:-0.55 [[ 9.86689049e-01 1.62609769e-01 1.66837760e-03 2.09217853e+02] [-1.62609539e-01 9.86690460e-01 -2.73298439e-04 -2.16281143e+01] [-1.69061325e-03 -1.63353487e-06 9.99998571e-01 -5.47473807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:-21.63, Z:-0.55 [[ 9.86351263e-01 1.64646295e-01 1.66840022e-03 2.09245317e+02] [-1.64646068e-01 9.86352674e-01 -2.73160270e-04 -2.16326377e+01] [-1.69060584e-03 -5.26355961e-06 9.99998571e-01 -5.47344116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:-21.64, Z:-0.55 [[ 9.86087075e-01 1.66221230e-01 1.66841925e-03 2.09272247e+02] [-1.66221006e-01 9.86088486e-01 -2.73044009e-04 -2.16359798e+01] [-1.69059472e-03 -8.08115674e-06 9.99998571e-01 -5.46773378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.30, Y:-21.64, Z:-0.55 [[ 9.85415519e-01 1.70157198e-01 1.66844141e-03 2.09299859e+02] [-1.70156980e-01 9.85416931e-01 -2.72908530e-04 -2.16375347e+01] [-1.69054776e-03 -1.49686505e-05 9.99998571e-01 -5.45607881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:-21.64, Z:-0.55 [[ 9.85006358e-01 1.72509974e-01 1.66846061e-03 2.09328191e+02] [-1.72509759e-01 9.85007771e-01 -2.72791089e-04 -2.16399068e+01] [-1.69050585e-03 -1.91247804e-05 9.99998571e-01 -5.46351105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:-21.64, Z:-0.55 [[ 9.84285048e-01 1.76579048e-01 1.66847988e-03 2.09357072e+02] [-1.76578839e-01 9.84286462e-01 -2.72673183e-04 -2.16383253e+01] [-1.69041053e-03 -2.62301036e-05 9.99998571e-01 -5.50670899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:-21.64, Z:-0.55 [[ 9.83999102e-01 1.78165605e-01 1.66850321e-03 2.09386475e+02] [-1.78165399e-01 9.84000517e-01 -2.72530331e-04 -2.16384067e+01] [-1.69036355e-03 -2.90999378e-05 9.99998571e-01 -5.52286248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:-21.64, Z:-0.55 [[ 9.83744810e-01 1.79564375e-01 1.66851590e-03 2.09415150e+02] [-1.79564171e-01 9.83746224e-01 -2.72452642e-04 -2.16384861e+01] [-1.69031900e-03 -3.15818018e-05 9.99998571e-01 -5.52732740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:-21.63, Z:-0.55 [[ 9.83872766e-01 1.78861948e-01 1.66853497e-03 2.09444261e+02] [-1.78861743e-01 9.83874180e-01 -2.72335751e-04 -2.16334903e+01] [-1.69033898e-03 -3.04933451e-05 9.99998571e-01 -5.50584546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:-21.63, Z:-0.55 [[ 9.84243638e-01 1.76809718e-01 1.66855076e-03 2.09473578e+02] [-1.76809511e-01 9.84245052e-01 -2.72239003e-04 -2.16333346e+01] [-1.69039733e-03 -2.70661365e-05 9.99998571e-01 -5.47659870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:-21.63, Z:-0.54 [[ 9.85237741e-01 1.71183556e-01 1.66856361e-03 2.09502341e+02] [-1.71183340e-01 9.85239154e-01 -2.72160234e-04 -2.16305300e+01] [-1.69052355e-03 -1.74877585e-05 9.99998571e-01 -5.43889013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:-21.63, Z:-0.54 [[ 9.85827048e-01 1.67756510e-01 1.66858303e-03 2.09529566e+02] [-1.67756290e-01 9.85828460e-01 -2.72041108e-04 -2.16323731e+01] [-1.69057331e-03 -1.17298154e-05 9.99998571e-01 -5.44470613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-21.63, Z:-0.55 [[ 9.87070786e-01 1.60276256e-01 1.66861568e-03 2.09557343e+02] [-1.60276025e-01 9.87072197e-01 -2.71840693e-04 -2.16340542e+01] [-1.69061375e-03 8.86917600e-07 9.99998571e-01 -5.48160604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:-21.64, Z:-0.55 [[ 9.87509243e-01 1.57552249e-01 1.66863496e-03 2.09584092e+02] [-1.57552015e-01 9.87510653e-01 -2.71722325e-04 -2.16370461e+01] [-1.69060526e-03 5.43150813e-06 9.99998571e-01 -5.50874917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-21.64, Z:-0.55 [[ 9.87885498e-01 1.55175574e-01 1.66865725e-03 2.09610785e+02] [-1.55175337e-01 9.87886907e-01 -2.71585372e-04 -2.16397991e+01] [-1.69058806e-03 9.36080007e-06 9.99998571e-01 -5.51820575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:-21.64, Z:-0.55 [[ 9.88179927e-01 1.53289426e-01 1.66867845e-03 2.09638610e+02] [-1.53289186e-01 9.88181336e-01 -2.71455036e-04 -2.16425754e+01] [-1.69056808e-03 1.24560569e-05 9.99998571e-01 -5.51375961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.765769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.67, Y:-21.65, Z:-0.55 [[ 9.88572651e-01 1.50735958e-01 1.66869739e-03 2.09666060e+02] [-1.50735715e-01 9.88574059e-01 -2.71338549e-04 -2.16450045e+01] [-1.69053143e-03 1.67055756e-05 9.99998571e-01 -5.50556311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.795769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.69, Y:-21.65, Z:-0.55 [[ 9.88730718e-01 1.49695633e-01 1.66872943e-03 2.09693111e+02] [-1.49695389e-01 9.88732126e-01 -2.71141361e-04 -2.16490877e+01] [-1.69051507e-03 1.82846923e-05 9.99998571e-01 -5.49954867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.72, Y:-21.66, Z:-0.55 [[ 9.89156039e-01 1.46858931e-01 1.66875125e-03 2.09719897e+02] [-1.46858683e-01 9.89157446e-01 -2.71006966e-04 -2.16551628e+01] [-1.69045752e-03 2.29975657e-05 9.99998571e-01 -5.50314703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:-21.66, Z:-0.55 [[ 9.89467115e-01 1.44748208e-01 1.66878266e-03 2.09747058e+02] [-1.44747957e-01 9.89468522e-01 -2.70813433e-04 -2.16605606e+01] [-1.69040767e-03 2.64081047e-05 9.99998571e-01 -5.50498579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:-21.67, Z:-0.55 [[ 9.89764183e-01 1.42702759e-01 1.66880103e-03 2.09774278e+02] [-1.42702506e-01 9.89765589e-01 -2.70700168e-04 -2.16659842e+01] [-1.69035150e-03 2.97872412e-05 9.99998571e-01 -5.50390024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:-21.67, Z:-0.55 [[ 9.90292891e-01 1.38986351e-01 1.66881940e-03 2.09802076e+02] [-1.38986093e-01 9.90294296e-01 -2.70586902e-04 -2.16714228e+01] [-1.69023022e-03 3.60175980e-05 9.99998571e-01 -5.53971676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:-21.68, Z:-0.55 [[ 9.90459016e-01 1.37797509e-01 1.66884285e-03 2.09829402e+02] [-1.37797248e-01 9.90460421e-01 -2.70442198e-04 -2.16764556e+01] [-1.69018905e-03 3.78999604e-05 9.99998571e-01 -5.54274969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-21.68, Z:-0.55 [[ 9.90674219e-01 1.36241722e-01 1.66886102e-03 2.09856958e+02] [-1.36241460e-01 9.90675624e-01 -2.70330055e-04 -2.16831614e+01] [-1.69013016e-03 4.04409554e-05 9.99998571e-01 -5.50279754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:-21.69, Z:-0.55 [[ 9.90800965e-01 1.35316896e-01 1.66887600e-03 2.09884206e+02] [-1.35316632e-01 9.90802370e-01 -2.70237496e-04 -2.16899147e+01] [-1.69009400e-03 4.19248912e-05 9.99998571e-01 -5.48496639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:-21.70, Z:-0.55 [[ 9.90939757e-01 1.34296736e-01 1.66889493e-03 2.09910110e+02] [-1.34296471e-01 9.90941161e-01 -2.70120580e-04 -2.16971365e+01] [-1.69005299e-03 4.35465226e-05 9.99998571e-01 -5.48550138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:-21.71, Z:-0.55 [[ 9.91203558e-01 1.32335639e-01 1.66892180e-03 2.09936904e+02] [-1.32335372e-01 9.91204962e-01 -2.69954430e-04 -2.17097374e+01] [-1.68996816e-03 4.67224037e-05 9.99998571e-01 -5.51482690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-21.72, Z:-0.55 [[ 9.91259436e-01 1.31916435e-01 1.66893948e-03 2.09965131e+02] [-1.31916168e-01 9.91260839e-01 -2.69845124e-04 -2.17180633e+01] [-1.68995135e-03 4.73264257e-05 9.99998571e-01 -5.51540861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:-21.73, Z:-0.55 [[ 9.91241143e-01 1.32053821e-01 1.66895188e-03 2.09992690e+02] [-1.32053554e-01 9.91242547e-01 -2.69768370e-04 -2.17256960e+01] [-1.68996006e-03 4.70144800e-05 9.99998571e-01 -5.49615216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:-21.74, Z:-0.55 [[ 9.91009698e-01 1.33779644e-01 1.66896430e-03 2.10019306e+02] [-1.33779380e-01 9.91011102e-01 -2.69691526e-04 -2.17356674e+01] [-1.69004139e-03 4.39939093e-05 9.99998571e-01 -5.48664477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:-21.74, Z:-0.55 [[ 9.90832564e-01 1.35085322e-01 1.66897968e-03 2.10047279e+02] [-1.35085059e-01 9.90833969e-01 -2.69596298e-04 -2.17431334e+01] [-1.69010027e-03 4.16705722e-05 9.99998571e-01 -5.50726706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:-21.75, Z:-0.56 [[ 9.90354581e-01 1.38546089e-01 1.66899198e-03 2.10073351e+02] [-1.38545831e-01 9.90355987e-01 -2.69520164e-04 -2.17531443e+01] [-1.69023716e-03 3.56886491e-05 9.99998571e-01 -5.55295333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:-21.76, Z:-0.56 [[ 9.90024273e-01 1.40887023e-01 1.66900837e-03 2.10099950e+02] [-1.40886769e-01 9.90025679e-01 -2.69418586e-04 -2.17606071e+01] [-1.69031873e-03 3.15897431e-05 9.99998571e-01 -5.55216024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:-21.77, Z:-0.55 [[ 9.89416949e-01 1.45090714e-01 1.66902355e-03 2.10127342e+02] [-1.45090466e-01 9.89418356e-01 -2.69324509e-04 -2.17701787e+01] [-1.69043903e-03 2.43148281e-05 9.99998571e-01 -5.50981586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:-21.78, Z:-0.55 [[ 9.89156997e-01 1.46852474e-01 1.66903569e-03 2.10154427e+02] [-1.46852228e-01 9.89158405e-01 -2.69249271e-04 -2.17761822e+01] [-1.69048060e-03 2.12281899e-05 9.99998571e-01 -5.49566500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:-21.78, Z:-0.55 [[ 9.88866404e-01 1.48796668e-01 1.66905081e-03 2.10181938e+02] [-1.48796426e-01 9.88867813e-01 -2.69155541e-04 -2.17819128e+01] [-1.69052007e-03 1.78100773e-05 9.99998571e-01 -5.49858723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:-21.79, Z:-0.56 [[ 9.88438555e-01 1.51612785e-01 1.66906573e-03 2.10209665e+02] [-1.51612547e-01 9.88439964e-01 -2.69062977e-04 -2.17883086e+01] [-1.69056466e-03 1.29009140e-05 9.99998571e-01 -5.55597054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:-21.79, Z:-0.56 [[ 9.88346374e-01 1.52212544e-01 1.66907765e-03 2.10237577e+02] [-1.52212307e-01 9.88347784e-01 -2.68989030e-04 -2.17937124e+01] [-1.69057270e-03 1.18001731e-05 9.99998571e-01 -5.58038721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.27, Y:-21.80, Z:-0.56 [[ 9.88311244e-01 1.52440476e-01 1.66908956e-03 2.10266321e+02] [-1.52440239e-01 9.88312654e-01 -2.68915063e-04 -2.17995956e+01] [-1.69057588e-03 1.13353684e-05 9.99998571e-01 -5.56548240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:-21.81, Z:-0.55 [[ 9.88382640e-01 1.51976877e-01 1.66909879e-03 2.10294792e+02] [-1.51976640e-01 9.88384049e-01 -2.68857795e-04 -2.18051667e+01] [-1.69057079e-03 1.20703523e-05 9.99998571e-01 -5.53705274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.32, Y:-21.81, Z:-0.55 [[ 9.88555021e-01 1.50851532e-01 1.66911159e-03 2.10322020e+02] [-1.50851293e-01 9.88556430e-01 -2.68778311e-04 -2.18116860e+01] [-1.69055661e-03 1.39145073e-05 9.99998571e-01 -5.49064229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.35, Y:-21.82, Z:-0.55 [[ 9.88638186e-01 1.50305528e-01 1.66912887e-03 2.10350405e+02] [-1.50305289e-01 9.88639595e-01 -2.68670966e-04 -2.18176528e+01] [-1.69054962e-03 1.47394803e-05 9.99998571e-01 -5.49025341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:-21.82, Z:-0.55 [[ 9.88780113e-01 1.49369011e-01 1.66914096e-03 2.10379100e+02] [-1.49368771e-01 9.88781522e-01 -2.68595784e-04 -2.18238589e+01] [-1.69053563e-03 1.62646356e-05 9.99998571e-01 -5.50517363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:-21.83, Z:-0.55 [[ 9.89200501e-01 1.46559147e-01 1.66915349e-03 2.10405656e+02] [-1.46558902e-01 9.89201909e-01 -2.68517904e-04 -2.18335480e+01] [-1.69048358e-03 2.09887418e-05 9.99998571e-01 -5.53902063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:-21.84, Z:-0.55 [[ 9.89433583e-01 1.44977237e-01 1.66916908e-03 2.10433390e+02] [-1.44976990e-01 9.89434990e-01 -2.68420975e-04 -2.18415898e+01] [-1.69044922e-03 2.35936172e-05 9.99998571e-01 -5.53986468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:-21.85, Z:-0.55 [[ 9.89878092e-01 1.41910452e-01 1.66918150e-03 2.10461099e+02] [-1.41910201e-01 9.89879499e-01 -2.68343735e-04 -2.18540218e+01] [-1.69036933e-03 2.87537027e-05 9.99998571e-01 -5.54358935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:-21.86, Z:-0.55 [[ 9.90005190e-01 1.41021052e-01 1.66918776e-03 2.10489125e+02] [-1.41020800e-01 9.90006597e-01 -2.68304804e-04 -2.18620949e+01] [-1.69034352e-03 3.02329553e-05 9.99998571e-01 -5.54774244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:-21.87, Z:-0.55 [[ 9.90043333e-01 1.40753023e-01 1.66920023e-03 2.10517689e+02] [-1.40752771e-01 9.90044739e-01 -2.68227199e-04 -2.18695491e+01] [-1.69033669e-03 3.06119935e-05 9.99998571e-01 -5.54189657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:-21.88, Z:-0.55 [[ 9.89727236e-01 1.42958776e-01 1.66920674e-03 2.10545594e+02] [-1.42958527e-01 9.89728643e-01 -2.68186642e-04 -2.18794371e+01] [-1.69040136e-03 2.68042867e-05 9.99998571e-01 -5.52940825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:-21.89, Z:-0.55 [[ 9.89449471e-01 1.44868759e-01 1.66921386e-03 2.10574036e+02] [-1.44868513e-01 9.89450879e-01 -2.68142324e-04 -2.18870268e+01] [-1.69045057e-03 2.34967507e-05 9.99998571e-01 -5.51669251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:-21.90, Z:-0.55 [[ 9.89023230e-01 1.47750682e-01 1.66921990e-03 2.10603098e+02] [-1.47750440e-01 9.89024638e-01 -2.68104721e-04 -2.18961809e+01] [-1.69051226e-03 1.85338221e-05 9.99998571e-01 -5.51314592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:-21.90, Z:-0.55 [[ 9.88919741e-01 1.48441772e-01 1.66922607e-03 2.10630764e+02] [-1.48441531e-01 9.88921150e-01 -2.68066326e-04 -2.19016740e+01] [-1.69052520e-03 1.73136093e-05 9.99998571e-01 -5.53374828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.66, Y:-21.91, Z:-0.56 [[ 9.88853028e-01 1.48885538e-01 1.66923528e-03 2.10659840e+02] [-1.48885297e-01 9.88854436e-01 -2.68008935e-04 -2.19075904e+01] [-1.69053337e-03 1.64968558e-05 9.99998571e-01 -5.56001558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-21.92, Z:-0.56 [[ 9.89008476e-01 1.47849408e-01 1.66924155e-03 2.10688553e+02] [-1.47849166e-01 9.89009885e-01 -2.67969866e-04 -2.19157559e+01] [-1.69051558e-03 1.82284964e-05 9.99998571e-01 -5.59696986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:-21.92, Z:-0.56 [[ 9.89202799e-01 1.46543634e-01 1.66924783e-03 2.10718262e+02] [-1.46543390e-01 9.89204207e-01 -2.67930786e-04 -2.19222056e+01] [-1.69049052e-03 2.04206479e-05 9.99998571e-01 -5.59579939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:-21.93, Z:-0.56 [[ 9.89397182e-01 1.45225447e-01 1.66924783e-03 2.10746918e+02] [-1.45225202e-01 9.89398590e-01 -2.67930786e-04 -2.19287314e+01] [-1.69046181e-03 2.26731119e-05 9.99998571e-01 -5.56270505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-21.93, Z:-0.55 [[ 9.89259500e-01 1.46160377e-01 1.66925105e-03 2.10777018e+02] [-1.46160133e-01 9.89260908e-01 -2.67910680e-04 -2.19338963e+01] [-1.69048274e-03 2.10552298e-05 9.99998571e-01 -5.54200962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-21.94, Z:-0.55 [[ 9.88992967e-01 1.47953117e-01 1.66925105e-03 2.10806844e+02] [-1.47952876e-01 9.88994375e-01 -2.67910680e-04 -2.19384577e+01] [-1.69051812e-03 1.79912846e-05 9.99998571e-01 -5.53605357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-21.94, Z:-0.55 [[ 9.88644407e-01 1.50264599e-01 1.66925105e-03 2.10836005e+02] [-1.50264361e-01 9.88645816e-01 -2.67910680e-04 -2.19429549e+01] [-1.69055556e-03 1.40394529e-05 9.99998571e-01 -5.53585021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-21.95, Z:-0.55 [[ 9.87986176e-01 1.54533267e-01 1.66925422e-03 2.10866049e+02] [-1.54533035e-01 9.87987586e-01 -2.67890945e-04 -2.19457573e+01] [-1.69060051e-03 6.71763002e-06 9.99998571e-01 -5.53019187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:-21.95, Z:-0.55 [[ 9.87564890e-01 1.57203058e-01 1.66926051e-03 2.10894993e+02] [-1.57202830e-01 9.87566301e-01 -2.67851722e-04 -2.19492586e+01] [-1.69061254e-03 2.10847871e-06 9.99998571e-01 -5.53700550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-21.95, Z:-0.55 [[ 9.87568451e-01 1.57180684e-01 1.66926994e-03 2.10924786e+02] [-1.57180456e-01 9.87569862e-01 -2.67792956e-04 -2.19539903e+01] [-1.69061257e-03 2.08726402e-06 9.99998571e-01 -5.53751546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-21.96, Z:-0.55 [[ 9.87437813e-01 1.57999303e-01 1.66927601e-03 2.10954160e+02] [-1.57999076e-01 9.87439224e-01 -2.67755137e-04 -2.19587535e+01] [-1.69061373e-03 6.47480038e-07 9.99998571e-01 -5.53310151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-21.96, Z:-0.55 [[ 9.87379591e-01 1.58362738e-01 1.66928208e-03 2.10983703e+02] [-1.58362511e-01 9.87381002e-01 -2.67717250e-04 -2.19635322e+01] [-1.69061385e-03 -1.31540341e-08 9.99998571e-01 -5.53052587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:-21.97, Z:-0.55 [[ 9.87417570e-01 1.58125762e-01 1.66928815e-03 2.11012603e+02] [-1.58125535e-01 9.87418981e-01 -2.67679431e-04 -2.19681871e+01] [-1.69061382e-03 3.54291797e-07 9.99998571e-01 -5.53690567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:-21.97, Z:-0.55 [[ 9.87703469e-01 1.56330005e-01 1.66929434e-03 2.11040381e+02] [-1.56329776e-01 9.87704880e-01 -2.67640786e-04 -2.19734837e+01] [-1.69061046e-03 3.38932211e-06 9.99998571e-01 -5.53820666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:-21.98, Z:-0.55 [[ 9.87731501e-01 1.56152797e-01 1.66930053e-03 2.11068537e+02] [-1.56152568e-01 9.87732911e-01 -2.67602227e-04 -2.19784725e+01] [-1.69060990e-03 3.65358648e-06 9.99998571e-01 -5.52149016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:-21.98, Z:-0.55 [[ 9.87547699e-01 1.57311015e-01 1.66930679e-03 2.11096454e+02] [-1.57310788e-01 9.87549110e-01 -2.67563169e-04 -2.19839106e+01] [-1.69061306e-03 1.63142635e-06 9.99998571e-01 -5.47623305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:-21.99, Z:-0.55 [[ 9.87476661e-01 1.57756321e-01 1.66931590e-03 2.11126089e+02] [-1.57756094e-01 9.87478072e-01 -2.67506322e-04 -2.19890296e+01] [-1.69061366e-03 8.11494603e-07 9.99998571e-01 -5.47647157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:-21.99, Z:-0.55 [[ 9.87412104e-01 1.58159889e-01 1.66932225e-03 2.11154990e+02] [-1.58159663e-01 9.87413515e-01 -2.67466637e-04 -2.19942354e+01] [-1.69061385e-03 8.03504354e-08 9.99998571e-01 -5.49287322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:-22.00, Z:-0.55 [[ 9.87463459e-01 1.57838940e-01 1.66932857e-03 2.11182252e+02] [-1.57838714e-01 9.87464870e-01 -2.67427214e-04 -2.20022306e+01] [-1.69061375e-03 5.89927227e-07 9.99998571e-01 -5.51771827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:-22.01, Z:-0.55 [[ 9.87557457e-01 1.57249748e-01 1.66933489e-03 2.11210820e+02] [-1.57249520e-01 9.87558868e-01 -2.67387750e-04 -2.20093574e+01] [-1.69061313e-03 1.55865581e-06 9.99998571e-01 -5.51782075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:-22.02, Z:-0.55 [[ 9.87824063e-01 1.55566169e-01 1.66933802e-03 2.11240543e+02] [-1.55565939e-01 9.87825474e-01 -2.67368242e-04 -2.20197927e+01] [-1.69060807e-03 4.42064632e-06 9.99998571e-01 -5.52471475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:-22.03, Z:-0.55 [[ 9.87954568e-01 1.54735210e-01 1.66933489e-03 2.11269432e+02] [-1.54734979e-01 9.87955978e-01 -2.67387737e-04 -2.20274944e+01] [-1.69060368e-03 5.86243651e-06 9.99998571e-01 -5.53670353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:-22.04, Z:-0.56 [[ 9.88089625e-01 1.53870421e-01 1.66933801e-03 2.11298300e+02] [-1.53870189e-01 9.88091035e-01 -2.67368280e-04 -2.20398369e+01] [-1.69059799e-03 7.32246919e-06 9.99998571e-01 -5.55157544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:-22.05, Z:-0.56 [[ 9.88074913e-01 1.53964863e-01 1.66933492e-03 2.11328647e+02] [-1.53964631e-01 9.88076323e-01 -2.67387546e-04 -2.20486750e+01] [-1.69059860e-03 7.18039081e-06 9.99998571e-01 -5.55719720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:-22.06, Z:-0.56 [[ 9.87964590e-01 1.54671206e-01 1.66932876e-03 2.11358359e+02] [-1.54670975e-01 9.87966000e-01 -2.67426013e-04 -2.20569420e+01] [-1.69060316e-03 6.01072393e-06 9.99998571e-01 -5.55229507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.39, Y:-22.07, Z:-0.56 [[ 9.87351948e-01 1.58534996e-01 1.66932569e-03 2.11387588e+02] [-1.58534770e-01 9.87353359e-01 -2.67445160e-04 -2.20682786e+01] [-1.69061375e-03 -5.83665842e-07 9.99998571e-01 -5.55580290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:-22.08, Z:-0.55 [[ 9.86916340e-01 1.61224537e-01 1.66932264e-03 2.11418547e+02] [-1.61224316e-01 9.86917752e-01 -2.67464234e-04 -2.20772338e+01] [-1.69060594e-03 -5.17057688e-06 9.99998571e-01 -5.54105139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:-22.09, Z:-0.55 [[ 9.86034429e-01 1.66533238e-01 1.66928030e-03 2.11448170e+02] [-1.66533023e-01 9.86035841e-01 -2.67728211e-04 -2.20881370e+01] [-1.69055585e-03 -1.40010604e-05 9.99998571e-01 -5.51434211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:-22.09, Z:-0.55 [[ 9.85514142e-01 1.69585048e-01 1.66927414e-03 2.11478326e+02] [-1.69584838e-01 9.85515556e-01 -2.67766597e-04 -2.20940917e+01] [-1.69050485e-03 -1.91958172e-05 9.99998571e-01 -5.52045974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:-22.10, Z:-0.55 [[ 9.84958181e-01 1.72784822e-01 1.66923449e-03 2.11509976e+02] [-1.72784616e-01 9.84959595e-01 -2.68013530e-04 -2.20994504e+01] [-1.69043720e-03 -2.44359221e-05 9.99998571e-01 -5.53630352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:-22.10, Z:-0.55 [[ 9.84117028e-01 1.77513065e-01 1.66919130e-03 2.11539721e+02] [-1.77512865e-01 9.84118443e-01 -2.68282288e-04 -2.21042584e+01] [-1.69030555e-03 -3.22817627e-05 9.99998571e-01 -5.53090098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:-22.11, Z:-0.55 [[ 9.83832169e-01 1.79085109e-01 1.66918823e-03 2.11572000e+02] [-1.79084911e-01 9.83833585e-01 -2.68301398e-04 -2.21088444e+01] [-1.69025222e-03 -3.49628783e-05 9.99998571e-01 -5.52491404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:-22.11, Z:-0.55 [[ 9.83505976e-01 1.80867931e-01 1.66914427e-03 2.11603541e+02] [-1.80867735e-01 9.83507392e-01 -2.68574548e-04 -2.21102450e+01] [-1.69019226e-03 -3.77496722e-05 9.99998571e-01 -5.52990607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:-22.11, Z:-0.55 [[ 9.83532031e-01 1.80726197e-01 1.66910352e-03 2.11636025e+02] [-1.80726001e-01 9.83533446e-01 -2.68827588e-04 -2.21134217e+01] [-1.69020333e-03 -3.72498607e-05 9.99998571e-01 -5.53577442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:-22.12, Z:-0.55 [[ 9.83584617e-01 1.80439782e-01 1.66905910e-03 2.11666580e+02] [-1.80439585e-01 9.83586033e-01 -2.69103102e-04 -2.21171621e+01] [-1.69022012e-03 -3.64786597e-05 9.99998571e-01 -5.54107024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:-22.12, Z:-0.55 [[ 9.83980278e-01 1.78269534e-01 1.66903439e-03 2.11697013e+02] [-1.78269334e-01 9.83981693e-01 -2.69256286e-04 -2.21184286e+01] [-1.69029947e-03 -3.25947733e-05 9.99998571e-01 -5.54733259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:-22.12, Z:-0.56 [[ 9.84562126e-01 1.75027522e-01 1.66903129e-03 2.11727091e+02] [-1.75027317e-01 9.84563541e-01 -2.69275480e-04 -2.21193330e+01] [-1.69039798e-03 -2.70076287e-05 9.99998571e-01 -5.56595354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:-22.12, Z:-0.56 [[ 9.84783042e-01 1.73780249e-01 1.66902820e-03 2.11756098e+02] [-1.73780042e-01 9.84784456e-01 -2.69294607e-04 -2.21223031e+01] [-1.69043112e-03 -2.48470284e-05 9.99998571e-01 -5.57816783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:-22.13, Z:-0.56 [[ 9.84926683e-01 1.72964283e-01 1.66903124e-03 2.11786627e+02] [-1.72964075e-01 9.84928097e-01 -2.69275759e-04 -2.21260824e+01] [-1.69045086e-03 -2.34655657e-05 9.99998571e-01 -5.57833937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:-22.13, Z:-0.56 [[ 9.85032505e-01 1.72360604e-01 1.66903124e-03 2.11816644e+02] [-1.72360395e-01 9.85033919e-01 -2.69275759e-04 -2.21297477e+01] [-1.69046492e-03 -2.24295097e-05 9.99998571e-01 -5.58150402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:-22.13, Z:-0.56 [[ 9.84974565e-01 1.72691403e-01 1.66902807e-03 2.11846926e+02] [-1.72691194e-01 9.84975979e-01 -2.69295407e-04 -2.21326283e+01] [-1.69045756e-03 -2.29773251e-05 9.99998571e-01 -5.57520136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:-22.14, Z:-0.56 [[ 9.84664370e-01 1.74451405e-01 1.66902807e-03 2.11876520e+02] [-1.74451199e-01 9.84665784e-01 -2.69295407e-04 -2.21355442e+01] [-1.69041380e-03 -2.59983560e-05 9.99998571e-01 -5.57954772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:-22.14, Z:-0.56 [[ 9.84469579e-01 1.75547323e-01 1.66903122e-03 2.11906788e+02] [-1.75547118e-01 9.84470993e-01 -2.69275920e-04 -2.21394417e+01] [-1.69038349e-03 -2.78996694e-05 9.99998571e-01 -5.58346127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:-22.14, Z:-0.56 [[ 9.84271126e-01 1.76656627e-01 1.66903122e-03 2.11936696e+02] [-1.76656425e-01 9.84272541e-01 -2.69275920e-04 -2.21428817e+01] [-1.69035097e-03 -2.98045748e-05 9.99998571e-01 -5.58369187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:-22.15, Z:-0.56 [[ 9.84025892e-01 1.78017577e-01 1.66903742e-03 2.11965585e+02] [-1.78017376e-01 9.84027307e-01 -2.69237484e-04 -2.21456902e+01] [-1.69030740e-03 -3.21810061e-05 9.99998571e-01 -5.58342842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:-22.15, Z:-0.56 [[ 9.83579728e-01 1.80466432e-01 1.66904668e-03 2.11995083e+02] [-1.80466235e-01 9.83581143e-01 -2.69180081e-04 -2.21464379e+01] [-1.69022081e-03 -3.64464987e-05 9.99998571e-01 -5.57643523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:-22.15, Z:-0.56 [[ 9.83394455e-01 1.81473304e-01 1.66905310e-03 2.12024254e+02] [-1.81473108e-01 9.83395871e-01 -2.69140218e-04 -2.21473320e+01] [-1.69018170e-03 -3.82172564e-05 9.99998571e-01 -5.56411870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-22.15, Z:-0.55 [[ 9.83475712e-01 1.81032426e-01 1.66905967e-03 2.12053743e+02] [-1.81032230e-01 9.83477127e-01 -2.69099509e-04 -2.21515205e+01] [-1.69019774e-03 -3.75007622e-05 9.99998571e-01 -5.54947459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:-22.16, Z:-0.55 [[ 9.83705153e-01 1.79781498e-01 1.66906603e-03 2.12082339e+02] [-1.79781300e-01 9.83706568e-01 -2.69060031e-04 -2.21560295e+01] [-1.69024323e-03 -3.53911229e-05 9.99998571e-01 -5.53154893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:-22.16, Z:-0.55 [[ 9.83977637e-01 1.78284110e-01 1.66907554e-03 2.12111168e+02] [-1.78283910e-01 9.83979052e-01 -2.69001061e-04 -2.21610451e+01] [-1.69029398e-03 -3.28782853e-05 9.99998571e-01 -5.51106524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-22.17, Z:-0.55 [[ 9.84717108e-01 1.74153469e-01 1.66908175e-03 2.12140798e+02] [-1.74153263e-01 9.84718523e-01 -2.68962499e-04 -2.21661399e+01] [-1.69041647e-03 -2.58240586e-05 9.99998571e-01 -5.50508978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:-22.17, Z:-0.55 [[ 9.85065648e-01 1.72171088e-01 1.66908175e-03 2.12170116e+02] [-1.72170880e-01 9.85067062e-01 -2.68962499e-04 -2.21708235e+01] [-1.69046502e-03 -2.24215548e-05 9.99998571e-01 -5.49861086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:-22.18, Z:-0.55 [[ 9.85050456e-01 1.72257982e-01 1.66907857e-03 2.12200246e+02] [-1.72257774e-01 9.85051870e-01 -2.68982221e-04 -2.21755091e+01] [-1.69046330e-03 -2.25506992e-05 9.99998571e-01 -5.50956408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:-22.18, Z:-0.55 [[ 9.85004983e-01 1.72517818e-01 1.66907857e-03 2.12229372e+02] [-1.72517610e-01 9.85006397e-01 -2.68982221e-04 -2.21800182e+01] [-1.69045730e-03 -2.29966182e-05 9.99998571e-01 -5.53491753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:-22.18, Z:-0.56 [[ 9.85092111e-01 1.72019614e-01 1.66908495e-03 2.12258469e+02] [-1.72019405e-01 9.85093524e-01 -2.68942661e-04 -2.21832333e+01] [-1.69046818e-03 -2.21817068e-05 9.99998571e-01 -5.56801801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:-22.19, Z:-0.56 [[ 9.85191598e-01 1.71448913e-01 1.66908812e-03 2.12288108e+02] [-1.71448703e-01 9.85193011e-01 -2.68922986e-04 -2.21878486e+01] [-1.69048050e-03 -2.12223268e-05 9.99998571e-01 -5.55851267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:-22.19, Z:-0.55 [[ 9.85311823e-01 1.70756628e-01 1.66909449e-03 2.12316958e+02] [-1.70756417e-01 9.85313236e-01 -2.68883447e-04 -2.21930675e+01] [-1.69049452e-03 -2.00745552e-05 9.99998571e-01 -5.54565978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:-22.20, Z:-0.56 [[ 9.85723736e-01 1.68362499e-01 1.66909763e-03 2.12346650e+02] [-1.68362286e-01 9.85725149e-01 -2.68863896e-04 -2.21987671e+01] [-1.69053811e-03 -1.59875689e-05 9.99998571e-01 -5.55519725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:-22.20, Z:-0.56 [[ 9.86034762e-01 1.66531264e-01 1.66909763e-03 2.12376189e+02] [-1.66531048e-01 9.86036175e-01 -2.68863896e-04 -2.22037406e+01] [-1.69056489e-03 -1.28474306e-05 9.99998571e-01 -5.57969906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.615769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:-22.21, Z:-0.56 [[ 9.86748355e-01 1.62249494e-01 1.66909437e-03 2.12405919e+02] [-1.62249271e-01 9.86749766e-01 -2.68884163e-04 -2.22091279e+01] [-1.69060480e-03 -5.48833975e-06 9.99998571e-01 -5.62140192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-22.21, Z:-0.56 [[ 9.87033974e-01 1.60502799e-01 1.66909437e-03 2.12434628e+02] [-1.60502574e-01 9.87035385e-01 -2.68884163e-04 -2.22139872e+01] [-1.69061187e-03 -2.49613847e-06 9.99998571e-01 -5.62800394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:-22.22, Z:-0.56 [[ 9.87124974e-01 1.59942178e-01 1.66909756e-03 2.12464818e+02] [-1.59941952e-01 9.87126385e-01 -2.68864340e-04 -2.22178999e+01] [-1.69061299e-03 -1.55601804e-06 9.99998571e-01 -5.58817543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:-22.22, Z:-0.56 [[ 9.87037391e-01 1.60481787e-01 1.66909756e-03 2.12494333e+02] [-1.60481561e-01 9.87038802e-01 -2.68864340e-04 -2.22217996e+01] [-1.69061189e-03 -2.48022663e-06 9.99998571e-01 -5.57105325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:-22.23, Z:-0.56 [[ 9.86905149e-01 1.61293030e-01 1.66910075e-03 2.12524872e+02] [-1.61292806e-01 9.86906560e-01 -2.68844540e-04 -2.22256883e+01] [-1.69060923e-03 -3.88988226e-06 9.99998571e-01 -5.56291333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:-22.23, Z:-0.56 [[ 9.86432664e-01 1.64157890e-01 1.66910075e-03 2.12553481e+02] [-1.64157670e-01 9.86434076e-01 -2.68844540e-04 -2.22273898e+01] [-1.69059081e-03 -8.79865404e-06 9.99998571e-01 -5.57373190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:-22.23, Z:-0.56 [[ 9.86228190e-01 1.65381894e-01 1.66911024e-03 2.12582854e+02] [-1.65381676e-01 9.86229603e-01 -2.68785622e-04 -2.22308084e+01] [-1.69057820e-03 -1.09562918e-05 9.99998571e-01 -5.57972969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:-22.23, Z:-0.56 [[ 9.86102092e-01 1.66132109e-01 1.66911653e-03 2.12612463e+02] [-1.66131892e-01 9.86103505e-01 -2.68746577e-04 -2.22330630e+01] [-1.69056909e-03 -1.22819243e-05 9.99998571e-01 -5.56322524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-22.24, Z:-0.56 [[ 9.86222142e-01 1.65417956e-01 1.66912283e-03 2.12641596e+02] [-1.65417738e-01 9.86223555e-01 -2.68707395e-04 -2.22360646e+01] [-1.69057728e-03 -1.10973405e-05 9.99998571e-01 -5.56295170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:-22.24, Z:-0.56 [[ 9.86567049e-01 1.63348317e-01 1.66912913e-03 2.12671014e+02] [-1.63348096e-01 9.86568461e-01 -2.68668304e-04 -2.22374060e+01] [-1.69059667e-03 -7.58976868e-06 9.99998571e-01 -5.56654399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:-22.24, Z:-0.56 [[ 9.86697963e-01 1.62555663e-01 1.66913548e-03 2.12700655e+02] [-1.62555441e-01 9.86699375e-01 -2.68628800e-04 -2.22408663e+01] [-1.69060207e-03 -6.27156396e-06 9.99998571e-01 -5.57362703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:-22.24, Z:-0.56 [[ 9.86759146e-01 1.62183849e-01 1.66914181e-03 2.12730109e+02] [-1.62183627e-01 9.86760558e-01 -2.68589485e-04 -2.22446365e+01] [-1.69060418e-03 -5.67434208e-06 9.99998571e-01 -5.57453625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:-22.25, Z:-0.55 [[ 9.86751018e-01 1.62233296e-01 1.66914819e-03 2.12759793e+02] [-1.62233074e-01 9.86752430e-01 -2.68549862e-04 -2.22477916e+01] [-1.69060376e-03 -5.79919169e-06 9.99998571e-01 -5.54612947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:-22.25, Z:-0.55 [[ 9.86726145e-01 1.62384508e-01 1.66915484e-03 2.12788398e+02] [-1.62384286e-01 9.86727557e-01 -2.68508490e-04 -2.22516656e+01] [-1.69060270e-03 -6.10016964e-06 9.99998571e-01 -5.53633868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-22.26, Z:-0.55 [[ 9.86729964e-01 1.62361302e-01 1.66916185e-03 2.12818189e+02] [-1.62361080e-01 9.86731376e-01 -2.68464906e-04 -2.22564103e+01] [-1.69060268e-03 -6.10455317e-06 9.99998571e-01 -5.53684864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.85, Y:-22.26, Z:-0.55 [[ 9.86575981e-01 1.63294360e-01 1.66916816e-03 2.12847913e+02] [-1.63294139e-01 9.86577393e-01 -2.68425650e-04 -2.22602135e+01] [-1.69059597e-03 -7.74307982e-06 9.99998571e-01 -5.53774571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:-22.26, Z:-0.55 [[ 9.86465365e-01 1.63961268e-01 1.66917458e-03 2.12876228e+02] [-1.63961049e-01 9.86466777e-01 -2.68385726e-04 -2.22645298e+01] [-1.69059014e-03 -8.92639256e-06 9.99998571e-01 -5.54940391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.91, Y:-22.27, Z:-0.56 [[ 9.86357169e-01 1.64610902e-01 1.66918100e-03 2.12905081e+02] [-1.64610683e-01 9.86358581e-01 -2.68345833e-04 -2.22684451e+01] [-1.69058365e-03 -1.00801883e-05 9.99998571e-01 -5.56732415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:-22.27, Z:-0.56 [[ 9.86350443e-01 1.64651198e-01 1.66919326e-03 2.12933123e+02] [-1.64650980e-01 9.86351855e-01 -2.68269516e-04 -2.22702403e+01] [-1.69058277e-03 -1.02265506e-05 9.99998571e-01 -5.58098327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:-22.27, Z:-0.56 [[ 9.86491005e-01 1.63806931e-01 1.66920851e-03 2.12960555e+02] [-1.63806712e-01 9.86492417e-01 -2.68174612e-04 -2.22734124e+01] [-1.69059040e-03 -8.87571526e-06 9.99998571e-01 -5.58201945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:-22.28, Z:-0.56 [[ 9.86983758e-01 1.60811303e-01 1.66922363e-03 2.12989695e+02] [-1.60811079e-01 9.86985170e-01 -2.68080468e-04 -2.22775628e+01] [-1.69060934e-03 -3.83858555e-06 9.99998571e-01 -5.56050220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:-22.28, Z:-0.55 [[ 9.87333403e-01 1.58650448e-01 1.66923002e-03 2.13017662e+02] [-1.58650221e-01 9.87334814e-01 -2.68040649e-04 -2.22816036e+01] [-1.69061368e-03 -1.78226789e-07 9.99998571e-01 -5.54132626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:-22.28, Z:-0.56 [[ 9.87787305e-01 1.55799402e-01 1.66923957e-03 2.13047041e+02] [-1.55799171e-01 9.87788715e-01 -2.67981171e-04 -2.22849891e+01] [-1.69060732e-03 4.64225612e-06 9.99998571e-01 -5.56067649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:-22.29, Z:-0.56 [[ 9.87910183e-01 1.55018334e-01 1.66924598e-03 2.13076454e+02] [-1.55018102e-01 9.87911593e-01 -2.67941220e-04 -2.22891643e+01] [-1.69060326e-03 5.93851416e-06 9.99998571e-01 -5.59122506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-22.29, Z:-0.56 [[ 9.87969987e-01 1.54636730e-01 1.66925256e-03 2.13104349e+02] [-1.54636498e-01 9.87971397e-01 -2.67900281e-04 -2.22933442e+01] [-1.69060100e-03 6.55006803e-06 9.99998571e-01 -5.62358446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.365769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:-22.30, Z:-0.56 [[ 9.87892391e-01 1.55131679e-01 1.66925917e-03 2.13132866e+02] [-1.55131448e-01 9.87893801e-01 -2.67859072e-04 -2.22966402e+01] [-1.69060421e-03 5.66134739e-06 9.99998571e-01 -5.62973514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:-22.30, Z:-0.56 [[ 9.87783993e-01 1.55820399e-01 1.66927175e-03 2.13161553e+02] [-1.55820168e-01 9.87785404e-01 -2.67780628e-04 -2.23003402e+01] [-1.69060795e-03 4.40321288e-06 9.99998571e-01 -5.60777027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:-22.30, Z:-0.56 [[ 9.87368910e-01 1.58429317e-01 1.66928445e-03 2.13189480e+02] [-1.58429091e-01 9.87370321e-01 -2.67701468e-04 -2.23041613e+01] [-1.69061368e-03 -1.43110494e-07 9.99998571e-01 -5.57886717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.22, Y:-22.31, Z:-0.56 [[ 9.87165497e-01 1.59691873e-01 1.66930168e-03 2.13217965e+02] [-1.59691649e-01 9.87166909e-01 -2.67593935e-04 -2.23086986e+01] [-1.69061196e-03 -2.41403875e-06 9.99998571e-01 -5.58362426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:-22.31, Z:-0.56 [[ 9.86976488e-01 1.60855912e-01 1.66931433e-03 2.13246218e+02] [-1.60855690e-01 9.86977900e-01 -2.67515010e-04 -2.23131045e+01] [-1.69060773e-03 -4.48768355e-06 9.99998571e-01 -5.59165875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:-22.32, Z:-0.56 [[ 9.86682328e-01 1.62650534e-01 1.66932687e-03 2.13274159e+02] [-1.62650314e-01 9.86683741e-01 -2.67436769e-04 -2.23168479e+01] [-1.69059641e-03 -7.64140483e-06 9.99998571e-01 -5.59524405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-22.32, Z:-0.56 [[ 9.86552579e-01 1.63435682e-01 1.66934369e-03 2.13302418e+02] [-1.63435464e-01 9.86553991e-01 -2.67331724e-04 -2.23205812e+01] [-1.69058922e-03 -9.09315912e-06 9.99998571e-01 -5.58432864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-22.32, Z:-0.55 [[ 9.86295168e-01 1.64981983e-01 1.66935616e-03 2.13331041e+02] [-1.64981767e-01 9.86296581e-01 -2.67253856e-04 -2.23226370e+01] [-1.69057234e-03 -1.18221413e-05 9.99998571e-01 -5.54415105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.36, Y:-22.33, Z:-0.55 [[ 9.86157600e-01 1.65802294e-01 1.66936860e-03 2.13359827e+02] [-1.65802079e-01 9.86159013e-01 -2.67176101e-04 -2.23257524e+01] [-1.69056130e-03 -1.33070430e-05 9.99998571e-01 -5.51906831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.39, Y:-22.33, Z:-0.55 [[ 9.86062099e-01 1.66369316e-01 1.66938098e-03 2.13388082e+02] [-1.66369102e-01 9.86063512e-01 -2.67098710e-04 -2.23288058e+01] [-1.69055270e-03 -1.43575008e-05 9.99998571e-01 -5.50753695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.42, Y:-22.33, Z:-0.55 [[ 9.86104344e-01 1.66118741e-01 1.66939382e-03 2.13416215e+02] [-1.66118527e-01 9.86105757e-01 -2.67018431e-04 -2.23301532e+01] [-1.69055562e-03 -1.40092079e-05 9.99998571e-01 -5.50714301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:-22.33, Z:-0.55 [[ 9.86207059e-01 1.65507853e-01 1.66940981e-03 2.13445468e+02] [-1.65507638e-01 9.86208472e-01 -2.66918472e-04 -2.23325792e+01] [-1.69056320e-03 -1.30631922e-05 9.99998571e-01 -5.51329907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-22.33, Z:-0.55 [[ 9.86325746e-01 1.64799074e-01 1.66942218e-03 2.13475055e+02] [-1.64798859e-01 9.86327159e-01 -2.66841063e-04 -2.23317553e+01] [-1.69057159e-03 -1.19266585e-05 9.99998571e-01 -5.51621263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:-22.33, Z:-0.55 [[ 9.86346069e-01 1.64677397e-01 1.66943511e-03 2.13502960e+02] [-1.64677181e-01 9.86347482e-01 -2.66760160e-04 -2.23331544e+01] [-1.69057248e-03 -1.18000328e-05 9.99998571e-01 -5.53525862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-22.34, Z:-0.56 [[ 9.86302916e-01 1.64935657e-01 1.66945117e-03 2.13531152e+02] [-1.64935442e-01 9.86304329e-01 -2.66659561e-04 -2.23357037e+01] [-1.69056859e-03 -1.23445641e-05 9.99998571e-01 -5.56567340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:-22.34, Z:-0.56 [[ 9.86325706e-01 1.64799315e-01 1.66946671e-03 2.13560518e+02] [-1.64799100e-01 9.86327119e-01 -2.66562269e-04 -2.23361153e+01] [-1.69056957e-03 -1.22093922e-05 9.99998571e-01 -5.58384829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.59, Y:-22.34, Z:-0.56 [[ 9.86654036e-01 1.62822068e-01 1.66947872e-03 2.13589875e+02] [-1.62821850e-01 9.86655449e-01 -2.66486991e-04 -2.23367840e+01] [-1.69059024e-03 -8.89714985e-06 9.99998571e-01 -5.56499728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:-22.34, Z:-0.56 [[ 9.86995529e-01 1.60739040e-01 1.66949177e-03 2.13617430e+02] [-1.60738819e-01 9.86996941e-01 -2.66405229e-04 -2.23399121e+01] [-1.69060499e-03 -5.41136617e-06 9.99998571e-01 -5.56971587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:-22.34, Z:-0.56 [[ 9.87386380e-01 1.58320403e-01 1.66950802e-03 2.13646307e+02] [-1.58320179e-01 9.87387791e-01 -2.66303371e-04 -2.23445903e+01] [-1.69061309e-03 -1.37248743e-06 9.99998571e-01 -5.57589401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:-22.35, Z:-0.56 [[ 9.88202023e-01 1.53146907e-01 1.66952065e-03 2.13674858e+02] [-1.53146676e-01 9.88203433e-01 -2.66224150e-04 -2.23507214e+01] [-1.69059744e-03 7.40170566e-06 9.99998571e-01 -5.58846135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.70, Y:-22.36, Z:-0.56 [[ 9.88537045e-01 1.50969280e-01 1.66953327e-03 2.13702098e+02] [-1.50969046e-01 9.88538455e-01 -2.66145005e-04 -2.23552153e+01] [-1.69057756e-03 1.10463521e-05 9.99998571e-01 -5.58577286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:-22.36, Z:-0.56 [[ 9.88758299e-01 1.49513342e-01 1.66954897e-03 2.13729483e+02] [-1.49513106e-01 9.88759708e-01 -2.66046480e-04 -2.23601119e+01] [-1.69056025e-03 1.34362141e-05 9.99998571e-01 -5.55239260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:-22.36, Z:-0.55 [[ 9.88645617e-01 1.50256637e-01 1.66956579e-03 2.13757494e+02] [-1.50256403e-01 9.88647026e-01 -2.65940872e-04 -2.23649474e+01] [-1.69057064e-03 1.20583282e-05 9.99998571e-01 -5.54401839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-22.37, Z:-0.56 [[ 9.88483118e-01 1.51321966e-01 1.66957855e-03 2.13784778e+02] [-1.51321733e-01 9.88484528e-01 -2.65860732e-04 -2.23692470e+01] [-1.69058314e-03 1.01553257e-05 9.99998571e-01 -5.55540532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:-22.37, Z:-0.56 [[ 9.88283110e-01 1.52622757e-01 1.66959446e-03 2.13812758e+02] [-1.52622526e-01 9.88284521e-01 -2.65760797e-04 -2.23720238e+01] [-1.69059551e-03 7.82918339e-06 9.99998571e-01 -5.59376895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.115769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-22.38, Z:-0.56 [[ 9.88257134e-01 1.52790870e-01 1.66961019e-03 2.13841701e+02] [-1.52790640e-01 9.88258544e-01 -2.65661912e-04 -2.23760667e+01] [-1.69059725e-03 7.44147024e-06 9.99998571e-01 -5.59530934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:-22.38, Z:-0.56 [[ 9.88385441e-01 1.51958651e-01 1.66962277e-03 2.13869649e+02] [-1.51958419e-01 9.88386852e-01 -2.65582856e-04 -2.23812193e+01] [-1.69059080e-03 8.78499250e-06 9.99998571e-01 -5.58463760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.90, Y:-22.39, Z:-0.56 [[ 9.88463870e-01 1.51447645e-01 1.66963529e-03 2.13896852e+02] [-1.51447413e-01 9.88465280e-01 -2.65504129e-04 -2.23859606e+01] [-1.69058649e-03 9.57929459e-06 9.99998571e-01 -5.59166470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.93, Y:-22.39, Z:-0.56 [[ 9.88703358e-01 1.49876223e-01 1.66965086e-03 2.13925180e+02] [-1.49875988e-01 9.88704768e-01 -2.65406189e-04 -2.23883334e+01] [-1.69056984e-03 1.21674180e-05 9.99998571e-01 -5.58195754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-22.39, Z:-0.56 [[ 9.88749636e-01 1.49570620e-01 1.66966286e-03 2.13953771e+02] [-1.49570385e-01 9.88751045e-01 -2.65330638e-04 -2.23919302e+01] [-1.69056657e-03 1.26134541e-05 9.99998571e-01 -5.56403928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:-22.40, Z:-0.56 [[ 9.88828624e-01 1.49047522e-01 1.66967521e-03 2.13982374e+02] [-1.49047287e-01 9.88830034e-01 -2.65252937e-04 -2.23959955e+01] [-1.69056028e-03 1.34291373e-05 9.99998571e-01 -5.55428593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:-22.40, Z:-0.56 [[ 9.89114907e-01 1.47135692e-01 1.66968752e-03 2.14009952e+02] [-1.47135454e-01 9.89116317e-01 -2.65175395e-04 -2.24025459e+01] [-1.69053194e-03 1.66187037e-05 9.99998571e-01 -5.57242737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:-22.41, Z:-0.56 [[ 9.89286464e-01 1.45977752e-01 1.66970281e-03 2.14037165e+02] [-1.45977513e-01 9.89287873e-01 -2.65079091e-04 -2.24083750e+01] [-1.69051239e-03 1.85000941e-05 9.99998571e-01 -5.58993943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:-22.42, Z:-0.56 [[ 9.89778292e-01 1.42604858e-01 1.66971902e-03 2.14064788e+02] [-1.42604614e-01 9.89779700e-01 -2.64976966e-04 -2.24157039e+01] [-1.69044099e-03 2.41588131e-05 9.99998571e-01 -5.61342572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:-22.42, Z:-0.56 [[ 9.89983805e-01 1.41171093e-01 1.66973169e-03 2.14091827e+02] [-1.41170847e-01 9.89985213e-01 -2.64897111e-04 -2.24221587e+01] [-1.69040549e-03 2.65264138e-05 9.99998571e-01 -5.63178835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-22.43, Z:-0.56 [[ 9.90160292e-01 1.39927865e-01 1.66974859e-03 2.14119777e+02] [-1.39927617e-01 9.90161700e-01 -2.64790516e-04 -2.24320697e+01] [-1.69037267e-03 2.85411135e-05 9.99998571e-01 -5.62780023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-22.44, Z:-0.56 [[ 9.90124844e-01 1.40178479e-01 1.66976114e-03 2.14146565e+02] [-1.40178232e-01 9.90126251e-01 -2.64711333e-04 -2.24379349e+01] [-1.69038117e-03 2.80331022e-05 9.99998571e-01 -5.61719458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.17, Y:-22.44, Z:-0.56 [[ 9.90003850e-01 1.41030454e-01 1.66977675e-03 2.14174708e+02] [-1.41030209e-01 9.90005258e-01 -2.64612856e-04 -2.24436918e+01] [-1.69040623e-03 2.64787830e-05 9.99998571e-01 -5.58464317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-22.45, Z:-0.56 [[ 9.89396309e-01 1.45231385e-01 1.66978915e-03 2.14201475e+02] [-1.45231145e-01 9.89397718e-01 -2.64534572e-04 -2.24509620e+01] [-1.69050430e-03 1.92241386e-05 9.99998571e-01 -5.57261814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-22.46, Z:-0.56 [[ 9.89015181e-01 1.47804545e-01 1.66980460e-03 2.14229172e+02] [-1.47804309e-01 9.89016590e-01 -2.64437006e-04 -2.24575825e+01] [-1.69054945e-03 1.47278973e-05 9.99998571e-01 -5.59156398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-22.47, Z:-0.56 [[ 9.88278886e-01 1.52650108e-01 1.66981698e-03 2.14256725e+02] [-1.52649879e-01 9.88280296e-01 -2.64358839e-04 -2.24661733e+01] [-1.69060162e-03 6.36289837e-06 9.99998571e-01 -5.61632139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.28, Y:-22.47, Z:-0.56 [[ 9.87961291e-01 1.54692270e-01 1.66982961e-03 2.14284228e+02] [-1.54692045e-01 9.87962702e-01 -2.64279029e-04 -2.24719386e+01] [-1.69061130e-03 2.78809510e-06 9.99998571e-01 -5.62541829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-22.48, Z:-0.56 [[ 9.87687243e-01 1.56432482e-01 1.66984532e-03 2.14312141e+02] [-1.56432259e-01 9.87688655e-01 -2.64179715e-04 -2.24779992e+01] [-1.69061357e-03 -2.90740636e-07 9.99998571e-01 -5.62165426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.34, Y:-22.49, Z:-0.56 [[ 9.87355126e-01 1.58515193e-01 1.66985772e-03 2.14340375e+02] [-1.58514973e-01 9.87356538e-01 -2.64101309e-04 -2.24862924e+01] [-1.69060901e-03 -3.93567023e-06 9.99998571e-01 -5.61155236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.37, Y:-22.49, Z:-0.56 [[ 9.87293469e-01 1.58898764e-01 1.66987028e-03 2.14369472e+02] [-1.58898545e-01 9.87294881e-01 -2.64021883e-04 -2.24929492e+01] [-1.69060713e-03 -4.67287740e-06 9.99998571e-01 -5.61216783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.40, Y:-22.50, Z:-0.56 [[ 9.87270193e-01 1.59043320e-01 1.66987682e-03 2.14397087e+02] [-1.59043101e-01 9.87271605e-01 -2.63980532e-04 -2.24999523e+01] [-1.69060630e-03 -4.96227610e-06 9.99998571e-01 -5.62272901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:-22.51, Z:-0.56 [[ 9.87201212e-01 1.59470935e-01 1.66988656e-03 2.14425659e+02] [-1.59470717e-01 9.87202624e-01 -2.63918870e-04 -2.25053555e+01] [-1.69060378e-03 -5.75697897e-06 9.99998571e-01 -5.62760561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.45, Y:-22.51, Z:-0.56 [[ 9.87128522e-01 1.59920269e-01 1.66989586e-03 2.14453659e+02] [-1.59920052e-01 9.87129934e-01 -2.63860046e-04 -2.25101474e+01] [-1.69060076e-03 -6.58605468e-06 9.99998571e-01 -5.62992890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.48, Y:-22.51, Z:-0.56 [[ 9.86934453e-01 1.61113616e-01 1.66990489e-03 2.14482856e+02] [-1.61113400e-01 9.86935865e-01 -2.63802829e-04 -2.25146727e+01] [-1.69059126e-03 -8.68795565e-06 9.99998571e-01 -5.59514880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.51, Y:-22.52, Z:-0.56 [[ 9.86875043e-01 1.61477119e-01 1.66991103e-03 2.14510997e+02] [-1.61476904e-01 9.86876456e-01 -2.63763963e-04 -2.25182849e+01] [-1.69058773e-03 -9.34999062e-06 9.99998571e-01 -5.58066249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.865769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-22.52, Z:-0.56 [[ 9.86871262e-01 1.61500229e-01 1.66992339e-03 2.14539126e+02] [-1.61500014e-01 9.86872675e-01 -2.63685743e-04 -2.25216434e+01] [-1.69058707e-03 -9.46876864e-06 9.99998571e-01 -5.58573715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.57, Y:-22.53, Z:-0.56 [[ 9.86938435e-01 1.61089218e-01 1.66993261e-03 2.14567423e+02] [-1.61089002e-01 9.86939848e-01 -2.63627284e-04 -2.25256179e+01] [-1.69059055e-03 -8.82387922e-06 9.99998571e-01 -5.58767354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.60, Y:-22.53, Z:-0.56 [[ 9.86946078e-01 1.61042389e-01 1.66994512e-03 2.14596411e+02] [-1.61042174e-01 9.86947490e-01 -2.63548026e-04 -2.25301003e+01] [-1.69059055e-03 -8.82390167e-06 9.99998571e-01 -5.58816939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:-22.53, Z:-0.56 [[ 9.87009329e-01 1.60654272e-01 1.66995762e-03 2.14624508e+02] [-1.60654056e-01 9.87010742e-01 -2.63468789e-04 -2.25336835e+01] [-1.69059350e-03 -8.23931312e-06 9.99998571e-01 -5.59490296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.65, Y:-22.54, Z:-0.56 [[ 9.87399754e-01 1.58236963e-01 1.66996695e-03 2.14654114e+02] [-1.58236744e-01 9.87401166e-01 -2.63409681e-04 -2.25356479e+01] [-1.69060846e-03 -4.15947796e-06 9.99998571e-01 -5.60364639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.015769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.68, Y:-22.54, Z:-0.56 [[ 9.87698484e-01 1.56361492e-01 1.66997325e-03 2.14683190e+02] [-1.56361270e-01 9.87699896e-01 -2.63369713e-04 -2.25392764e+01] [-1.69061329e-03 -9.89272555e-07 9.99998571e-01 -5.60943879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.045769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.71, Y:-22.54, Z:-0.56 [[ 9.88483531e-01 1.51319268e-01 1.66997957e-03 2.14712507e+02] [-1.51319039e-01 9.88484941e-01 -2.63329620e-04 -2.25435015e+01] [-1.69059650e-03 7.59728810e-06 9.99998571e-01 -5.60028364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.075769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.74, Y:-22.55, Z:-0.56 [[ 9.88921679e-01 1.48428854e-01 1.66998600e-03 2.14740670e+02] [-1.48428621e-01 9.88923089e-01 -2.63288857e-04 -2.25481463e+01] [-1.69056738e-03 1.24983402e-05 9.99998571e-01 -5.59165512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.105769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:214.77, Y:-22.55, Z:-0.56 [[ 9.89331186e-01 1.45674345e-01 1.66999556e-03 2.14769865e+02] [-1.45674109e-01 9.89332596e-01 -2.63228179e-04 -2.25532097e+01] [-1.69052664e-03 1.71447313e-05 9.99998571e-01 -5.59529066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.80, Y:-22.56, Z:-0.56 [[ 9.89840377e-01 1.42173273e-01 1.67000178e-03 2.14799197e+02] [-1.42173031e-01 9.89841785e-01 -2.63188726e-04 -2.25597164e+01] [-1.69045595e-03 2.30856119e-05 9.99998571e-01 -5.63360227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.165769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.83, Y:-22.57, Z:-0.56 [[ 9.90009357e-01 1.40991786e-01 1.66999866e-03 2.14829055e+02] [-1.40991543e-01 9.90010765e-01 -2.63208529e-04 -2.25652186e+01] [-1.69042689e-03 2.51232189e-05 9.99998571e-01 -5.64166013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.195769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.86, Y:-22.57, Z:-0.56 [[ 9.90320965e-01 1.38786155e-01 1.66999866e-03 2.14858203e+02] [-1.38785908e-01 9.90322373e-01 -2.63208529e-04 -2.25714162e+01] [-1.69036673e-03 2.88886441e-05 9.99998571e-01 -5.63129321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.89, Y:-22.58, Z:-0.56 [[ 9.90493371e-01 1.37550329e-01 1.67000177e-03 2.14887944e+02] [-1.37550081e-01 9.90494778e-01 -2.63188778e-04 -2.25775818e+01] [-1.69032974e-03 3.09778614e-05 9.99998571e-01 -5.62005788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.92, Y:-22.58, Z:-0.56 [[ 9.90645953e-01 1.36447086e-01 1.67000177e-03 2.14916874e+02] [-1.36446836e-01 9.90647360e-01 -2.63188778e-04 -2.25843811e+01] [-1.69029419e-03 3.28604399e-05 9.99998571e-01 -5.61013217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.95, Y:-22.59, Z:-0.56 [[ 9.90935204e-01 1.34330311e-01 1.67000488e-03 2.14945423e+02] [-1.34330058e-01 9.90936611e-01 -2.63169075e-04 -2.25938429e+01] [-1.69022056e-03 3.64516485e-05 9.99998571e-01 -5.61109494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:214.98, Y:-22.60, Z:-0.56 [[ 9.90990129e-01 1.33924516e-01 1.67000795e-03 2.14975596e+02] [-1.33924263e-01 9.90991535e-01 -2.63149588e-04 -2.26013137e+01] [-1.69020592e-03 3.71240606e-05 9.99998571e-01 -5.61602556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.01, Y:-22.61, Z:-0.56 [[ 9.90923129e-01 1.34419356e-01 1.67000795e-03 2.15005286e+02] [-1.34419104e-01 9.90924536e-01 -2.63149587e-04 -2.26094188e+01] [-1.69022425e-03 3.62800410e-05 9.99998571e-01 -5.60421922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.03, Y:-22.62, Z:-0.56 [[ 9.90676327e-01 1.36226378e-01 1.66999355e-03 2.15034198e+02] [-1.36226128e-01 9.90677734e-01 -2.63240937e-04 -2.26202711e+01] [-1.69028578e-03 3.32898098e-05 9.99998571e-01 -5.55866546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-22.63, Z:-0.56 [[ 9.90543717e-01 1.37187303e-01 1.66999355e-03 2.15065429e+02] [-1.37187054e-01 9.90545124e-01 -2.63240937e-04 -2.26276219e+01] [-1.69031728e-03 3.16501617e-05 9.99998571e-01 -5.55744571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.10, Y:-22.64, Z:-0.56 [[ 9.90301245e-01 1.38926801e-01 1.66994979e-03 2.15096921e+02] [-1.38926554e-01 9.90302652e-01 -2.63518263e-04 -2.26373311e+01] [-1.69036545e-03 2.89620946e-05 9.99998571e-01 -5.58906978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.13, Y:-22.64, Z:-0.56 [[ 9.90117513e-01 1.40230243e-01 1.66990556e-03 2.15127613e+02] [-1.40229997e-01 9.90118921e-01 -2.63798246e-04 -2.26449244e+01] [-1.69039758e-03 2.70204124e-05 9.99998571e-01 -5.58990120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.16, Y:-22.65, Z:-0.56 [[ 9.89896825e-01 1.41779715e-01 1.66988103e-03 2.15158339e+02] [-1.41779472e-01 9.89898233e-01 -2.63953411e-04 -2.26520437e+01] [-1.69043552e-03 2.45317935e-05 9.99998571e-01 -5.58314374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.19, Y:-22.66, Z:-0.56 [[ 9.89476752e-01 1.44682300e-01 1.66984215e-03 2.15189832e+02] [-1.44682060e-01 9.89478161e-01 -2.64199120e-04 -2.26598463e+01] [-1.69049728e-03 1.98226843e-05 9.99998571e-01 -5.56681933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.22, Y:-22.67, Z:-0.56 [[ 9.89243717e-01 1.46267153e-01 1.66979845e-03 2.15221565e+02] [-1.46266915e-01 9.89245126e-01 -2.64475046e-04 -2.26658436e+01] [-1.69052399e-03 1.73940090e-05 9.99998571e-01 -5.57089640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.25, Y:-22.67, Z:-0.56 [[ 9.88812405e-01 1.49155086e-01 1.66975425e-03 2.15252754e+02] [-1.49154851e-01 9.88813815e-01 -2.64753813e-04 -2.26714431e+01] [-1.69056545e-03 1.27399081e-05 9.99998571e-01 -5.61923017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.615769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:215.28, Y:-22.68, Z:-0.56 [[ 9.88571734e-01 1.50741962e-01 1.66970929e-03 2.15284332e+02] [-1.50741729e-01 9.88573144e-01 -2.65037090e-04 -2.26756695e+01] [-1.69058197e-03 1.03133114e-05 9.99998571e-01 -5.64386975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.645769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.32, Y:-22.68, Z:-0.57 [[ 9.88283533e-01 1.52620019e-01 1.66966369e-03 2.15315004e+02] [-1.52619789e-01 9.88284944e-01 -2.65323989e-04 -2.26798874e+01] [-1.69059724e-03 7.39160856e-06 9.99998571e-01 -5.66888245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-22.68, Z:-0.57 [[ 9.87811410e-01 1.55646491e-01 1.66962157e-03 2.15346525e+02] [-1.55646265e-01 9.87812821e-01 -2.65588832e-04 -2.26836560e+01] [-1.69061156e-03 2.48131905e-06 9.99998571e-01 -5.65143876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.705769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.38, Y:-22.69, Z:-0.56 [[ 9.87786290e-01 1.55805831e-01 1.66961525e-03 2.15378794e+02] [-1.55805605e-01 9.87787701e-01 -2.65628529e-04 -2.26874880e+01] [-1.69061188e-03 2.24880533e-06 9.99998571e-01 -5.63511160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.735769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:215.41, Y:-22.69, Z:-0.56 [[ 9.88252278e-01 1.52822273e-01 1.66956886e-03 2.15410507e+02] [-1.52822041e-01 9.88253689e-01 -2.65919781e-04 -2.26916557e+01] [-1.69059605e-03 7.64890747e-06 9.99998571e-01 -5.64127876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.765769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.44, Y:-22.70, Z:-0.56 [[ 9.88733049e-01 1.49680226e-01 1.66951939e-03 2.15441232e+02] [-1.49679990e-01 9.88734459e-01 -2.66230037e-04 -2.26983794e+01] [-1.69056072e-03 1.33367921e-05 9.99998571e-01 -5.64738670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.47, Y:-22.71, Z:-0.56 [[ 9.89312308e-01 1.45802501e-01 1.66951310e-03 2.15472372e+02] [-1.45802259e-01 9.89313717e-01 -2.66269470e-04 -2.27065725e+01] [-1.69049496e-03 2.00048831e-05 9.99998571e-01 -5.64604161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.825769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.50, Y:-22.72, Z:-0.56 [[ 9.90518480e-01 1.37369409e-01 1.66946915e-03 2.15502639e+02] [-1.37369155e-01 9.90519886e-01 -2.66544720e-04 -2.27192180e+01] [-1.69025748e-03 3.46839051e-05 9.99998571e-01 -5.64065702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.855769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.53, Y:-22.73, Z:-0.57 [[ 9.90966272e-01 1.34100938e-01 1.66942227e-03 2.15534525e+02] [-1.34100678e-01 9.90967677e-01 -2.66838024e-04 -2.27294155e+01] [-1.69012674e-03 4.05568232e-05 9.99998571e-01 -5.65370374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.885769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.57, Y:-22.75, Z:-0.57 [[ 9.91444165e-01 1.30520807e-01 1.66937273e-03 2.15565071e+02] [-1.30520542e-01 9.91445569e-01 -2.67147614e-04 -2.27464404e+01] [-1.68996052e-03 4.69745097e-05 9.99998571e-01 -5.66874380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.915769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.60, Y:-22.76, Z:-0.57 [[ 9.91421328e-01 1.30694161e-01 1.66932309e-03 2.15597163e+02] [-1.30693895e-01 9.91422732e-01 -2.67457418e-04 -2.27572154e+01] [-1.68995998e-03 4.69926511e-05 9.99998571e-01 -5.65728700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.63, Y:-22.77, Z:-0.56 [[ 9.91253556e-01 1.31960604e-01 1.66927381e-03 2.15629373e+02] [-1.31960340e-01 9.91254961e-01 -2.67764613e-04 -2.27668410e+01] [-1.69001033e-03 4.51446857e-05 9.99998571e-01 -5.63945861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.66, Y:-22.78, Z:-0.56 [[ 9.90368899e-01 1.38443694e-01 1.66925100e-03 2.15659524e+02] [-1.38443439e-01 9.90370306e-01 -2.67906745e-04 -2.27804009e+01] [-1.69026662e-03 3.42296581e-05 9.99998571e-01 -5.61129798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.69, Y:-22.79, Z:-0.56 [[ 9.89694384e-01 1.43186034e-01 1.66920216e-03 2.15691756e+02] [-1.43185786e-01 9.89695791e-01 -2.68210714e-04 -2.27904008e+01] [-1.69040638e-03 2.64406144e-05 9.99998571e-01 -5.61146769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.72, Y:-22.80, Z:-0.56 [[ 9.88016121e-01 1.54341696e-01 1.66915129e-03 2.15721834e+02] [-1.54341463e-01 9.88017531e-01 -2.68526931e-04 -2.28030239e+01] [-1.69059564e-03 7.68968594e-06 9.99998571e-01 -5.62155259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:215.75, Y:-22.81, Z:-0.56 [[ 9.87086881e-01 1.60177099e-01 1.66910354e-03 2.15752941e+02] [-1.60176873e-01 9.87088292e-01 -2.68823362e-04 -2.28092818e+01] [-1.69061191e-03 -1.99977288e-06 9.99998571e-01 -5.62833528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09576923100002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:215.79, Y:-22.81, Z:-0.56 [[ 9.86112819e-01 1.66068425e-01 1.66905720e-03 2.15785678e+02] [-1.66068207e-01 9.86114232e-01 -2.69110821e-04 -2.28147403e+01] [-1.69057187e-03 -1.18037058e-05 9.99998571e-01 -5.62905801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:-22.82, Z:-0.56 [[ 9.84565476e-01 1.75008680e-01 1.66900761e-03 2.15818109e+02] [-1.75008474e-01 9.84566890e-01 -2.69418017e-04 -2.28176382e+01] [-1.69040012e-03 -2.68307970e-05 9.99998571e-01 -5.60549086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:-22.82, Z:-0.56 [[ 9.84052348e-01 1.77871277e-01 1.66897683e-03 2.15851032e+02] [-1.77871075e-01 9.84053763e-01 -2.69608524e-04 -2.28215055e+01] [-1.69031854e-03 -3.15538029e-05 9.99998571e-01 -5.60176719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.88, Y:-22.82, Z:-0.56 [[ 9.83538377e-01 1.80691659e-01 1.66892774e-03 2.15883768e+02] [-1.80691461e-01 9.83539792e-01 -2.69912068e-04 -2.28211733e+01] [-1.69022770e-03 -3.60921151e-05 9.99998571e-01 -5.62042955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.92, Y:-22.82, Z:-0.56 [[ 9.83410986e-01 1.81383701e-01 1.66889712e-03 2.15916142e+02] [-1.81383504e-01 9.83412402e-01 -2.70101246e-04 -2.28227299e+01] [-1.69020609e-03 -3.70898755e-05 9.99998571e-01 -5.63933623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.95, Y:-22.82, Z:-0.56 [[ 9.83292866e-01 1.82022950e-01 1.66885188e-03 2.15949288e+02] [-1.82022753e-01 9.83294282e-01 -2.70380499e-04 -2.28244902e+01] [-1.69018797e-03 -3.79057973e-05 9.99998571e-01 -5.64872738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.98, Y:-22.82, Z:-0.57 [[ 9.82856001e-01 1.84367288e-01 1.66880090e-03 2.15982348e+02] [-1.84367094e-01 9.82857417e-01 -2.70694788e-04 -2.28204402e+01] [-1.69010061e-03 -4.16179750e-05 9.99998571e-01 -5.65699717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.01, Y:-22.82, Z:-0.56 [[ 9.82510351e-01 1.86200498e-01 1.66875320e-03 2.16014014e+02] [-1.86200306e-01 9.82511767e-01 -2.70988500e-04 -2.28196545e+01] [-1.69002785e-03 -4.44733511e-05 9.99998571e-01 -5.64528761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:-22.81, Z:-0.56 [[ 9.81901706e-01 1.89383882e-01 1.66874716e-03 2.16045584e+02] [-1.89383695e-01 9.81903123e-01 -2.71025690e-04 -2.28131639e+01] [-1.68987595e-03 -4.99129166e-05 9.99998571e-01 -5.62451032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.365769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.08, Y:-22.81, Z:-0.56 [[ 9.81762777e-01 1.90102773e-01 1.66874716e-03 2.16075757e+02] [-1.90102587e-01 9.81764194e-01 -2.71025690e-04 -2.28127487e+01] [-1.68983895e-03 -5.11502184e-05 9.99998571e-01 -5.62209061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.11, Y:-22.81, Z:-0.56 [[ 9.81824034e-01 1.89786146e-01 1.66875030e-03 2.16105630e+02] [-1.89785959e-01 9.81825451e-01 -2.71006378e-04 -2.28125940e+01] [-1.68985477e-03 -5.06248018e-05 9.99998571e-01 -5.61719047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.425769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.14, Y:-22.81, Z:-0.56 [[ 9.82126454e-01 1.88214888e-01 1.66875632e-03 2.16135806e+02] [-1.88214699e-01 9.82127870e-01 -2.70969308e-04 -2.28129844e+01] [-1.68993255e-03 -4.79583422e-05 9.99998571e-01 -5.61434790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:-22.81, Z:-0.56 [[ 9.83208026e-01 1.82480667e-01 1.66876260e-03 2.16166702e+02] [-1.82480470e-01 9.83209441e-01 -2.70930631e-04 -2.28089412e+01] [-1.69018274e-03 -3.81354121e-05 9.99998571e-01 -5.59872003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.485769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:216.20, Y:-22.81, Z:-0.56 [[ 9.83706474e-01 1.79774270e-01 1.66876890e-03 2.16195372e+02] [-1.79774069e-01 9.83707889e-01 -2.70891837e-04 -2.28093229e+01] [-1.69028051e-03 -3.35233218e-05 9.99998571e-01 -5.57982031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:-22.81, Z:-0.56 [[ 9.84280414e-01 1.76604873e-01 1.66877832e-03 2.16225418e+02] [-1.76604668e-01 9.84281829e-01 -2.70833781e-04 -2.28065124e+01] [-1.69037874e-03 -2.81376538e-05 9.99998571e-01 -5.55248485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.545769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.25, Y:-22.81, Z:-0.56 [[ 9.84433253e-01 1.75750916e-01 1.66878459e-03 2.16254917e+02] [-1.75750710e-01 9.84434668e-01 -2.70795159e-04 -2.28078622e+01] [-1.69040190e-03 -2.67103162e-05 9.99998571e-01 -5.55515787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.28, Y:-22.81, Z:-0.56 [[ 9.84510817e-01 1.75315906e-01 1.66879093e-03 2.16282705e+02] [-1.75315698e-01 9.84512231e-01 -2.70756054e-04 -2.28089126e+01] [-1.69041292e-03 -2.60029833e-05 9.99998571e-01 -5.56654015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.605769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:216.31, Y:-22.81, Z:-0.56 [[ 9.84607624e-01 1.74771401e-01 1.66880802e-03 2.16311889e+02] [-1.74771193e-01 9.84609038e-01 -2.70650697e-04 -2.28106028e+01] [-1.69042546e-03 -2.51748285e-05 9.99998571e-01 -5.58922573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:-22.81, Z:-0.56 [[ 9.84891661e-01 1.73163599e-01 1.66882082e-03 2.16339657e+02] [-1.73163389e-01 9.84893074e-01 -2.70571729e-04 -2.28109889e+01] [-1.69046324e-03 -2.24948301e-05 9.99998571e-01 -5.61463967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.37, Y:-22.81, Z:-0.56 [[ 9.85060335e-01 1.72201483e-01 1.66883677e-03 2.16368770e+02] [-1.72201272e-01 9.85061749e-01 -2.70473307e-04 -2.28140559e+01] [-1.69048317e-03 -2.09432887e-05 9.99998571e-01 -5.61053515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.40, Y:-22.82, Z:-0.56 [[ 9.85695029e-01 1.68530486e-01 1.66884949e-03 2.16397002e+02] [-1.68530270e-01 9.85696442e-01 -2.70394829e-04 -2.28154575e+01] [-1.69054877e-03 -1.47248159e-05 9.99998571e-01 -5.57257458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:-22.82, Z:-0.56 [[ 9.86076267e-01 1.66285332e-01 1.66886642e-03 2.16425689e+02] [-1.66285112e-01 9.86077679e-01 -2.70290307e-04 -2.28187876e+01] [-1.69057724e-03 -1.09807828e-05 9.99998571e-01 -5.56537413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.45, Y:-22.82, Z:-0.56 [[ 9.86438500e-01 1.64122823e-01 1.66887601e-03 2.16452981e+02] [-1.64122601e-01 9.86439911e-01 -2.70231031e-04 -2.28225960e+01] [-1.69059699e-03 -7.33397980e-06 9.99998571e-01 -5.57152462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:216.48, Y:-22.83, Z:-0.56 [[ 9.87107252e-01 1.60051516e-01 1.66889201e-03 2.16482232e+02] [-1.60051288e-01 9.87108663e-01 -2.70132194e-04 -2.28286088e+01] [-1.69061283e-03 -4.58867461e-07 9.99998571e-01 -5.61215100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.51, Y:-22.83, Z:-0.56 [[ 9.87406764e-01 1.58193229e-01 1.66889838e-03 2.16510563e+02] [-1.58192999e-01 9.87408174e-01 -2.70092838e-04 -2.28347179e+01] [-1.69061076e-03 2.68345606e-06 9.99998571e-01 -5.63969776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.54, Y:-22.84, Z:-0.56 [[ 9.87413839e-01 1.58149060e-01 1.66890789e-03 2.16539533e+02] [-1.58148830e-01 9.87415249e-01 -2.70034069e-04 -2.28393096e+01] [-1.69061074e-03 2.69954735e-06 9.99998571e-01 -5.64019361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.57, Y:-22.85, Z:-0.57 [[ 9.87910992e-01 1.55013179e-01 1.66891997e-03 2.16567888e+02] [-1.55012945e-01 9.87912402e-01 -2.69959415e-04 -2.28470289e+01] [-1.69059400e-03 7.99167514e-06 9.99998571e-01 -5.68079449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.60, Y:-22.85, Z:-0.57 [[ 9.88112833e-01 1.53721319e-01 1.66892628e-03 2.16596510e+02] [-1.53721082e-01 9.88114242e-01 -2.69920377e-04 -2.28528907e+01] [-1.69058234e-03 1.01626345e-05 9.99998571e-01 -5.68669935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.62, Y:-22.86, Z:-0.57 [[ 9.88357632e-01 1.52139427e-01 1.66893261e-03 2.16624982e+02] [-1.52139188e-01 9.88359041e-01 -2.69881256e-04 -2.28626621e+01] [-1.69056421e-03 1.28291480e-05 9.99998571e-01 -5.66731889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:216.65, Y:-22.87, Z:-0.57 [[ 9.88478974e-01 1.51349043e-01 1.66893575e-03 2.16654604e+02] [-1.51348803e-01 9.88480383e-01 -2.69861834e-04 -2.28710198e+01] [-1.69055358e-03 1.41613214e-05 9.99998571e-01 -5.65505522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.68, Y:-22.88, Z:-0.57 [[ 9.88585524e-01 1.50651504e-01 1.66893575e-03 2.16683383e+02] [-1.50651263e-01 9.88586933e-01 -2.69861834e-04 -2.28793152e+01] [-1.69054316e-03 1.53542244e-05 9.99998571e-01 -5.65224781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.71, Y:-22.89, Z:-0.57 [[ 9.88777375e-01 1.49387139e-01 1.66893901e-03 2.16712316e+02] [-1.49386896e-01 9.88778783e-01 -2.69841663e-04 -2.28912804e+01] [-1.69052236e-03 1.74957136e-05 9.99998571e-01 -5.65390619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.74, Y:-22.90, Z:-0.57 [[ 9.88828617e-01 1.49047581e-01 1.66893901e-03 2.16742022e+02] [-1.49047338e-01 9.88830025e-01 -2.69841663e-04 -2.29005555e+01] [-1.69051625e-03 1.80762430e-05 9.99998571e-01 -5.65873392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.77, Y:-22.91, Z:-0.57 [[ 9.88829945e-01 1.49038767e-01 1.66893901e-03 2.16771264e+02] [-1.49038524e-01 9.88831353e-01 -2.69841663e-04 -2.29097169e+01] [-1.69051609e-03 1.80913111e-05 9.99998571e-01 -5.66005127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.115769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:216.80, Y:-22.92, Z:-0.56 [[ 9.88500992e-01 1.51205172e-01 1.66893593e-03 2.16801279e+02] [-1.51204932e-01 9.88502400e-01 -2.69860716e-04 -2.29225613e+01] [-1.69055151e-03 1.44062423e-05 9.99998571e-01 -5.64384826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.145769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:216.83, Y:-22.93, Z:-0.56 [[ 9.88196477e-01 1.53182696e-01 1.66892947e-03 2.16831618e+02] [-1.53182458e-01 9.88197886e-01 -2.69900636e-04 -2.29303555e+01] [-1.69057668e-03 1.10641387e-05 9.99998571e-01 -5.63038935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.175769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:216.86, Y:-22.94, Z:-0.56 [[ 9.87818692e-01 1.55600276e-01 1.66888769e-03 2.16862654e+02] [-1.55600042e-01 9.87820102e-01 -2.70158739e-04 -2.29380163e+01] [-1.69059758e-03 7.18885713e-06 9.99998571e-01 -5.62587447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.89, Y:-22.95, Z:-0.56 [[ 9.87101484e-01 1.60087085e-01 1.66884107e-03 2.16893020e+02] [-1.60086856e-01 9.87102895e-01 -2.70446440e-04 -2.29479973e+01] [-1.69061283e-03 -2.01436951e-07 9.99998571e-01 -5.63390797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.235769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.92, Y:-22.96, Z:-0.56 [[ 9.86722891e-01 1.62404287e-01 1.66879804e-03 2.16922187e+02] [-1.62404061e-01 9.86724302e-01 -2.70711648e-04 -2.29554236e+01] [-1.69060832e-03 -3.90220015e-06 9.99998571e-01 -5.64933762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.265769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:216.95, Y:-22.96, Z:-0.57 [[ 9.85999646e-01 1.66739055e-01 1.66879505e-03 2.16950420e+02] [-1.66738836e-01 9.86001059e-01 -2.70730110e-04 -2.29647544e+01] [-1.69057497e-03 -1.13131510e-05 9.99998571e-01 -5.66688181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.295769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.98, Y:-22.97, Z:-0.57 [[ 9.85558805e-01 1.69325302e-01 1.66879801e-03 2.16982291e+02] [-1.69325086e-01 9.85560217e-01 -2.70711857e-04 -2.29722745e+01] [-1.69053930e-03 -1.57669123e-05 9.99998571e-01 -5.66705582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.325769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:217.01, Y:-22.98, Z:-0.57 [[ 9.85089879e-01 1.72032398e-01 1.66874559e-03 2.17013706e+02] [-1.72032186e-01 9.85091292e-01 -2.71034606e-04 -2.29792617e+01] [-1.69049348e-03 -2.00845043e-05 9.99998571e-01 -5.66615242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.355769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.04, Y:-22.99, Z:-0.57 [[ 9.84661249e-01 1.74469024e-01 1.66869680e-03 2.17043890e+02] [-1.74468815e-01 9.84662663e-01 -2.71334636e-04 -2.29851894e+01] [-1.69044293e-03 -2.39628532e-05 9.99998571e-01 -5.67254111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.07, Y:-22.99, Z:-0.57 [[ 9.83727912e-01 1.79656928e-01 1.66865535e-03 2.17074323e+02] [-1.79656725e-01 9.83729326e-01 -2.71589353e-04 -2.29903851e+01] [-1.69029811e-03 -3.26151282e-05 9.99998571e-01 -5.66715942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.11, Y:-22.99, Z:-0.57 [[ 9.83159880e-01 1.82739888e-01 1.66864902e-03 2.17106425e+02] [-1.82739690e-01 9.83161295e-01 -2.71628201e-04 -2.29949336e+01] [-1.69018844e-03 -3.78744557e-05 9.99998571e-01 -5.66362781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.445769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.14, Y:-23.00, Z:-0.57 [[ 9.81913160e-01 1.89324487e-01 1.66860342e-03 2.17137339e+02] [-1.89324299e-01 9.81914577e-01 -2.71908051e-04 -2.29976917e+01] [-1.68990487e-03 -4.89170781e-05 9.99998571e-01 -5.68119873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.17, Y:-23.00, Z:-0.57 [[ 9.81308242e-01 1.92435312e-01 1.66859695e-03 2.17167191e+02] [-1.92435127e-01 9.81309660e-01 -2.71947737e-04 -2.30010555e+01] [-1.68974265e-03 -5.42321105e-05 9.99998571e-01 -5.69104952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:-23.00, Z:-0.57 [[ 9.80767681e-01 1.95171646e-01 1.66859373e-03 2.17197667e+02] [-1.95171466e-01 9.80769099e-01 -2.71967480e-04 -2.30049356e+01] [-1.68958551e-03 -5.89249694e-05 9.99998571e-01 -5.69492110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.23, Y:-23.01, Z:-0.57 [[ 9.80246440e-01 1.97772930e-01 1.66859373e-03 2.17228025e+02] [-1.97772753e-01 9.80247858e-01 -2.71967480e-04 -2.30067078e+01] [-1.68942324e-03 -6.34072225e-05 9.99998571e-01 -5.69239736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:-23.01, Z:-0.57 [[ 9.80209957e-01 1.97953673e-01 1.66859373e-03 2.17257551e+02] [-1.97953497e-01 9.80211375e-01 -2.71967480e-04 -2.30088220e+01] [-1.68941152e-03 -6.37187322e-05 9.99998571e-01 -5.69517648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59576923100002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:217.29, Y:-23.01, Z:-0.57 [[ 9.80182782e-01 1.98088188e-01 1.66859694e-03 2.17287623e+02] [-1.98088012e-01 9.80184200e-01 -2.71947829e-04 -2.30082142e+01] [-1.68940201e-03 -6.39704696e-05 9.99998571e-01 -5.67677712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:217.32, Y:-23.01, Z:-0.57 [[ 9.80185728e-01 1.98073607e-01 1.66860013e-03 2.17315876e+02] [-1.98073431e-01 9.80187146e-01 -2.71928254e-04 -2.30107063e+01] [-1.68940221e-03 -6.39651584e-05 9.99998571e-01 -5.66412816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.34, Y:-23.01, Z:-0.57 [[ 9.80230973e-01 1.97849577e-01 1.66860643e-03 2.17344227e+02] [-1.97849400e-01 9.80232391e-01 -2.71889541e-04 -2.30128804e+01] [-1.68941531e-03 -6.36182336e-05 9.99998571e-01 -5.66750464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.37, Y:-23.01, Z:-0.57 [[ 9.80589242e-01 1.96066197e-01 1.66862155e-03 2.17373620e+02] [-1.96066018e-01 9.80590660e-01 -2.71796759e-04 -2.30133680e+01] [-1.68952486e-03 -6.06390033e-05 9.99998571e-01 -5.72958882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:217.40, Y:-23.02, Z:-0.58 [[ 9.80889001e-01 1.94561003e-01 1.66863358e-03 2.17403173e+02] [-1.94560822e-01 9.80890418e-01 -2.71722895e-04 -2.30168104e+01] [-1.68961337e-03 -5.81207210e-05 9.99998571e-01 -5.75186034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:217.43, Y:-23.02, Z:-0.58 [[ 9.81219316e-01 1.92888231e-01 1.66863990e-03 2.17432850e+02] [-1.92888048e-01 9.81220733e-01 -2.71684024e-04 -2.30207140e+01] [-1.68970872e-03 -5.52790813e-05 9.99998571e-01 -5.75138928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.46, Y:-23.02, Z:-0.57 [[ 9.81781630e-01 1.90005384e-01 1.66864620e-03 2.17463038e+02] [-1.90005197e-01 9.81783047e-01 -2.71645360e-04 -2.30218078e+01] [-1.68986263e-03 -5.03550249e-05 9.99998571e-01 -5.69120260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.49, Y:-23.02, Z:-0.57 [[ 9.81980368e-01 1.88975588e-01 1.66865248e-03 2.17492150e+02] [-1.88975399e-01 9.81981784e-01 -2.71606785e-04 -2.30238594e+01] [-1.68991339e-03 -4.86217367e-05 9.99998571e-01 -5.67249196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:217.52, Y:-23.02, Z:-0.57 [[ 9.82288819e-01 1.87365660e-01 1.66866186e-03 2.17521735e+02] [-1.87365469e-01 9.82290236e-01 -2.71549142e-04 -2.30240978e+01] [-1.68998923e-03 -4.59099263e-05 9.99998571e-01 -5.67428049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.865769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.55, Y:-23.03, Z:-0.57 [[ 9.82452572e-01 1.86505117e-01 1.66867388e-03 2.17550229e+02] [-1.86504925e-01 9.82453988e-01 -2.71475237e-04 -2.30269767e+01] [-1.69002683e-03 -4.45043525e-05 9.99998571e-01 -5.68657666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.58, Y:-23.03, Z:-0.57 [[ 9.82607015e-01 1.85689713e-01 1.66868631e-03 2.17578607e+02] [-1.85689519e-01 9.82608431e-01 -2.71398830e-04 -2.30299887e+01] [-1.69006121e-03 -4.31791641e-05 9.99998571e-01 -5.69103279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.925769231 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:217.61, Y:-23.03, Z:-0.57 [[ 9.82943437e-01 1.83900555e-01 1.66869902e-03 2.17606890e+02] [-1.83900360e-01 9.82944853e-01 -2.71320640e-04 -2.30324710e+01] [-1.69013513e-03 -4.01815074e-05 9.99998571e-01 -5.68284027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.955769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:217.64, Y:-23.04, Z:-0.57 [[ 9.83128601e-01 1.82908090e-01 1.66870852e-03 2.17635319e+02] [-1.82907893e-01 9.83130016e-01 -2.71262189e-04 -2.30365478e+01] [-1.69017349e-03 -3.85343440e-05 9.99998571e-01 -5.68254641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.985769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.66, Y:-23.04, Z:-0.57 [[ 9.83314025e-01 1.81908614e-01 1.66872105e-03 2.17663839e+02] [-1.81908415e-01 9.83315440e-01 -2.71185127e-04 -2.30412604e+01] [-1.69021008e-03 -3.68942621e-05 9.99998571e-01 -5.69689157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.015769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:217.69, Y:-23.05, Z:-0.57 [[ 9.83620481e-01 1.80244183e-01 1.66873367e-03 2.17691746e+02] [-1.80243982e-01 9.83621896e-01 -2.71107449e-04 -2.30459955e+01] [-1.69026851e-03 -3.41123618e-05 9.99998571e-01 -5.73659037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.045769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.72, Y:-23.05, Z:-0.57 [[ 9.83652706e-01 1.80068233e-01 1.66874311e-03 2.17720832e+02] [-1.80068033e-01 9.83654121e-01 -2.71049343e-04 -2.30497965e+01] [-1.69027341e-03 -3.38688679e-05 9.99998571e-01 -5.74154305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.75, Y:-23.05, Z:-0.57 [[ 9.83342312e-01 1.81755642e-01 1.66875541e-03 2.17748103e+02] [-1.81755443e-01 9.83343727e-01 -2.70973576e-04 -2.30528307e+01] [-1.69021114e-03 -3.68455968e-05 9.99998571e-01 -5.73384910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.105769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:217.78, Y:-23.06, Z:-0.57 [[ 9.83106557e-01 1.83026533e-01 1.66877069e-03 2.17776242e+02] [-1.83026337e-01 9.83107973e-01 -2.70879426e-04 -2.30568846e+01] [-1.69015989e-03 -3.91256464e-05 9.99998571e-01 -5.71221855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.135769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:217.80, Y:-23.06, Z:-0.57 [[ 9.82919687e-01 1.84027456e-01 1.66878347e-03 2.17804013e+02] [-1.84027261e-01 9.82921103e-01 -2.70800696e-04 -2.30608190e+01] [-1.69011725e-03 -4.09263158e-05 9.99998571e-01 -5.69821289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.165769231 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:217.83, Y:-23.06, Z:-0.57 [[ 9.82767652e-01 1.84837653e-01 1.66879936e-03 2.17832386e+02] [-1.84837459e-01 9.82769068e-01 -2.70702745e-04 -2.30643524e+01] [-1.69008045e-03 -4.24187322e-05 9.99998571e-01 -5.69235151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.195769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.86, Y:-23.07, Z:-0.57 [[ 9.82514373e-01 1.86179276e-01 1.66881205e-03 2.17860732e+02] [-1.86179085e-01 9.82515789e-01 -2.70624479e-04 -2.30656173e+01] [-1.69001886e-03 -4.48054590e-05 9.99998571e-01 -5.71950341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.89, Y:-23.07, Z:-0.57 [[ 9.82396494e-01 1.86800277e-01 1.66882781e-03 2.17889404e+02] [-1.86800087e-01 9.82397910e-01 -2.70527225e-04 -2.30687009e+01] [-1.68998752e-03 -4.59721830e-05 9.99998571e-01 -5.71581972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:217.92, Y:-23.07, Z:-0.57 [[ 9.82218583e-01 1.87733511e-01 1.66884030e-03 2.17917276e+02] [-1.87733322e-01 9.82219999e-01 -2.70450179e-04 -2.30692162e+01] [-1.68994088e-03 -4.76557419e-05 9.99998571e-01 -5.70192149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:217.95, Y:-23.07, Z:-0.57 [[ 9.82209626e-01 1.87780367e-01 1.66885584e-03 2.17945694e+02] [-1.87780179e-01 9.82211042e-01 -2.70354263e-04 -2.30702426e+01] [-1.68993585e-03 -4.78334882e-05 9.99998571e-01 -5.70327818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.98, Y:-23.07, Z:-0.57 [[ 9.82295448e-01 1.87330906e-01 1.66887130e-03 2.17975204e+02] [-1.87330717e-01 9.82296864e-01 -2.70258791e-04 -2.30714874e+01] [-1.68995487e-03 -4.71568770e-05 9.99998571e-01 -5.71415561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.00, Y:-23.07, Z:-0.57 [[ 9.82860278e-01 1.84344482e-01 1.66888062e-03 2.18003302e+02] [-1.84344289e-01 9.82861694e-01 -2.70201213e-04 -2.30711870e+01] [-1.69008894e-03 -4.20785717e-05 9.99998571e-01 -5.71825732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:218.03, Y:-23.07, Z:-0.57 [[ 9.83344643e-01 1.81743025e-01 1.66889614e-03 2.18031881e+02] [-1.81742828e-01 9.83346059e-01 -2.70105353e-04 -2.30743525e+01] [-1.69019220e-03 -3.77032510e-05 9.99998571e-01 -5.70403909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.06, Y:-23.08, Z:-0.57 [[ 9.83928600e-01 1.78554545e-01 1.66890820e-03 2.18059906e+02] [-1.78554344e-01 9.83930015e-01 -2.70030783e-04 -2.30777881e+01] [-1.69030409e-03 -3.22997984e-05 9.99998571e-01 -5.69487715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.09, Y:-23.08, Z:-0.57 [[ 9.85203205e-01 1.71382203e-01 1.66892321e-03 2.18088055e+02] [-1.71381991e-01 9.85204618e-01 -2.69937991e-04 -2.30829034e+01] [-1.69049342e-03 -2.00796096e-05 9.99998571e-01 -5.67609818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46576923100002 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:218.12, Y:-23.09, Z:-0.57 [[ 9.85821016e-01 1.67791950e-01 1.66893531e-03 2.18115720e+02] [-1.67791733e-01 9.85822429e-01 -2.69863144e-04 -2.30892148e+01] [-1.69055473e-03 -1.39967900e-05 9.99998571e-01 -5.66774259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:218.14, Y:-23.10, Z:-0.57 [[ 9.86850778e-01 1.61625358e-01 1.66895157e-03 2.18143142e+02] [-1.61625133e-01 9.86852189e-01 -2.69762561e-04 -2.30978879e+01] [-1.69060898e-03 -3.52912603e-06 9.99998571e-01 -5.67838249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.17, Y:-23.10, Z:-0.57 [[ 9.87162088e-01 1.59712948e-01 1.66896418e-03 2.18172285e+02] [-1.59712720e-01 9.87163499e-01 -2.69684546e-04 -2.31043749e+01] [-1.69061263e-03 -3.32448661e-07 9.99998571e-01 -5.69237587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:218.20, Y:-23.11, Z:-0.57 [[ 9.87306557e-01 1.58817433e-01 1.66897051e-03 2.18200707e+02] [-1.58817204e-01 9.87307968e-01 -2.69645341e-04 -2.31108320e+01] [-1.69061226e-03 1.16138263e-06 9.99998571e-01 -5.71371961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.23, Y:-23.12, Z:-0.57 [[ 9.87174826e-01 1.59634200e-01 1.66897675e-03 2.18228299e+02] [-1.59633972e-01 9.87176237e-01 -2.69606689e-04 -2.31197618e+01] [-1.69061264e-03 -2.76453148e-07 9.99998571e-01 -5.73340217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.615769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.26, Y:-23.13, Z:-0.57 [[ 9.86947836e-01 1.61031621e-01 1.66898936e-03 2.18256531e+02] [-1.61031395e-01 9.86949248e-01 -2.69528625e-04 -2.31264284e+01] [-1.69061042e-03 -2.74899200e-06 9.99998571e-01 -5.72376248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.645769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.28, Y:-23.13, Z:-0.57 [[ 9.86646615e-01 1.62867037e-01 1.66900194e-03 2.18284809e+02] [-1.62866814e-01 9.86648027e-01 -2.69450700e-04 -2.31328295e+01] [-1.69060211e-03 -5.97240771e-06 9.99998571e-01 -5.70706378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.675769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:218.31, Y:-23.14, Z:-0.57 [[ 9.86234260e-01 1.65345694e-01 1.66901132e-03 2.18312415e+02] [-1.65345475e-01 9.86235672e-01 -2.69392604e-04 -2.31406433e+01] [-1.69058141e-03 -1.02792541e-05 9.99998571e-01 -5.65703199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.705769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.34, Y:-23.15, Z:-0.56 [[ 9.86175568e-01 1.65695392e-01 1.66902063e-03 2.18341681e+02] [-1.65695174e-01 9.86176980e-01 -2.69334914e-04 -2.31476206e+01] [-1.69057728e-03 -1.09371515e-05 9.99998571e-01 -5.63697829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.37, Y:-23.16, Z:-0.56 [[ 9.86412140e-01 1.64281173e-01 1.66902680e-03 2.18369596e+02] [-1.64280953e-01 9.86413552e-01 -2.69296668e-04 -2.31567160e+01] [-1.69059103e-03 -8.55181014e-06 9.99998571e-01 -5.64072806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.765769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.40, Y:-23.16, Z:-0.56 [[ 9.86415889e-01 1.64258663e-01 1.66903598e-03 2.18399385e+02] [-1.64258443e-01 9.86417301e-01 -2.69239732e-04 -2.31614741e+01] [-1.69059093e-03 -8.57090176e-06 9.99998571e-01 -5.64123801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.43, Y:-23.17, Z:-0.57 [[ 9.86632269e-01 1.62953917e-01 1.66904213e-03 2.18428724e+02] [-1.62953695e-01 9.86633681e-01 -2.69201645e-04 -2.31683374e+01] [-1.69060064e-03 -6.37355208e-06 9.99998571e-01 -5.66765032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.825769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:218.46, Y:-23.18, Z:-0.57 [[ 9.86802327e-01 1.61920914e-01 1.66904213e-03 2.18457085e+02] [-1.61920691e-01 9.86803738e-01 -2.69201645e-04 -2.31752122e+01] [-1.69060639e-03 -4.60364426e-06 9.99998571e-01 -5.69665702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.49, Y:-23.18, Z:-0.57 [[ 9.86940308e-01 1.61077755e-01 1.66904525e-03 2.18486392e+02] [-1.61077530e-01 9.86941719e-01 -2.69182307e-04 -2.31825367e+01] [-1.69060967e-03 -3.17881709e-06 9.99998571e-01 -5.71060834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:-23.19, Z:-0.57 [[ 9.86928148e-01 1.61152241e-01 1.66904525e-03 2.18516107e+02] [-1.61152016e-01 9.86929559e-01 -2.69182307e-04 -2.31918761e+01] [-1.69060942e-03 -3.30641092e-06 9.99998571e-01 -5.72067472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:-23.20, Z:-0.57 [[ 9.86813380e-01 1.61853537e-01 1.66904525e-03 2.18545133e+02] [-1.61853314e-01 9.86814791e-01 -2.69182307e-04 -2.31984096e+01] [-1.69060664e-03 -4.50780135e-06 9.99998571e-01 -5.74043266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.945769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:218.57, Y:-23.21, Z:-0.58 [[ 9.86439091e-01 1.64119266e-01 1.66904202e-03 2.18573330e+02] [-1.64119045e-01 9.86440503e-01 -2.69202322e-04 -2.32065992e+01] [-1.69059194e-03 -8.36988905e-06 9.99998571e-01 -5.77583682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:218.60, Y:-23.21, Z:-0.58 [[ 9.86270571e-01 1.65128968e-01 1.66904502e-03 2.18603508e+02] [-1.65128749e-01 9.86271983e-01 -2.69183704e-04 -2.32137111e+01] [-1.69058237e-03 -1.01193505e-05 9.99998571e-01 -5.77583777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:218.63, Y:-23.22, Z:-0.58 [[ 9.86173937e-01 1.65705098e-01 1.66904502e-03 2.18634033e+02] [-1.65704880e-01 9.86175350e-01 -2.69183704e-04 -2.32210160e+01] [-1.69057617e-03 -1.11069514e-05 9.99998571e-01 -5.75858829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:218.66, Y:-23.23, Z:-0.58 [[ 9.86150231e-01 1.65846125e-01 1.66903874e-03 2.18664257e+02] [-1.65845907e-01 9.86151643e-01 -2.69222665e-04 -2.32303995e+01] [-1.69057483e-03 -1.13092492e-05 9.99998571e-01 -5.75544076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.70, Y:-23.24, Z:-0.58 [[ 9.86217149e-01 1.65447723e-01 1.66899807e-03 2.18695232e+02] [-1.65447503e-01 9.86218561e-01 -2.69474498e-04 -2.32375659e+01] [-1.69058082e-03 -1.03711935e-05 9.99998571e-01 -5.76048201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-23.25, Z:-0.58 [[ 9.86233970e-01 1.65347426e-01 1.66895434e-03 2.18725388e+02] [-1.65347207e-01 9.86235382e-01 -2.69745119e-04 -2.32459891e+01] [-1.69058348e-03 -9.92513743e-06 9.99998571e-01 -5.80535496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:-23.25, Z:-0.58 [[ 9.86124916e-01 1.65996578e-01 1.66891383e-03 2.18756968e+02] [-1.65996359e-01 9.86126329e-01 -2.69995488e-04 -2.32522247e+01] [-1.69057820e-03 -1.07843412e-05 9.99998571e-01 -5.78795724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:-23.26, Z:-0.58 [[ 9.85816790e-01 1.67816782e-01 1.66886891e-03 2.18788454e+02] [-1.67816565e-01 9.85818202e-01 -2.70272886e-04 -2.32586113e+01] [-1.69055767e-03 -1.36242982e-05 9.99998571e-01 -5.75054719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.82, Y:-23.26, Z:-0.57 [[ 9.85657383e-01 1.68750524e-01 1.66882362e-03 2.18821198e+02] [-1.68750308e-01 9.85658795e-01 -2.70552219e-04 -2.32648215e+01] [-1.69054651e-03 -1.49427074e-05 9.99998571e-01 -5.72310734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:218.85, Y:-23.27, Z:-0.57 [[ 9.85564586e-01 1.69291646e-01 1.66877030e-03 2.18852798e+02] [-1.69291430e-01 9.85565999e-01 -2.70880681e-04 -2.32709656e+01] [-1.69054111e-03 -1.55381051e-05 9.99998571e-01 -5.71177689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24576923100003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:218.88, Y:-23.28, Z:-0.57 [[ 9.85470842e-01 1.69836496e-01 1.66872043e-03 2.18884897e+02] [-1.69836280e-01 9.85472255e-01 -2.71187593e-04 -2.32762326e+01] [-1.69053523e-03 -1.61618038e-05 9.99998571e-01 -5.66635704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27576923100003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:218.92, Y:-23.28, Z:-0.57 [[ 9.85315337e-01 1.70736353e-01 1.66867522e-03 2.18916855e+02] [-1.70736138e-01 9.85316750e-01 -2.71465463e-04 -2.32811539e+01] [-1.69052267e-03 -1.74240791e-05 9.99998571e-01 -5.67089349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:218.95, Y:-23.29, Z:-0.57 [[ 9.85037489e-01 1.72332124e-01 1.66862974e-03 2.18947611e+02] [-1.72331911e-01 9.85038902e-01 -2.71744721e-04 -2.32857940e+01] [-1.69049556e-03 -1.98794148e-05 9.99998571e-01 -5.68656001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:218.98, Y:-23.29, Z:-0.57 [[ 9.84379502e-01 1.76051730e-01 1.66858768e-03 2.18977864e+02] [-1.76051522e-01 9.84380916e-01 -2.72002741e-04 -2.32891788e+01] [-1.69041242e-03 -2.60034793e-05 9.99998571e-01 -5.71218344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.01, Y:-23.29, Z:-0.57 [[ 9.84063024e-01 1.77812203e-01 1.66858451e-03 2.19009327e+02] [-1.77811998e-01 9.84064439e-01 -2.72022174e-04 -2.32920266e+01] [-1.69036355e-03 -2.90073825e-05 9.99998571e-01 -5.70791244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.395769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.04, Y:-23.29, Z:-0.57 [[ 9.83615921e-01 1.80269065e-01 1.66857809e-03 2.19040525e+02] [-1.80268863e-01 9.83617336e-01 -2.72061546e-04 -2.32920341e+01] [-1.69028662e-03 -3.31886077e-05 9.99998571e-01 -5.74229458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.425769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.07, Y:-23.30, Z:-0.58 [[ 9.83627360e-01 1.80206636e-01 1.66857809e-03 2.19070063e+02] [-1.80206434e-01 9.83628775e-01 -2.72061546e-04 -2.32959184e+01] [-1.69028872e-03 -3.30813275e-05 9.99998571e-01 -5.76023110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.455769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.10, Y:-23.30, Z:-0.58 [[ 9.83745130e-01 1.79562621e-01 1.66858131e-03 2.19099759e+02] [-1.79562418e-01 9.83746545e-01 -2.72041835e-04 -2.33007799e+01] [-1.69030964e-03 -3.19946631e-05 9.99998571e-01 -5.76401458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:219.13, Y:-23.31, Z:-0.58 [[ 9.84155131e-01 1.77301701e-01 1.66858131e-03 2.19129247e+02] [-1.77301494e-01 9.84156546e-01 -2.72041835e-04 -2.33053769e+01] [-1.69037870e-03 -2.81105910e-05 9.99998571e-01 -5.75506042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.515769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:219.16, Y:-23.31, Z:-0.58 [[ 9.84321609e-01 1.76375126e-01 1.66858449e-03 2.19158844e+02] [-1.76374918e-01 9.84323023e-01 -2.72022302e-04 -2.33094513e+01] [-1.69040410e-03 -2.65390238e-05 9.99998571e-01 -5.75437268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.545769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:219.19, Y:-23.31, Z:-0.57 [[ 9.84418060e-01 1.75836002e-01 1.66858758e-03 2.19188765e+02] [-1.75835793e-01 9.84419474e-01 -2.72003339e-04 -2.33135207e+01] [-1.69041809e-03 -2.56324225e-05 9.99998571e-01 -5.74736765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.575769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:219.22, Y:-23.32, Z:-0.58 [[ 9.84464359e-01 1.75576601e-01 1.66858758e-03 2.19218060e+02] [-1.75576392e-01 9.84465772e-01 -2.72003339e-04 -2.33179026e+01] [-1.69042479e-03 -2.51869950e-05 9.99998571e-01 -5.76253477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.605769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.25, Y:-23.32, Z:-0.58 [[ 9.84422149e-01 1.75813109e-01 1.66859073e-03 2.19248131e+02] [-1.75812901e-01 9.84423562e-01 -2.71984023e-04 -2.33227358e+01] [-1.69041839e-03 -2.56126804e-05 9.99998571e-01 -5.77674398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.635769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.28, Y:-23.33, Z:-0.58 [[ 9.84290669e-01 1.76547714e-01 1.66859073e-03 2.19278231e+02] [-1.76547506e-01 9.84292083e-01 -2.71984023e-04 -2.33273679e+01] [-1.69039880e-03 -2.68741966e-05 9.99998571e-01 -5.78919489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.665769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.31, Y:-23.33, Z:-0.58 [[ 9.83815078e-01 1.79178986e-01 1.66859073e-03 2.19307148e+02] [-1.79178782e-01 9.83816492e-01 -2.71984023e-04 -2.33306086e+01] [-1.69032090e-03 -3.13940725e-05 9.99998571e-01 -5.79018681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.695769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.34, Y:-23.33, Z:-0.58 [[ 9.83554114e-01 1.80605982e-01 1.66859388e-03 2.19336932e+02] [-1.80605781e-01 9.83555529e-01 -2.71964719e-04 -2.33344474e+01] [-1.69027319e-03 -3.38656815e-05 9.99998571e-01 -5.77589318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72576923100002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:219.37, Y:-23.34, Z:-0.58 [[ 9.83382228e-01 1.81539551e-01 1.66860006e-03 2.19366730e+02] [-1.81539351e-01 9.83383643e-01 -2.71926762e-04 -2.33378613e+01] [-1.69023947e-03 -3.55086282e-05 9.99998571e-01 -5.75117909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:219.40, Y:-23.34, Z:-0.57 [[ 9.83029948e-01 1.83437558e-01 1.66860629e-03 2.19395381e+02] [-1.83437361e-01 9.83031363e-01 -2.71888551e-04 -2.33378424e+01] [-1.69016689e-03 -3.88101465e-05 9.99998571e-01 -5.71105135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78576923100002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:219.42, Y:-23.34, Z:-0.57 [[ 9.82833370e-01 1.84487895e-01 1.66861559e-03 2.19423109e+02] [-1.84487699e-01 9.82834785e-01 -2.71831496e-04 -2.33389835e+01] [-1.69012306e-03 -4.06739841e-05 9.99998571e-01 -5.71234731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.45, Y:-23.34, Z:-0.57 [[ 9.82374003e-01 1.86918523e-01 1.66863086e-03 2.19452296e+02] [-1.86918331e-01 9.82375419e-01 -2.71737709e-04 -2.33371686e+01] [-1.69001475e-03 -4.49496344e-05 9.99998571e-01 -5.73331512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.48, Y:-23.34, Z:-0.57 [[ 9.82147474e-01 1.88105170e-01 1.66864296e-03 2.19481467e+02] [-1.88104979e-01 9.82148890e-01 -2.71663361e-04 -2.33388201e+01] [-1.68995712e-03 -4.70665668e-05 9.99998571e-01 -5.73066143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.51, Y:-23.34, Z:-0.57 [[ 9.82002076e-01 1.88862751e-01 1.66865504e-03 2.19509199e+02] [-1.88862562e-01 9.82003492e-01 -2.71589138e-04 -2.33400497e+01] [-1.68991815e-03 -4.84453695e-05 9.99998571e-01 -5.72591642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.54, Y:-23.34, Z:-0.57 [[ 9.82075949e-01 1.88478238e-01 1.66867122e-03 2.19538485e+02] [-1.88478049e-01 9.82077365e-01 -2.71489690e-04 -2.33378119e+01] [-1.68993414e-03 -4.78844021e-05 9.99998571e-01 -5.71628731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.57, Y:-23.34, Z:-0.57 [[ 9.82252213e-01 1.87557471e-01 1.66868390e-03 2.19566781e+02] [-1.87557280e-01 9.82253630e-01 -2.71411779e-04 -2.33393983e+01] [-1.68997612e-03 -4.63789920e-05 9.99998571e-01 -5.71974457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.59, Y:-23.34, Z:-0.57 [[ 9.82556553e-01 1.85956543e-01 1.66869966e-03 2.19594383e+02] [-1.85956351e-01 9.82557969e-01 -2.71314797e-04 -2.33410340e+01] [-1.69004691e-03 -4.37231678e-05 9.99998571e-01 -5.72056655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.62, Y:-23.34, Z:-0.57 [[ 9.83286576e-01 1.82056925e-01 1.66871525e-03 2.19623575e+02] [-1.82056727e-01 9.83287992e-01 -2.71218915e-04 -2.33421684e+01] [-1.69020495e-03 -3.71149178e-05 9.99998571e-01 -5.69227001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02576923100003 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:219.65, Y:-23.35, Z:-0.57 [[ 9.83689534e-01 1.79866942e-01 1.66872798e-03 2.19651294e+02] [-1.79866740e-01 9.83690948e-01 -2.71140567e-04 -2.33454837e+01] [-1.69028183e-03 -3.34305240e-05 9.99998571e-01 -5.68200059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.68, Y:-23.35, Z:-0.57 [[ 9.84486316e-01 1.75453440e-01 1.66874506e-03 2.19680023e+02] [-1.75453232e-01 9.84487730e-01 -2.71035387e-04 -2.33492587e+01] [-1.69041313e-03 -2.59560857e-05 9.99998571e-01 -5.67897422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:219.71, Y:-23.35, Z:-0.57 [[ 9.84939517e-01 1.72891190e-01 1.66875746e-03 2.19708731e+02] [-1.72890979e-01 9.84940930e-01 -2.70959023e-04 -2.33535112e+01] [-1.69047395e-03 -2.16348622e-05 9.99998571e-01 -5.68111080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.74, Y:-23.36, Z:-0.57 [[ 9.85251676e-01 1.71103334e-01 1.66877028e-03 2.19736740e+02] [-1.71103120e-01 9.85253089e-01 -2.70880079e-04 -2.33581782e+01] [-1.69050955e-03 -1.86467491e-05 9.99998571e-01 -5.68094236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.145769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.76, Y:-23.36, Z:-0.57 [[ 9.85493033e-01 1.69707679e-01 1.66878325e-03 2.19763757e+02] [-1.69707464e-01 9.85494446e-01 -2.70800152e-04 -2.33642014e+01] [-1.69053349e-03 -1.63333098e-05 9.99998571e-01 -5.69140715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.175769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.79, Y:-23.37, Z:-0.57 [[ 9.85444665e-01 1.69988317e-01 1.66879937e-03 2.19791746e+02] [-1.69988102e-01 9.85446078e-01 -2.70700719e-04 -2.33692273e+01] [-1.69052776e-03 -1.69154588e-05 9.99998571e-01 -5.70511102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.205769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.82, Y:-23.37, Z:-0.57 [[ 9.85278382e-01 1.70949478e-01 1.66881168e-03 2.19819287e+02] [-1.70949265e-01 9.85279796e-01 -2.70624858e-04 -2.33741626e+01] [-1.69050961e-03 -1.86413075e-05 9.99998571e-01 -5.73377027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.235769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.85, Y:-23.38, Z:-0.57 [[ 9.84839508e-01 1.73459965e-01 1.66882697e-03 2.19847885e+02] [-1.73459755e-01 9.84840921e-01 -2.70530549e-04 -2.33795259e+01] [-1.69045531e-03 -2.30451446e-05 9.99998571e-01 -5.74793043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.88, Y:-23.39, Z:-0.57 [[ 9.84702312e-01 1.74237112e-01 1.66883911e-03 2.19876298e+02] [-1.74236904e-01 9.84703726e-01 -2.70455598e-04 -2.33854049e+01] [-1.69043549e-03 -2.44551073e-05 9.99998571e-01 -5.74447858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.295769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.90, Y:-23.39, Z:-0.57 [[ 9.84676062e-01 1.74385399e-01 1.66885131e-03 2.19904688e+02] [-1.74385191e-01 9.84677476e-01 -2.70380298e-04 -2.33932964e+01] [-1.69043067e-03 -2.47859477e-05 9.99998571e-01 -5.74964125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.325769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.93, Y:-23.40, Z:-0.57 [[ 9.84727413e-01 1.74095193e-01 1.66886351e-03 2.19932553e+02] [-1.74094985e-01 9.84728827e-01 -2.70304983e-04 -2.33997443e+01] [-1.69043681e-03 -2.43640410e-05 9.99998571e-01 -5.74042205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.355769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.96, Y:-23.41, Z:-0.57 [[ 9.84756593e-01 1.73930063e-01 1.66887619e-03 2.19961737e+02] [-1.73929855e-01 9.84758007e-01 -2.70226671e-04 -2.34067072e+01] [-1.69043973e-03 -2.41598976e-05 9.99998571e-01 -5.73368967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.385769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.99, Y:-23.41, Z:-0.57 [[ 9.84796518e-01 1.73703865e-01 1.66888253e-03 2.19990125e+02] [-1.73703657e-01 9.84797932e-01 -2.70187492e-04 -2.34148956e+01] [-1.69044468e-03 -2.38112975e-05 9.99998571e-01 -5.73882673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.415769231 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:220.02, Y:-23.42, Z:-0.57 [[ 9.84749842e-01 1.73968280e-01 1.66888885e-03 2.20019186e+02] [-1.73968072e-01 9.84751256e-01 -2.70148456e-04 -2.34208226e+01] [-1.69043766e-03 -2.43047275e-05 9.99998571e-01 -5.74158689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.445769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.05, Y:-23.43, Z:-0.58 [[ 9.84629418e-01 1.74648571e-01 1.66889547e-03 2.20047620e+02] [-1.74648364e-01 9.84630832e-01 -2.70107552e-04 -2.34260765e+01] [-1.69041984e-03 -2.55140223e-05 9.99998571e-01 -5.75413895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47576923100002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:220.08, Y:-23.43, Z:-0.57 [[ 9.84045786e-01 1.77907576e-01 1.66890533e-03 2.20075062e+02] [-1.77907374e-01 9.84047201e-01 -2.70046649e-04 -2.34331614e+01] [-1.69032496e-03 -3.11722969e-05 9.99998571e-01 -5.74389378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50576923100002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:220.10, Y:-23.44, Z:-0.57 [[ 9.83696307e-01 1.79829892e-01 1.66891496e-03 2.20103780e+02] [-1.79829693e-01 9.83697722e-01 -2.69987112e-04 -2.34382474e+01] [-1.69025960e-03 -3.45351398e-05 9.99998571e-01 -5.73321655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.13, Y:-23.44, Z:-0.58 [[ 9.83213827e-01 1.82449406e-01 1.66892455e-03 2.20132403e+02] [-1.82449211e-01 9.83215242e-01 -2.69927806e-04 -2.34419835e+01] [-1.69016022e-03 -3.90972157e-05 9.99998571e-01 -5.75157806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:220.16, Y:-23.45, Z:-0.58 [[ 9.83091560e-01 1.83107073e-01 1.66893712e-03 2.20159611e+02] [-1.83106879e-01 9.83092975e-01 -2.69850070e-04 -2.34464597e+01] [-1.69013182e-03 -4.03065403e-05 9.99998571e-01 -5.77510864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.19, Y:-23.45, Z:-0.58 [[ 9.83117625e-01 1.82967076e-01 1.66895277e-03 2.20188777e+02] [-1.82966881e-01 9.83119040e-01 -2.69753240e-04 -2.34515295e+01] [-1.69013521e-03 -4.01639193e-05 9.99998571e-01 -5.77315557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.22, Y:-23.46, Z:-0.57 [[ 9.83307010e-01 1.81946528e-01 1.66895916e-03 2.20216868e+02] [-1.81946332e-01 9.83308425e-01 -2.69713693e-04 -2.34574613e+01] [-1.69017508e-03 -3.84496333e-05 9.99998571e-01 -5.73628714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.25, Y:-23.46, Z:-0.57 [[ 9.83311231e-01 1.81923716e-01 1.66896871e-03 2.20246655e+02] [-1.81923520e-01 9.83312646e-01 -2.69654620e-04 -2.34622284e+01] [-1.69017461e-03 -3.84702455e-05 9.99998571e-01 -5.73679708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.28, Y:-23.47, Z:-0.57 [[ 9.83405912e-01 1.81411211e-01 1.66897496e-03 2.20276396e+02] [-1.81411015e-01 9.83407327e-01 -2.69615901e-04 -2.34666911e+01] [-1.69019355e-03 -3.76285700e-05 9.99998571e-01 -5.71392332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:220.30, Y:-23.47, Z:-0.57 [[ 9.83544701e-01 1.80657232e-01 1.66898131e-03 2.20304048e+02] [-1.80657034e-01 9.83546117e-01 -2.69576592e-04 -2.34724524e+01] [-1.69022105e-03 -3.63725848e-05 9.99998571e-01 -5.71738179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.33, Y:-23.48, Z:-0.57 [[ 9.83710339e-01 1.79753119e-01 1.66898784e-03 2.20333168e+02] [-1.79752921e-01 9.83711754e-01 -2.69536192e-04 -2.34794981e+01] [-1.69025292e-03 -3.48598996e-05 9.99998571e-01 -5.74252390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:220.36, Y:-23.49, Z:-0.58 [[ 9.83992732e-01 1.78200779e-01 1.66899412e-03 2.20362046e+02] [-1.78200578e-01 9.83994147e-01 -2.69497257e-04 -2.34868973e+01] [-1.69030507e-03 -3.22323752e-05 9.99998571e-01 -5.76243647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:220.39, Y:-23.49, Z:-0.58 [[ 9.84251156e-01 1.76767860e-01 1.66900042e-03 2.20391025e+02] [-1.76767657e-01 9.84252571e-01 -2.69458252e-04 -2.34940267e+01] [-1.69034951e-03 -2.98106973e-05 9.99998571e-01 -5.77225046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.42, Y:-23.50, Z:-0.58 [[ 9.84635645e-01 1.74613462e-01 1.66900355e-03 2.20419947e+02] [-1.74613256e-01 9.84637059e-01 -2.69438863e-04 -2.35027352e+01] [-1.69041040e-03 -2.61310346e-05 9.99998571e-01 -5.77535541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.45, Y:-23.51, Z:-0.57 [[ 9.84668881e-01 1.74425941e-01 1.66900666e-03 2.20448215e+02] [-1.74425735e-01 9.84670295e-01 -2.69419606e-04 -2.35121777e+01] [-1.69041505e-03 -2.58286105e-05 9.99998571e-01 -5.74741837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.895769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.48, Y:-23.52, Z:-0.57 [[ 9.84579225e-01 1.74931312e-01 1.66900974e-03 2.20477727e+02] [-1.74931107e-01 9.84580639e-01 -2.69400522e-04 -2.35193198e+01] [-1.69040126e-03 -2.67155638e-05 9.99998571e-01 -5.72182635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.925769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.51, Y:-23.53, Z:-0.57 [[ 9.84441433e-01 1.75705094e-01 1.66900974e-03 2.20506962e+02] [-1.75704890e-01 9.84442847e-01 -2.69400522e-04 -2.35250856e+01] [-1.69037974e-03 -2.80441366e-05 9.99998571e-01 -5.71180134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.54, Y:-23.53, Z:-0.57 [[ 9.84266346e-01 1.76683259e-01 1.66901284e-03 2.20536611e+02] [-1.76683056e-01 9.84267761e-01 -2.69381327e-04 -2.35303439e+01] [-1.69035070e-03 -2.97433138e-05 9.99998571e-01 -5.71187574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.57, Y:-23.53, Z:-0.57 [[ 9.83704155e-01 1.79786959e-01 1.66901284e-03 2.20565741e+02] [-1.79786761e-01 9.83705570e-01 -2.69381327e-04 -2.35346248e+01] [-1.69024847e-03 -3.50748814e-05 9.99998571e-01 -5.70884029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.015769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:220.60, Y:-23.54, Z:-0.57 [[ 9.83397123e-01 1.81458848e-01 1.66901588e-03 2.20595501e+02] [-1.81458652e-01 9.83398538e-01 -2.69362485e-04 -2.35387635e+01] [-1.69018598e-03 -3.79670785e-05 9.99998571e-01 -5.70306293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.045769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.63, Y:-23.54, Z:-0.57 [[ 9.82807372e-01 1.84626337e-01 1.66902193e-03 2.20625192e+02] [-1.84626145e-01 9.82808788e-01 -2.69324951e-04 -2.35400679e+01] [-1.69005390e-03 -4.34505386e-05 9.99998571e-01 -5.72127576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:220.65, Y:-23.54, Z:-0.58 [[ 9.82516459e-01 1.86168262e-01 1.66902809e-03 2.20654225e+02] [-1.86168073e-01 9.82517876e-01 -2.69286772e-04 -2.35415081e+01] [-1.68998259e-03 -4.61410574e-05 9.99998571e-01 -5.75050229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.105769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:220.68, Y:-23.54, Z:-0.58 [[ 9.82214296e-01 1.87755933e-01 1.66903378e-03 2.20681983e+02] [-1.87755746e-01 9.82215713e-01 -2.69251542e-04 -2.35423453e+01] [-1.68990478e-03 -4.89079682e-05 9.99998571e-01 -5.76866495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.135769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.71, Y:-23.54, Z:-0.57 [[ 9.81694217e-01 1.90456498e-01 1.66904864e-03 2.20711190e+02] [-1.90456315e-01 9.81695635e-01 -2.69159370e-04 -2.35398502e+01] [-1.68976092e-03 -5.36486576e-05 9.99998571e-01 -5.72130575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.165769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:220.74, Y:-23.54, Z:-0.57 [[ 9.81402439e-01 1.91954337e-01 1.66906140e-03 2.20739421e+02] [-1.91954156e-01 9.81403856e-01 -2.69080247e-04 -2.35408676e+01] [-1.68967441e-03 -5.63072615e-05 9.99998571e-01 -5.70084526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.195769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.77, Y:-23.54, Z:-0.57 [[ 9.81147893e-01 1.93251201e-01 1.66907714e-03 2.20769712e+02] [-1.93251023e-01 9.81149311e-01 -2.68982543e-04 -2.35423906e+01] [-1.68959509e-03 -5.86392095e-05 9.99998571e-01 -5.68613581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:220.80, Y:-23.54, Z:-0.57 [[ 9.80811931e-01 1.94949150e-01 1.66908372e-03 2.20797986e+02] [-1.94948974e-01 9.80813349e-01 -2.68941749e-04 -2.35405238e+01] [-1.68948955e-03 -6.16048813e-05 9.99998571e-01 -5.74282149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:220.83, Y:-23.54, Z:-0.58 [[ 9.80883534e-01 1.94588557e-01 1.66910006e-03 2.20827106e+02] [-1.94588381e-01 9.80884952e-01 -2.68840266e-04 -2.35419310e+01] [-1.68950837e-03 -6.10864887e-05 9.99998571e-01 -5.75813796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:220.86, Y:-23.54, Z:-0.58 [[ 9.81383137e-01 1.92052993e-01 1.66911294e-03 2.20855113e+02] [-1.92052813e-01 9.81384555e-01 -2.68760295e-04 -2.35404770e+01] [-1.68965788e-03 -5.68010141e-05 9.99998571e-01 -5.80049328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:220.88, Y:-23.54, Z:-0.58 [[ 9.81841141e-01 1.89697624e-01 1.66912901e-03 2.20883826e+02] [-1.89697441e-01 9.81842558e-01 -2.68660479e-04 -2.35427244e+01] [-1.68978615e-03 -5.28475898e-05 9.99998571e-01 -5.79242385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.91, Y:-23.55, Z:-0.58 [[ 9.82313684e-01 1.87235255e-01 1.66914151e-03 2.20912571e+02] [-1.87235069e-01 9.82315101e-01 -2.68582760e-04 -2.35461098e+01] [-1.68991107e-03 -4.86893056e-05 9.99998571e-01 -5.77169492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.94, Y:-23.55, Z:-0.57 [[ 9.83254922e-01 1.82227803e-01 1.66915419e-03 2.20940974e+02] [-1.82227609e-01 9.83256338e-01 -2.68503963e-04 -2.35481422e+01] [-1.69013532e-03 -4.01581338e-05 9.99998571e-01 -5.73939847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:220.97, Y:-23.55, Z:-0.57 [[ 9.83525066e-01 1.80764097e-01 1.66916691e-03 2.20969995e+02] [-1.80763902e-01 9.83526481e-01 -2.68424858e-04 -2.35506152e+01] [-1.69019143e-03 -3.77225472e-05 9.99998571e-01 -5.74613844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.00, Y:-23.55, Z:-0.58 [[ 9.83680447e-01 1.79916625e-01 1.66917956e-03 2.20998392e+02] [-1.79916428e-01 9.83681863e-01 -2.68346157e-04 -2.35532989e+01] [-1.69022159e-03 -3.63459563e-05 9.99998571e-01 -5.76254882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:221.03, Y:-23.56, Z:-0.58 [[ 9.83687323e-01 1.79879026e-01 1.66919219e-03 2.21027418e+02] [-1.79878830e-01 9.83688739e-01 -2.68267549e-04 -2.35574258e+01] [-1.69022127e-03 -3.63609518e-05 9.99998571e-01 -5.77147565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.05, Y:-23.56, Z:-0.58 [[ 9.83666697e-01 1.79991784e-01 1.66920482e-03 2.21054313e+02] [-1.79991588e-01 9.83668113e-01 -2.68188984e-04 -2.35624783e+01] [-1.69021537e-03 -3.66342532e-05 9.99998571e-01 -5.76529870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.08, Y:-23.57, Z:-0.57 [[ 9.83861745e-01 1.78922556e-01 1.66922045e-03 2.21081685e+02] [-1.78922359e-01 9.83863160e-01 -2.68091619e-04 -2.35673404e+01] [-1.69025215e-03 -3.48957723e-05 9.99998571e-01 -5.74218639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.11, Y:-23.57, Z:-0.57 [[ 9.83983441e-01 1.78252070e-01 1.66923595e-03 2.21110478e+02] [-1.78251872e-01 9.83984857e-01 -2.67995114e-04 -2.35712005e+01] [-1.69027358e-03 -3.38416775e-05 9.99998571e-01 -5.73331562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:221.14, Y:-23.57, Z:-0.57 [[ 9.83802668e-01 1.79247105e-01 1.66924831e-03 2.21138323e+02] [-1.79246908e-01 9.83804083e-01 -2.67918118e-04 -2.35743626e+01] [-1.69023685e-03 -3.56290395e-05 9.99998571e-01 -5.72594084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:221.17, Y:-23.58, Z:-0.57 [[ 9.83515021e-01 1.80818740e-01 1.66926366e-03 2.21166049e+02] [-1.80818546e-01 9.83516437e-01 -2.67822430e-04 -2.35778254e+01] [-1.69017556e-03 -3.84264446e-05 9.99998571e-01 -5.72262067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.645769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.19, Y:-23.58, Z:-0.57 [[ 9.83191874e-01 1.82567666e-01 1.66927890e-03 2.21194033e+02] [-1.82567474e-01 9.83193290e-01 -2.67727408e-04 -2.35808568e+01] [-1.69010218e-03 -4.15286209e-05 9.99998571e-01 -5.71249742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:-23.58, Z:-0.57 [[ 9.82508510e-01 1.86210205e-01 1.66929705e-03 2.21222751e+02] [-1.86210018e-01 9.82509927e-01 -2.67614170e-04 -2.35813131e+01] [-1.68993342e-03 -4.79066355e-05 9.99998571e-01 -5.70384845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-23.58, Z:-0.57 [[ 9.82201680e-01 1.87821917e-01 1.66930914e-03 2.21249510e+02] [-1.87821733e-01 9.82203098e-01 -2.67538725e-04 -2.35834554e+01] [-1.68985025e-03 -5.07555516e-05 9.99998571e-01 -5.70941585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.735769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.28, Y:-23.59, Z:-0.57 [[ 9.81918641e-01 1.89296051e-01 1.66933513e-03 2.21277666e+02] [-1.89295869e-01 9.81920059e-01 -2.67376514e-04 -2.35858950e+01] [-1.68976696e-03 -5.34562606e-05 9.99998571e-01 -5.72108118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.765769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:221.31, Y:-23.59, Z:-0.58 [[ 9.81633877e-01 1.90767255e-01 1.66935306e-03 2.21305743e+02] [-1.90767076e-01 9.81635294e-01 -2.67264471e-04 -2.35850595e+01] [-1.68968120e-03 -5.61017445e-05 9.99998571e-01 -5.75545094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.795769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:221.33, Y:-23.59, Z:-0.58 [[ 9.81632064e-01 1.90776581e-01 1.66937271e-03 2.21333570e+02] [-1.90776402e-01 9.81633482e-01 -2.67141686e-04 -2.35860902e+01] [-1.68967653e-03 -5.62420753e-05 9.99998571e-01 -5.76928605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.825769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:221.36, Y:-23.58, Z:-0.58 [[ 9.81707105e-01 1.90390055e-01 1.66939048e-03 2.21361864e+02] [-1.90389876e-01 9.81708523e-01 -2.67030619e-04 -2.35835937e+01] [-1.68969483e-03 -5.56891907e-05 9.99998571e-01 -5.76178663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:221.39, Y:-23.58, Z:-0.58 [[ 9.81743345e-01 1.90203096e-01 1.66941178e-03 2.21389534e+02] [-1.90202917e-01 9.81744763e-01 -2.66897408e-04 -2.35849099e+01] [-1.68970098e-03 -5.55022351e-05 9.99998571e-01 -5.75408500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.42, Y:-23.59, Z:-0.58 [[ 9.81839277e-01 1.89707268e-01 1.66942938e-03 2.21417774e+02] [-1.89707089e-01 9.81840694e-01 -2.66787243e-04 -2.35861811e+01] [-1.68972518e-03 -5.47603940e-05 9.99998571e-01 -5.76006214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.915769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:221.45, Y:-23.58, Z:-0.58 [[ 9.82287872e-01 1.87370622e-01 1.66944705e-03 2.21446477e+02] [-1.87370439e-01 9.82289289e-01 -2.66676640e-04 -2.35833825e+01] [-1.68984732e-03 -5.08517975e-05 9.99998571e-01 -5.79339498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.945769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:221.47, Y:-23.58, Z:-0.58 [[ 9.82542816e-01 1.86029105e-01 1.66946165e-03 2.21474953e+02] [-1.86028920e-01 9.82544233e-01 -2.66585211e-04 -2.35842841e+01] [-1.68991252e-03 -4.86367643e-05 9.99998571e-01 -5.80984906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:221.50, Y:-23.59, Z:-0.58 [[ 9.82820192e-01 1.84558074e-01 1.66947619e-03 2.21502660e+02] [-1.84557887e-01 9.82821609e-01 -2.66494138e-04 -2.35853164e+01] [-1.68998092e-03 -4.61991777e-05 9.99998571e-01 -5.81548198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.53, Y:-23.59, Z:-0.58 [[ 9.83269692e-01 1.82148086e-01 1.66949048e-03 2.21531149e+02] [-1.82147896e-01 9.83271109e-01 -2.66404565e-04 -2.35850877e+01] [-1.69008684e-03 -4.21466430e-05 9.99998571e-01 -5.77353473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.56, Y:-23.59, Z:-0.58 [[ 9.83593506e-01 1.80391316e-01 1.66950477e-03 2.21560095e+02] [-1.80391124e-01 9.83594923e-01 -2.66314961e-04 -2.35878039e+01] [-1.69015732e-03 -3.92181751e-05 9.99998571e-01 -5.75577393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.59, Y:-23.59, Z:-0.58 [[ 9.84476624e-01 1.75507803e-01 1.66951623e-03 2.21587512e+02] [-1.75507603e-01 9.84478040e-01 -2.66243086e-04 -2.35909531e+01] [-1.69032981e-03 -3.09026984e-05 9.99998571e-01 -5.75133828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:-23.60, Z:-0.57 [[ 9.85024804e-01 1.72404605e-01 1.66953050e-03 2.21615462e+02] [-1.72404402e-01 9.85026219e-01 -2.66153605e-04 -2.35953350e+01] [-1.69041742e-03 -2.56665045e-05 9.99998571e-01 -5.74688084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.64, Y:-23.60, Z:-0.57 [[ 9.85595571e-01 1.69111156e-01 1.66954758e-03 2.21642782e+02] [-1.69110948e-01 9.85596985e-01 -2.66046432e-04 -2.36000801e+01] [-1.69049248e-03 -2.01245897e-05 9.99998571e-01 -5.73522503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.67, Y:-23.61, Z:-0.57 [[ 9.86144898e-01 1.65877823e-01 1.66956174e-03 2.21670660e+02] [-1.65877611e-01 9.86146311e-01 -2.65957531e-04 -2.36056740e+01] [-1.69054861e-03 -1.46702496e-05 9.99998571e-01 -5.71550186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.70, Y:-23.61, Z:-0.57 [[ 9.87023574e-01 1.60566736e-01 1.66957866e-03 2.21696660e+02] [-1.60566516e-01 9.87024986e-01 -2.65851284e-04 -2.36128139e+01] [-1.69060272e-03 -5.67694383e-06 9.99998571e-01 -5.69471202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.72, Y:-23.62, Z:-0.57 [[ 9.87365715e-01 1.58449227e-01 1.66960590e-03 2.21723640e+02] [-1.58449004e-01 9.87367126e-01 -2.65680095e-04 -2.36183063e+01] [-1.69061078e-03 -2.22397503e-06 9.99998571e-01 -5.69456438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.75, Y:-23.63, Z:-0.57 [[ 9.87687032e-01 1.56433818e-01 1.66962256e-03 2.21750787e+02] [-1.56433592e-01 9.87688443e-01 -2.65575373e-04 -2.36252785e+01] [-1.69061187e-03 1.12029809e-06 9.99998571e-01 -5.71626692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.78, Y:-23.63, Z:-0.57 [[ 9.87686101e-01 1.56439693e-01 1.66963914e-03 2.21778419e+02] [-1.56439468e-01 9.87687512e-01 -2.65471086e-04 -2.36314180e+01] [-1.69061194e-03 1.00464286e-06 9.99998571e-01 -5.71481110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:-23.64, Z:-0.57 [[ 9.87600339e-01 1.56980198e-01 1.66965572e-03 2.21805707e+02] [-1.56979974e-01 9.87601750e-01 -2.65366720e-04 -2.36377145e+01] [-1.69061224e-03 -2.62489921e-08 9.99998571e-01 -5.70520352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-23.65, Z:-0.57 [[ 9.87336342e-01 1.58632150e-01 1.66967290e-03 2.21832336e+02] [-1.58631928e-01 9.87337754e-01 -2.65258594e-04 -2.36457403e+01] [-1.69060963e-03 -2.96398244e-06 9.99998571e-01 -5.70128989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:-23.65, Z:-0.57 [[ 9.87197356e-01 1.59494805e-01 1.66969012e-03 2.21858487e+02] [-1.59494584e-01 9.87198768e-01 -2.65150143e-04 -2.36518157e+01] [-1.69060610e-03 -4.55101260e-06 9.99998571e-01 -5.71367019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:-23.66, Z:-0.57 [[ 9.86990478e-01 1.60770045e-01 1.66971008e-03 2.21885128e+02] [-1.60769827e-01 9.86991891e-01 -2.65024441e-04 -2.36591567e+01] [-1.69059830e-03 -6.86240041e-06 9.99998571e-01 -5.73516952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.91, Y:-23.66, Z:-0.57 [[ 9.86897873e-01 1.61337537e-01 1.66972421e-03 2.21911391e+02] [-1.61337320e-01 9.86899285e-01 -2.64935387e-04 -2.36638695e+01] [-1.69059365e-03 -7.92465859e-06 9.99998571e-01 -5.74050311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:-23.67, Z:-0.57 [[ 9.86828121e-01 1.61763630e-01 1.66974385e-03 2.21940291e+02] [-1.61763414e-01 9.86829533e-01 -2.64811515e-04 -2.36685387e+01] [-1.69058942e-03 -8.78001521e-06 9.99998571e-01 -5.72222655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.97, Y:-23.67, Z:-0.57 [[ 9.86865642e-01 1.61534568e-01 1.66975628e-03 2.21968478e+02] [-1.61534352e-01 9.86867054e-01 -2.64733141e-04 -2.36728875e+01] [-1.69059101e-03 -8.46695685e-06 9.99998571e-01 -5.71389801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.00, Y:-23.68, Z:-0.57 [[ 9.86986025e-01 1.60797386e-01 1.66976878e-03 2.21995170e+02] [-1.60797168e-01 9.86987437e-01 -2.64654265e-04 -2.36790636e+01] [-1.69059652e-03 -7.28403010e-06 9.99998571e-01 -5.70151965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:-23.68, Z:-0.57 [[ 9.87119750e-01 1.59974405e-01 1.66978742e-03 2.22023264e+02] [-1.59974187e-01 9.87121163e-01 -2.64536586e-04 -2.36848106e+01] [-1.69060159e-03 -5.99359631e-06 9.99998571e-01 -5.70146003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:-23.69, Z:-0.57 [[ 9.87127299e-01 1.59927821e-01 1.66979994e-03 2.22052248e+02] [-1.59927603e-01 9.87128711e-01 -2.64457571e-04 -2.36893081e+01] [-1.69060158e-03 -5.99381263e-06 9.99998571e-01 -5.70195588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.08, Y:-23.70, Z:-0.57 [[ 9.87618484e-01 1.56865997e-01 1.66981241e-03 2.22080562e+02] [-1.56865774e-01 9.87619896e-01 -2.64378770e-04 -2.36965981e+01] [-1.69061200e-03 -8.31057271e-07 9.99998571e-01 -5.71895723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:-23.70, Z:-0.57 [[ 9.87891622e-01 1.55136565e-01 1.66982482e-03 2.22108997e+02] [-1.55136340e-01 9.87893034e-01 -2.64300370e-04 -2.37026086e+01] [-1.69061096e-03 2.04960981e-06 9.99998571e-01 -5.74168480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.665769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.14, Y:-23.71, Z:-0.58 [[ 9.88171290e-01 1.53345077e-01 1.66983722e-03 2.22136983e+02] [-1.53344849e-01 9.88172701e-01 -2.64222035e-04 -2.37092401e+01] [-1.69060470e-03 5.03569307e-06 9.99998571e-01 -5.75180631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.16, Y:-23.72, Z:-0.58 [[ 9.88545315e-01 1.50915117e-01 1.66984979e-03 2.22163381e+02] [-1.50914886e-01 9.88546725e-01 -2.64142588e-04 -2.37179838e+01] [-1.69058765e-03 9.11172739e-06 9.99998571e-01 -5.75270527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:-23.72, Z:-0.57 [[ 9.88652658e-01 1.50210297e-01 1.66986538e-03 2.22192006e+02] [-1.50210065e-01 9.88654068e-01 -2.64043955e-04 -2.37240878e+01] [-1.69058132e-03 1.02171703e-05 9.99998571e-01 -5.73612720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:-23.73, Z:-0.57 [[ 9.88643667e-01 1.50269460e-01 1.66987779e-03 2.22219644e+02] [-1.50269229e-01 9.88645077e-01 -2.63965483e-04 -2.37297730e+01] [-1.69058240e-03 1.00365559e-05 9.99998571e-01 -5.73314369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:-23.74, Z:-0.57 [[ 9.88611256e-01 1.50482542e-01 1.66989322e-03 2.22247666e+02] [-1.50482311e-01 9.88612667e-01 -2.63867791e-04 -2.37378294e+01] [-1.69058509e-03 9.57327702e-06 9.99998571e-01 -5.72462990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:-23.74, Z:-0.57 [[ 9.88628271e-01 1.50370720e-01 1.66990548e-03 2.22276107e+02] [-1.50370489e-01 9.88629681e-01 -2.63790223e-04 -2.37443729e+01] [-1.69058444e-03 9.68596900e-06 9.99998571e-01 -5.73843528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.30, Y:-23.75, Z:-0.58 [[ 9.88845059e-01 1.48938447e-01 1.66991812e-03 2.22303811e+02] [-1.48938214e-01 9.88846469e-01 -2.63710185e-04 -2.37531574e+01] [-1.69056922e-03 1.20538907e-05 9.99998571e-01 -5.78813223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.33, Y:-23.76, Z:-0.58 [[ 9.89055516e-01 1.47534394e-01 1.66992756e-03 2.22331971e+02] [-1.47534159e-01 9.89056926e-01 -2.63650356e-04 -2.37602703e+01] [-1.69055092e-03 1.43934809e-05 9.99998571e-01 -5.81121272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.36, Y:-23.77, Z:-0.58 [[ 9.89290348e-01 1.45951427e-01 1.66993662e-03 2.22360433e+02] [-1.45951190e-01 9.89291757e-01 -2.63592972e-04 -2.37672004e+01] [-1.69052630e-03 1.70407469e-05 9.99998571e-01 -5.79549225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.39, Y:-23.78, Z:-0.57 [[ 9.89513280e-01 1.44432270e-01 1.66994306e-03 2.22388552e+02] [-1.44432031e-01 9.89514689e-01 -2.63552184e-04 -2.37757889e+01] [-1.69049862e-03 1.95951193e-05 9.99998571e-01 -5.74573411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:-23.78, Z:-0.57 [[ 9.89392202e-01 1.45259361e-01 1.66994626e-03 2.22417304e+02] [-1.45259123e-01 9.89393611e-01 -2.63531864e-04 -2.37816116e+01] [-1.69051463e-03 1.81614420e-05 9.99998571e-01 -5.72482042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:-23.79, Z:-0.57 [[ 9.89170919e-01 1.46758660e-01 1.66995249e-03 2.22445832e+02] [-1.46758425e-01 9.89172328e-01 -2.63492377e-04 -2.37867933e+01] [-1.69054058e-03 1.55593994e-05 9.99998571e-01 -5.73174498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:-23.79, Z:-0.58 [[ 9.88586760e-01 1.50643383e-01 1.66995913e-03 2.22474528e+02] [-1.50643153e-01 9.88588171e-01 -2.63450285e-04 -2.37916110e+01] [-1.69058889e-03 8.87555338e-06 9.99998571e-01 -5.75925088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:-23.80, Z:-0.58 [[ 9.88281935e-01 1.52630365e-01 1.66997092e-03 2.22504354e+02] [-1.52630138e-01 9.88283346e-01 -2.63375559e-04 -2.37954232e+01] [-1.69060355e-03 5.40141517e-06 9.99998571e-01 -5.76932877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:-23.80, Z:-0.58 [[ 9.87856327e-01 1.55361153e-01 1.66997718e-03 2.22532371e+02] [-1.55360930e-01 9.87857739e-01 -2.63335855e-04 -2.37974871e+01] [-1.69061204e-03 6.88783076e-07 9.99998571e-01 -5.78510336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:-23.80, Z:-0.58 [[ 9.87698598e-01 1.56360771e-01 1.66999280e-03 2.22560649e+02] [-1.56360549e-01 9.87700010e-01 -2.63236740e-04 -2.38017154e+01] [-1.69061181e-03 -1.12243231e-06 9.99998571e-01 -5.79003683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.59, Y:-23.81, Z:-0.58 [[ 9.87678087e-01 1.56490277e-01 1.67000523e-03 2.22589683e+02] [-1.56490056e-01 9.87679499e-01 -2.63157908e-04 -2.38057853e+01] [-1.69061158e-03 -1.42391116e-06 9.99998571e-01 -5.79801941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.62, Y:-23.81, Z:-0.58 [[ 9.87693328e-01 1.56394055e-01 1.67001761e-03 2.22619285e+02] [-1.56393833e-01 9.87694740e-01 -2.63079288e-04 -2.38099270e+01] [-1.69061165e-03 -1.33879818e-06 9.99998571e-01 -5.79142652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.65, Y:-23.81, Z:-0.58 [[ 9.87696799e-01 1.56372133e-01 1.67002412e-03 2.22647909e+02] [-1.56371911e-01 9.87698211e-01 -2.63037973e-04 -2.38119486e+01] [-1.69061164e-03 -1.34309945e-06 9.99998571e-01 -5.78306517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:-23.82, Z:-0.58 [[ 9.87672687e-01 1.56524359e-01 1.67003383e-03 2.22677879e+02] [-1.56524138e-01 9.87674099e-01 -2.62976283e-04 -2.38152009e+01] [-1.69061135e-03 -1.66611446e-06 9.99998571e-01 -5.77325048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.71, Y:-23.82, Z:-0.58 [[ 9.87601118e-01 1.56975292e-01 1.67004024e-03 2.22706053e+02] [-1.56975072e-01 9.87602530e-01 -2.62935568e-04 -2.38190171e+01] [-1.69061036e-03 -2.47922577e-06 9.99998571e-01 -5.78019761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:-23.82, Z:-0.58 [[ 9.87586198e-01 1.57069132e-01 1.67004979e-03 2.22734981e+02] [-1.57068912e-01 9.87587610e-01 -2.62874888e-04 -2.38232117e+01] [-1.69061001e-03 -2.70129297e-06 9.99998571e-01 -5.78013046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.76, Y:-23.83, Z:-0.58 [[ 9.87653271e-01 1.56646821e-01 1.67006213e-03 2.22763288e+02] [-1.56646601e-01 9.87654683e-01 -2.62796494e-04 -2.38271973e+01] [-1.69061092e-03 -2.05773884e-06 9.99998571e-01 -5.78427781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.79, Y:-23.83, Z:-0.58 [[ 9.87842600e-01 1.55448408e-01 1.67007452e-03 2.22791227e+02] [-1.55448186e-01 9.87844012e-01 -2.62717751e-04 -2.38318905e+01] [-1.69061217e-03 -8.62674846e-08 9.99998571e-01 -5.76809056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:-23.84, Z:-0.58 [[ 9.87956447e-01 1.54723204e-01 1.67009137e-03 2.22820625e+02] [-1.54722981e-01 9.87957859e-01 -2.62610539e-04 -2.38370258e+01] [-1.69061184e-03 1.04625867e-06 9.99998571e-01 -5.75409944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:-23.84, Z:-0.58 [[ 9.88231767e-01 1.52954845e-01 1.67009778e-03 2.22848736e+02] [-1.52954620e-01 9.88233179e-01 -2.62569773e-04 -2.38422170e+01] [-1.69060736e-03 4.03061932e-06 9.99998571e-01 -5.75337904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.88, Y:-23.85, Z:-0.58 [[ 9.88407302e-01 1.51816392e-01 1.67010735e-03 2.22877800e+02] [-1.51816165e-01 9.88408713e-01 -2.62508943e-04 -2.38468466e+01] [-1.69060181e-03 5.91646324e-06 9.99998571e-01 -5.75511291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:-23.85, Z:-0.58 [[ 9.88562903e-01 1.50799859e-01 1.67011357e-03 2.22907214e+02] [-1.50799631e-01 9.88564314e-01 -2.62469347e-04 -2.38514467e+01] [-1.69059501e-03 7.61495017e-06 9.99998571e-01 -5.76038388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:-23.85, Z:-0.58 [[ 9.88706667e-01 1.49854388e-01 1.67011984e-03 2.22936292e+02] [-1.49854159e-01 9.88708077e-01 -2.62429448e-04 -2.38542145e+01] [-1.69058718e-03 9.19134166e-06 9.99998571e-01 -5.75780856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:-23.86, Z:-0.58 [[ 9.88657947e-01 1.50175481e-01 1.67012621e-03 2.22964306e+02] [-1.50175252e-01 9.88659357e-01 -2.62388891e-04 -2.38573883e+01] [-1.69059028e-03 8.60123785e-06 9.99998571e-01 -5.75791595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.99, Y:-23.86, Z:-0.58 [[ 9.88584059e-01 1.50661109e-01 1.67013548e-03 2.22993427e+02] [-1.50660881e-01 9.88585469e-01 -2.62329847e-04 -2.38606065e+01] [-1.69059458e-03 7.71102151e-06 9.99998571e-01 -5.75333003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:-23.86, Z:-0.58 [[ 9.88572290e-01 1.50738309e-01 1.67014781e-03 2.23021041e+02] [-1.50738081e-01 9.88573701e-01 -2.62251313e-04 -2.38631714e+01] [-1.69059553e-03 7.49950381e-06 9.99998571e-01 -5.75612597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:-23.87, Z:-0.58 [[ 9.88735365e-01 1.49664921e-01 1.67016447e-03 2.23050065e+02] [-1.49664691e-01 9.88736776e-01 -2.62145215e-04 -2.38669807e+01] [-1.69058697e-03 9.22759560e-06 9.99998571e-01 -5.76042157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:-23.87, Z:-0.58 [[ 9.89029619e-01 1.47707900e-01 1.67017675e-03 2.23078674e+02] [-1.47707668e-01 9.89031029e-01 -2.62066956e-04 -2.38706870e+01] [-1.69056599e-03 1.24940699e-05 9.99998571e-01 -5.76298836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:-23.87, Z:-0.58 [[ 9.89855829e-01 1.42065651e-01 1.67018897e-03 2.23106865e+02] [-1.42065411e-01 9.89857237e-01 -2.61989050e-04 -2.38738273e+01] [-1.69046828e-03 2.20553055e-05 9.99998571e-01 -5.79288878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.14, Y:-23.88, Z:-0.58 [[ 9.90208469e-01 1.39586527e-01 1.67019804e-03 2.23135138e+02] [-1.39586283e-01 9.90209877e-01 -2.61931170e-04 -2.38781906e+01] [-1.69040866e-03 2.62297252e-05 9.99998571e-01 -5.81063411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:-23.88, Z:-0.58 [[ 9.90499398e-01 1.37506918e-01 1.67020705e-03 2.23164636e+02] [-1.37506672e-01 9.90500806e-01 -2.61873710e-04 -2.38833932e+01] [-1.69035088e-03 2.97211394e-05 9.99998571e-01 -5.80795733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:-23.89, Z:-0.58 [[ 9.90724279e-01 1.35877201e-01 1.67021316e-03 2.23192156e+02] [-1.35876953e-01 9.90725686e-01 -2.61834734e-04 -2.38897710e+01] [-1.69030045e-03 3.24625524e-05 9.99998571e-01 -5.78909480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:-23.90, Z:-0.58 [[ 9.90760058e-01 1.35616068e-01 1.67022533e-03 2.23220377e+02] [-1.35615820e-01 9.90761465e-01 -2.61757099e-04 -2.38951221e+01] [-1.69029336e-03 3.28295007e-05 9.99998571e-01 -5.77627718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:-23.90, Z:-0.58 [[ 9.90689480e-01 1.36130688e-01 1.67023418e-03 2.23248253e+02] [-1.36130440e-01 9.90690888e-01 -2.61700643e-04 -2.39014946e+01] [-1.69031127e-03 3.18943600e-05 9.99998571e-01 -5.78039998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.28, Y:-23.91, Z:-0.58 [[ 9.90568486e-01 1.37008335e-01 1.67024294e-03 2.23277695e+02] [-1.37008089e-01 9.90569894e-01 -2.61644731e-04 -2.39076477e+01] [-1.69033988e-03 3.03402328e-05 9.99998571e-01 -5.79312467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.895769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.31, Y:-23.91, Z:-0.58 [[ 9.90412375e-01 1.38132322e-01 1.67024881e-03 2.23307097e+02] [-1.38132077e-01 9.90413783e-01 -2.61607237e-04 -2.39141296e+01] [-1.69037386e-03 2.83841081e-05 9.99998571e-01 -5.79732366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.34, Y:-23.92, Z:-0.58 [[ 9.90330388e-01 1.38718902e-01 1.67025471e-03 2.23335020e+02] [-1.38718658e-01 9.90331796e-01 -2.61569579e-04 -2.39204474e+01] [-1.69039099e-03 2.73448115e-05 9.99998571e-01 -5.80163991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:-23.93, Z:-0.58 [[ 9.90173967e-01 1.39831060e-01 1.67026350e-03 2.23362724e+02] [-1.39830818e-01 9.90175375e-01 -2.61513413e-04 -2.39297032e+01] [-1.69042149e-03 2.53894628e-05 9.99998571e-01 -5.80371304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.39, Y:-23.94, Z:-0.58 [[ 9.90149021e-01 1.40007596e-01 1.67026927e-03 2.23392129e+02] [-1.40007354e-01 9.90150429e-01 -2.61476551e-04 -2.39363210e+01] [-1.69042654e-03 2.50507700e-05 9.99998571e-01 -5.81646430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:-23.94, Z:-0.59 [[ 9.90210775e-01 1.39570169e-01 1.67027503e-03 2.23421125e+02] [-1.39569926e-01 9.90212183e-01 -2.61439781e-04 -2.39444703e+01] [-1.69041587e-03 2.57603264e-05 9.99998571e-01 -5.85341870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:-23.95, Z:-0.59 [[ 9.90203104e-01 1.39624579e-01 1.67027169e-03 2.23450235e+02] [-1.39624337e-01 9.90204512e-01 -2.61461067e-04 -2.39511366e+01] [-1.69041696e-03 2.56889821e-05 9.99998571e-01 -5.86212773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.48, Y:-23.96, Z:-0.59 [[ 9.90149420e-01 1.40004773e-01 1.67027736e-03 2.23480120e+02] [-1.40004532e-01 9.90150828e-01 -2.61424834e-04 -2.39581727e+01] [-1.69042724e-03 2.50032480e-05 9.99998571e-01 -5.85559978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:-23.97, Z:-0.58 [[ 9.89989034e-01 1.41134412e-01 1.67027736e-03 2.23509668e+02] [-1.41134172e-01 9.89990443e-01 -2.61424834e-04 -2.39658883e+01] [-1.69045467e-03 2.30745070e-05 9.99998571e-01 -5.82163211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:-23.97, Z:-0.58 [[ 9.89822044e-01 1.42300847e-01 1.67027736e-03 2.23539311e+02] [-1.42300609e-01 9.89823453e-01 -2.61424834e-04 -2.39710899e+01] [-1.69048068e-03 2.10825783e-05 9.99998571e-01 -5.80327333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:-23.98, Z:-0.58 [[ 9.89518681e-01 1.44395260e-01 1.67027736e-03 2.23569639e+02] [-1.44395024e-01 9.89520090e-01 -2.61424834e-04 -2.39767615e+01] [-1.69052152e-03 1.75050167e-05 9.99998571e-01 -5.79920876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:-23.98, Z:-0.58 [[ 9.88982027e-01 1.48026214e-01 1.67027736e-03 2.23598209e+02] [-1.48025984e-01 9.88983438e-01 -2.61424834e-04 -2.39833335e+01] [-1.69057438e-03 1.13000120e-05 9.99998571e-01 -5.78945901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.63, Y:-23.99, Z:-0.58 [[ 9.88865699e-01 1.48801345e-01 1.67028330e-03 2.23627604e+02] [-1.48801116e-01 9.88867109e-01 -2.61386914e-04 -2.39874847e+01] [-1.69058294e-03 9.93653555e-06 9.99998571e-01 -5.78623811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:-23.99, Z:-0.58 [[ 9.88788931e-01 1.49310614e-01 1.67028927e-03 2.23656684e+02] [-1.49310385e-01 9.88790342e-01 -2.61348763e-04 -2.39905734e+01] [-1.69058804e-03 9.02722979e-06 9.99998571e-01 -5.79940808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.69, Y:-24.00, Z:-0.58 [[ 9.88773071e-01 1.49415610e-01 1.67029223e-03 2.23685737e+02] [-1.49415381e-01 9.88774482e-01 -2.61329802e-04 -2.39955450e+01] [-1.69058909e-03 8.82851916e-06 9.99998571e-01 -5.82907034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:-24.00, Z:-0.58 [[ 9.88789351e-01 1.49307834e-01 1.67029517e-03 2.23716122e+02] [-1.49307606e-01 9.88790762e-01 -2.61311052e-04 -2.40012910e+01] [-1.69058822e-03 8.99381340e-06 9.99998571e-01 -5.83731534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:-24.01, Z:-0.58 [[ 9.88673470e-01 1.50073245e-01 1.67029517e-03 2.23745410e+02] [-1.50073018e-01 9.88674881e-01 -2.61311052e-04 -2.40059601e+01] [-1.69059467e-03 7.68506808e-06 9.99998571e-01 -5.83694495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:-24.01, Z:-0.58 [[ 9.88547641e-01 1.50899872e-01 1.67029815e-03 2.23775778e+02] [-1.50899646e-01 9.88549052e-01 -2.61292008e-04 -2.40096895e+01] [-1.69060058e-03 6.25219893e-06 9.99998571e-01 -5.81640419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:-24.01, Z:-0.58 [[ 9.88429513e-01 1.51671712e-01 1.67029815e-03 2.23804832e+02] [-1.51671487e-01 9.88430924e-01 -2.61292008e-04 -2.40128405e+01] [-1.69060495e-03 4.93212921e-06 9.99998571e-01 -5.80665621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.83, Y:-24.02, Z:-0.58 [[ 9.88292473e-01 1.52562110e-01 1.67030426e-03 2.23834740e+02] [-1.52561886e-01 9.88293885e-01 -2.61252912e-04 -2.40151250e+01] [-1.69060878e-03 3.36951760e-06 9.99998571e-01 -5.81473600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:-24.02, Z:-0.58 [[ 9.88296057e-01 1.52538894e-01 1.67031038e-03 2.23864551e+02] [-1.52538670e-01 9.88297468e-01 -2.61213780e-04 -2.40197401e+01] [-1.69060878e-03 3.36962423e-06 9.99998571e-01 -5.81524596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:-24.02, Z:-0.58 [[ 9.88223055e-01 1.53011120e-01 1.67031652e-03 2.23892955e+02] [-1.53010897e-01 9.88224467e-01 -2.61174543e-04 -2.40230090e+01] [-1.69061026e-03 2.52207673e-06 9.99998571e-01 -5.81263233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:-24.02, Z:-0.58 [[ 9.88039510e-01 1.54191886e-01 1.67032264e-03 2.23921531e+02] [-1.54191665e-01 9.88040921e-01 -2.61135408e-04 -2.40237228e+01] [-1.69061208e-03 4.62272721e-07 9.99998571e-01 -5.80291214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:-24.03, Z:-0.58 [[ 9.87898996e-01 1.55089598e-01 1.67033164e-03 2.23951718e+02] [-1.55089378e-01 9.87900408e-01 -2.61077774e-04 -2.40257593e+01] [-1.69061176e-03 -1.13222581e-06 9.99998571e-01 -5.79842086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:-24.03, Z:-0.58 [[ 9.87742332e-01 1.56084255e-01 1.67033779e-03 2.23980589e+02] [-1.56084037e-01 9.87743745e-01 -2.61038433e-04 -2.40277809e+01] [-1.69060970e-03 -2.87435480e-06 9.99998571e-01 -5.80633266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:-24.03, Z:-0.58 [[ 9.87589589e-01 1.57047806e-01 1.67034697e-03 2.24009765e+02] [-1.57047589e-01 9.87591002e-01 -2.60979698e-04 -2.40282853e+01] [-1.69060593e-03 -4.58313114e-06 9.99998571e-01 -5.82021806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:-24.03, Z:-0.58 [[ 9.87610213e-01 1.56918060e-01 1.67035606e-03 2.24039660e+02] [-1.56917843e-01 9.87611625e-01 -2.60921500e-04 -2.40308743e+01] [-1.69060636e-03 -4.41993172e-06 9.99998571e-01 -5.79698836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:-24.03, Z:-0.58 [[ 9.87756464e-01 1.55994798e-01 1.67036249e-03 2.24068648e+02] [-1.55994580e-01 9.87757877e-01 -2.60880356e-04 -2.40334529e+01] [-1.69060968e-03 -2.88123623e-06 9.99998571e-01 -5.80276628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-24.04, Z:-0.58 [[ 9.88020201e-01 1.54315561e-01 1.67037206e-03 2.24098039e+02] [-1.54315341e-01 9.88021613e-01 -2.60819040e-04 -2.40368027e+01] [-1.69061213e-03 -6.95534282e-08 9.99998571e-01 -5.81633953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-24.04, Z:-0.59 [[ 9.88676663e-01 1.50052211e-01 1.67037812e-03 2.24125727e+02] [-1.50051985e-01 9.88678074e-01 -2.60780212e-04 -2.40425321e+01] [-1.69059687e-03 7.18375696e-06 9.99998571e-01 -5.86087352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:-24.05, Z:-0.59 [[ 9.89061755e-01 1.47492555e-01 1.67038715e-03 2.24154409e+02] [-1.47492325e-01 9.89063166e-01 -2.60722372e-04 -2.40487474e+01] [-1.69057301e-03 1.15012419e-05 9.99998571e-01 -5.85393593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.18, Y:-24.05, Z:-0.58 [[ 9.89485284e-01 1.44623932e-01 1.67039312e-03 2.24182536e+02] [-1.44623698e-01 9.89486694e-01 -2.60684097e-04 -2.40547851e+01] [-1.69053293e-03 1.63646483e-05 9.99998571e-01 -5.83771799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:-24.06, Z:-0.58 [[ 9.90155960e-01 1.39958512e-01 1.67040202e-03 2.24211087e+02] [-1.39958271e-01 9.90157369e-01 -2.60627066e-04 -2.40633259e+01] [-1.69043785e-03 2.42748633e-05 9.99998571e-01 -5.79204173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.855769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.24, Y:-24.07, Z:-0.58 [[ 9.90354725e-01 1.38545041e-01 1.67039949e-03 2.24240388e+02] [-1.38544799e-01 9.90356133e-01 -2.60643288e-04 -2.40707754e+01] [-1.69040122e-03 2.67041504e-05 9.99998571e-01 -5.78297525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.27, Y:-24.08, Z:-0.58 [[ 9.90388066e-01 1.38306500e-01 1.67039949e-03 2.24269691e+02] [-1.38306257e-01 9.90389475e-01 -2.60643288e-04 -2.40818875e+01] [-1.69039473e-03 2.71113008e-05 9.99998571e-01 -5.77446465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.915769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.30, Y:-24.09, Z:-0.57 [[ 9.90188568e-01 1.39727628e-01 1.67039949e-03 2.24300430e+02] [-1.39727387e-01 9.90189976e-01 -2.60643288e-04 -2.40890562e+01] [-1.69043190e-03 2.46854486e-05 9.99998571e-01 -5.73587542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.945769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:224.33, Y:-24.09, Z:-0.58 [[ 9.89820467e-01 1.42311819e-01 1.67039312e-03 2.24330440e+02] [-1.42311582e-01 9.89821876e-01 -2.60684127e-04 -2.40934778e+01] [-1.69049008e-03 2.03141975e-05 9.99998571e-01 -5.79206060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.36, Y:-24.10, Z:-0.58 [[ 9.88867445e-01 1.48789735e-01 1.67038994e-03 2.24360016e+02] [-1.48789507e-01 9.88868856e-01 -2.60704455e-04 -2.40970567e+01] [-1.69058674e-03 9.26565192e-06 9.99998571e-01 -5.82232865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.39, Y:-24.10, Z:-0.58 [[ 9.88453974e-01 1.51512217e-01 1.67039597e-03 2.24389789e+02] [-1.51511993e-01 9.88455385e-01 -2.60665853e-04 -2.41013424e+01] [-1.69060595e-03 4.57117611e-06 9.99998571e-01 -5.82033879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.42, Y:-24.11, Z:-0.58 [[ 9.88229870e-01 1.52967101e-01 1.67039597e-03 2.24420002e+02] [-1.52966879e-01 9.88231282e-01 -2.60665853e-04 -2.41053485e+01] [-1.69061085e-03 2.08252387e-06 9.99998571e-01 -5.81003293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.45, Y:-24.11, Z:-0.58 [[ 9.88118263e-01 1.53686393e-01 1.67039597e-03 2.24449417e+02] [-1.53686172e-01 9.88119675e-01 -2.60665853e-04 -2.41085281e+01] [-1.69061192e-03 8.51928221e-07 9.99998571e-01 -5.79483762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:224.48, Y:-24.11, Z:-0.58 [[ 9.88217769e-01 1.53045260e-01 1.67039914e-03 2.24479334e+02] [-1.53045038e-01 9.88219180e-01 -2.60645496e-04 -2.41098091e+01] [-1.69061103e-03 1.92820982e-06 9.99998571e-01 -5.78761614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.51, Y:-24.11, Z:-0.58 [[ 9.88691643e-01 1.49953475e-01 1.67040538e-03 2.24509417e+02] [-1.49953249e-01 9.88693054e-01 -2.60605540e-04 -2.41117100e+01] [-1.69059690e-03 7.17580595e-06 9.99998571e-01 -5.80165671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.54, Y:-24.12, Z:-0.58 [[ 9.89049398e-01 1.47575400e-01 1.67041167e-03 2.24538451e+02] [-1.47575171e-01 9.89050808e-01 -2.60565229e-04 -2.41150184e+01] [-1.69057503e-03 1.12005957e-05 9.99998571e-01 -5.80534004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:224.57, Y:-24.12, Z:-0.58 [[ 9.89422011e-01 1.45056176e-01 1.67041479e-03 2.24568884e+02] [-1.45055943e-01 9.89423421e-01 -2.60545226e-04 -2.41187149e+01] [-1.69054121e-03 1.54855888e-05 9.99998571e-01 -5.80325202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.60, Y:-24.12, Z:-0.58 [[ 9.89986335e-01 1.41153345e-01 1.67041479e-03 2.24598671e+02] [-1.41153107e-01 9.89987744e-01 -2.60545226e-04 -2.41234250e+01] [-1.69046700e-03 2.21519764e-05 9.99998571e-01 -5.80278577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.63, Y:-24.13, Z:-0.58 [[ 9.90212783e-01 1.39555914e-01 1.67041479e-03 2.24627939e+02] [-1.39555673e-01 9.90214192e-01 -2.60545226e-04 -2.41284940e+01] [-1.69042906e-03 2.48793527e-05 9.99998571e-01 -5.82009609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.66, Y:-24.13, Z:-0.58 [[ 9.90336069e-01 1.38678330e-01 1.67041785e-03 2.24657634e+02] [-1.38678088e-01 9.90337478e-01 -2.60525565e-04 -2.41332905e+01] [-1.69040665e-03 2.63575103e-05 9.99998571e-01 -5.83850486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.69, Y:-24.14, Z:-0.59 [[ 9.90327430e-01 1.38740016e-01 1.67041785e-03 2.24686928e+02] [-1.38739774e-01 9.90328838e-01 -2.60525565e-04 -2.41372485e+01] [-1.69040829e-03 2.62522187e-05 9.99998571e-01 -5.85730223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.72, Y:-24.14, Z:-0.58 [[ 9.89990752e-01 1.41122363e-01 1.67041472e-03 2.24717428e+02] [-1.41122124e-01 9.89992161e-01 -2.60545653e-04 -2.41392180e+01] [-1.69046630e-03 2.22053132e-05 9.99998571e-01 -5.83825795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36576923100003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.75, Y:-24.14, Z:-0.58 [[ 9.89704693e-01 1.43114747e-01 1.67041472e-03 2.24747202e+02] [-1.43114511e-01 9.89706102e-01 -2.60545653e-04 -2.41420285e+01] [-1.69050757e-03 1.88026704e-05 9.99998571e-01 -5.82498755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.395769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.78, Y:-24.14, Z:-0.58 [[ 9.89467520e-01 1.44745417e-01 1.67084225e-03 2.24776790e+02] [-1.44745188e-01 9.89468930e-01 -2.57803665e-04 -2.41418432e+01] [-1.69056240e-03 1.32419759e-05 9.99998571e-01 -5.84993293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.425769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:224.81, Y:-24.14, Z:-0.59 [[ 9.89357962e-01 1.45492379e-01 1.67042764e-03 2.24805522e+02] [-1.45492146e-01 9.89359372e-01 -2.60462741e-04 -2.41446028e+01] [-1.69054858e-03 1.46567844e-05 9.99998571e-01 -5.87434527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.455769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:224.83, Y:-24.15, Z:-0.59 [[ 9.89328204e-01 1.45694591e-01 1.67043411e-03 2.24834392e+02] [-1.45694359e-01 9.89329614e-01 -2.60421233e-04 -2.41470170e+01] [-1.69055190e-03 1.42692447e-05 9.99998571e-01 -5.86359749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.485769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:224.86, Y:-24.15, Z:-0.59 [[ 9.89513326e-01 1.44431950e-01 1.67044636e-03 2.24863531e+02] [-1.44431716e-01 9.89514735e-01 -2.60342636e-04 -2.41485164e+01] [-1.69053308e-03 1.63470741e-05 9.99998571e-01 -5.86699556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.515769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.89, Y:-24.15, Z:-0.59 [[ 9.89753137e-01 1.42779334e-01 1.67045868e-03 2.24892160e+02] [-1.42779098e-01 9.89754546e-01 -2.60263564e-04 -2.41516172e+01] [-1.69050433e-03 1.90900947e-05 9.99998571e-01 -5.87237080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.545769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:224.92, Y:-24.15, Z:-0.58 [[ 9.90170418e-01 1.39856183e-01 1.67047098e-03 2.24921344e+02] [-1.39855943e-01 9.90171827e-01 -2.60184584e-04 -2.41534559e+01] [-1.69044172e-03 2.40017844e-05 9.99998571e-01 -5.84083268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.575769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.95, Y:-24.16, Z:-0.58 [[ 9.90212218e-01 1.39559925e-01 1.67048017e-03 2.24950939e+02] [-1.39559684e-01 9.90213627e-01 -2.60125580e-04 -2.41566355e+01] [-1.69043533e-03 2.44478430e-05 9.99998571e-01 -5.80531939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.605769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:224.98, Y:-24.16, Z:-0.58 [[ 9.90175558e-01 1.39819790e-01 1.67048625e-03 2.24978674e+02] [-1.39819550e-01 9.90176967e-01 -2.60086528e-04 -2.41596684e+01] [-1.69044225e-03 2.39646876e-05 9.99998571e-01 -5.78734917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.635769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.01, Y:-24.16, Z:-0.58 [[ 9.90097925e-01 1.40368474e-01 1.67050263e-03 2.25007022e+02] [-1.40368235e-01 9.90099334e-01 -2.59981250e-04 -2.41627464e+01] [-1.69045671e-03 2.29213903e-05 9.99998571e-01 -5.81282326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.665769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.03, Y:-24.17, Z:-0.58 [[ 9.90102201e-01 1.40338311e-01 1.67051507e-03 2.25034637e+02] [-1.40338072e-01 9.90103610e-01 -2.59901262e-04 -2.41665660e+01] [-1.69045711e-03 2.28919468e-05 9.99998571e-01 -5.83351698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.695769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.06, Y:-24.17, Z:-0.58 [[ 9.90161659e-01 1.39918183e-01 1.67053172e-03 2.25063389e+02] [-1.39917944e-01 9.90163068e-01 -2.59794230e-04 -2.41713076e+01] [-1.69044875e-03 2.35009225e-05 9.99998571e-01 -5.83525201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.09, Y:-24.18, Z:-0.58 [[ 9.90431774e-01 1.37993154e-01 1.67054440e-03 2.25091033e+02] [-1.37992912e-01 9.90433182e-01 -2.59712669e-04 -2.41778189e+01] [-1.69040118e-03 2.67043922e-05 9.99998571e-01 -5.81591050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.12, Y:-24.18, Z:-0.58 [[ 9.90589788e-01 1.36854235e-01 1.67055385e-03 2.25118962e+02] [-1.36853991e-01 9.90591196e-01 -2.59651896e-04 -2.41834248e+01] [-1.69037039e-03 2.85865557e-05 9.99998571e-01 -5.81051887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78576923100002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.15, Y:-24.19, Z:-0.58 [[ 9.90826461e-01 1.35130065e-01 1.67056290e-03 2.25146876e+02] [-1.35129819e-01 9.90827868e-01 -2.59593660e-04 -2.41896211e+01] [-1.69031918e-03 3.14694054e-05 9.99998571e-01 -5.82700880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.18, Y:-24.19, Z:-0.58 [[ 9.90807386e-01 1.35269855e-01 1.67057167e-03 2.25176018e+02] [-1.35269610e-01 9.90808794e-01 -2.59537193e-04 -2.41941183e+01] [-1.69032466e-03 3.11737897e-05 9.99998571e-01 -5.83042609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.20, Y:-24.20, Z:-0.58 [[ 9.90723342e-01 1.35884025e-01 1.67057785e-03 2.25204097e+02] [-1.35883781e-01 9.90724750e-01 -2.59497378e-04 -2.41985759e+01] [-1.69034437e-03 3.00856747e-05 9.99998571e-01 -5.84840792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.23, Y:-24.20, Z:-0.58 [[ 9.90526706e-01 1.37310061e-01 1.67058710e-03 2.25232296e+02] [-1.37309819e-01 9.90528115e-01 -2.59437855e-04 -2.42036085e+01] [-1.69038691e-03 2.75921125e-05 9.99998571e-01 -5.84135896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.26, Y:-24.21, Z:-0.58 [[ 9.90457295e-01 1.37809854e-01 1.67059918e-03 2.25261992e+02] [-1.37809613e-01 9.90458703e-01 -2.59360042e-04 -2.42088267e+01] [-1.69040186e-03 2.66604201e-05 9.99998571e-01 -5.84058516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.29, Y:-24.21, Z:-0.59 [[ 9.90458403e-01 1.37801890e-01 1.67060522e-03 2.25290158e+02] [-1.37801648e-01 9.90459812e-01 -2.59321078e-04 -2.42140276e+01] [-1.69040227e-03 2.66345874e-05 9.99998571e-01 -5.85018710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.32, Y:-24.22, Z:-0.59 [[ 9.90581022e-01 1.36917672e-01 1.67061423e-03 2.25318970e+02] [-1.36917429e-01 9.90582430e-01 -2.59263046e-04 -2.42216582e+01] [-1.69037880e-03 2.80848470e-05 9.99998571e-01 -5.85356513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.35, Y:-24.23, Z:-0.58 [[ 9.90665447e-01 1.36305467e-01 1.67062034e-03 2.25347782e+02] [-1.36305224e-01 9.90666856e-01 -2.59223687e-04 -2.42278826e+01] [-1.69036180e-03 2.90896709e-05 9.99998571e-01 -5.84258851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:225.38, Y:-24.23, Z:-0.58 [[ 9.90839331e-01 1.35035662e-01 1.67062651e-03 2.25376340e+02] [-1.35035417e-01 9.90840739e-01 -2.59183910e-04 -2.42338834e+01] [-1.69032387e-03 3.12158651e-05 9.99998571e-01 -5.84263981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:225.41, Y:-24.24, Z:-0.58 [[ 9.90783426e-01 1.35445232e-01 1.67062373e-03 2.25405667e+02] [-1.35444988e-01 9.90784834e-01 -2.59201816e-04 -2.42387767e+01] [-1.69033631e-03 3.05352530e-05 9.99998571e-01 -5.83481647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.43, Y:-24.24, Z:-0.58 [[ 9.90647118e-01 1.36438619e-01 1.67062973e-03 2.25433637e+02] [-1.36438376e-01 9.90648526e-01 -2.59163161e-04 -2.42430680e+01] [-1.69036674e-03 2.88012321e-05 9.99998571e-01 -5.82852573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.46, Y:-24.25, Z:-0.58 [[ 9.90453840e-01 1.37834683e-01 1.67063868e-03 2.25462750e+02] [-1.37834442e-01 9.90455249e-01 -2.59105415e-04 -2.42474265e+01] [-1.69040657e-03 2.63604019e-05 9.99998571e-01 -5.79934559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.145769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.49, Y:-24.25, Z:-0.58 [[ 9.90045958e-01 1.40734536e-01 1.67064479e-03 2.25491614e+02] [-1.40734299e-01 9.90047368e-01 -2.59066067e-04 -2.42497410e+01] [-1.69047701e-03 2.13702896e-05 9.99998571e-01 -5.77669710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.175769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.52, Y:-24.25, Z:-0.58 [[ 9.89835529e-01 1.42207014e-01 1.67065696e-03 2.25519980e+02] [-1.42206779e-01 9.89836939e-01 -2.58987531e-04 -2.42528569e+01] [-1.69050781e-03 1.87763139e-05 9.99998571e-01 -5.77644093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.205769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.55, Y:-24.26, Z:-0.58 [[ 9.89541388e-01 1.44239556e-01 1.67066602e-03 2.25548300e+02] [-1.44239325e-01 9.89542799e-01 -2.58929063e-04 -2.42563571e+01] [-1.69054334e-03 1.52452853e-05 9.99998571e-01 -5.80132005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.235769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:225.58, Y:-24.26, Z:-0.58 [[ 9.89497507e-01 1.44540280e-01 1.67067867e-03 2.25576478e+02] [-1.44540049e-01 9.89498917e-01 -2.58847419e-04 -2.42605655e+01] [-1.69054861e-03 1.46488984e-05 9.99998571e-01 -5.82717408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.265769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:225.60, Y:-24.26, Z:-0.58 [[ 9.89487340e-01 1.44609867e-01 1.67068815e-03 2.25604757e+02] [-1.44609636e-01 9.89488750e-01 -2.58786245e-04 -2.42640151e+01] [-1.69055017e-03 1.44681081e-05 9.99998571e-01 -5.84649583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.295769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.63, Y:-24.27, Z:-0.58 [[ 9.89510172e-01 1.44453550e-01 1.67069742e-03 2.25633421e+02] [-1.44453319e-01 9.89511582e-01 -2.58726389e-04 -2.42652534e+01] [-1.69054839e-03 1.46746072e-05 9.99998571e-01 -5.83539296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.325769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.66, Y:-24.27, Z:-0.58 [[ 9.89582606e-01 1.43956506e-01 1.67070965e-03 2.25662030e+02] [-1.43956274e-01 9.89584016e-01 -2.58647354e-04 -2.42689369e+01] [-1.69054154e-03 1.54437851e-05 9.99998571e-01 -5.81749206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.355769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:225.69, Y:-24.27, Z:-0.58 [[ 9.89747276e-01 1.42819953e-01 1.67071879e-03 2.25691087e+02] [-1.42819720e-01 9.89748686e-01 -2.58588305e-04 -2.42733676e+01] [-1.69052330e-03 1.73254801e-05 9.99998571e-01 -5.81113252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.385769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:225.72, Y:-24.28, Z:-0.58 [[ 9.89753938e-01 1.42773774e-01 1.67072483e-03 2.25720088e+02] [-1.42773541e-01 9.89755348e-01 -2.58549282e-04 -2.42777628e+01] [-1.69052289e-03 1.73648707e-05 9.99998571e-01 -5.81162838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.415769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.75, Y:-24.28, Z:-0.58 [[ 9.90134138e-01 1.40112803e-01 1.67073689e-03 2.25748899e+02] [-1.40112566e-01 9.90135547e-01 -2.58471329e-04 -2.42837121e+01] [-1.69047113e-03 2.18300535e-05 9.99998571e-01 -5.81983163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.445769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.78, Y:-24.29, Z:-0.58 [[ 9.90266937e-01 1.39171126e-01 1.67074292e-03 2.25778450e+02] [-1.39170888e-01 9.90268346e-01 -2.58432364e-04 -2.42889086e+01] [-1.69045015e-03 2.33982499e-05 9.99998571e-01 -5.83125066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:225.81, Y:-24.30, Z:-0.59 [[ 9.90266243e-01 1.39176066e-01 1.67074900e-03 2.25806392e+02] [-1.39175828e-01 9.90267652e-01 -2.58393038e-04 -2.42952414e+01] [-1.69045081e-03 2.33500273e-05 9.99998571e-01 -5.85693837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.84, Y:-24.30, Z:-0.59 [[ 9.90071813e-01 1.40552527e-01 1.67075807e-03 2.25835591e+02] [-1.40552291e-01 9.90073223e-01 -2.58334394e-04 -2.43008472e+01] [-1.69048238e-03 2.09407282e-05 9.99998571e-01 -5.85199705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:225.86, Y:-24.31, Z:-0.59 [[ 9.89782296e-01 1.42577047e-01 1.67076428e-03 2.25863533e+02] [-1.42576815e-01 9.89783706e-01 -2.58294186e-04 -2.43055784e+01] [-1.69052209e-03 1.74427629e-05 9.99998571e-01 -5.85000239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:225.89, Y:-24.31, Z:-0.58 [[ 9.88981729e-01 1.48028198e-01 1.67077353e-03 2.25892104e+02] [-1.48027973e-01 9.88983141e-01 -2.58234365e-04 -2.43086701e+01] [-1.69059282e-03 8.06784993e-06 9.99998571e-01 -5.83134478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.92, Y:-24.31, Z:-0.58 [[ 9.88534069e-01 1.50988753e-01 1.67078549e-03 2.25920761e+02] [-1.50988532e-01 9.88535481e-01 -2.58156956e-04 -2.43124167e+01] [-1.69060953e-03 2.92749791e-06 9.99998571e-01 -5.82621424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:225.95, Y:-24.32, Z:-0.58 [[ 9.88188590e-01 1.53233545e-01 1.67079771e-03 2.25948260e+02] [-1.53233328e-01 9.88190002e-01 -2.58077845e-04 -2.43162153e+01] [-1.69061177e-03 -9.92310983e-07 9.99998571e-01 -5.81484552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:225.98, Y:-24.32, Z:-0.58 [[ 9.87740967e-01 1.56092892e-01 1.67081293e-03 2.25976168e+02] [-1.56092679e-01 9.87742380e-01 -2.57979246e-04 -2.43208368e+01] [-1.69060147e-03 -5.98499744e-06 9.99998571e-01 -5.78624850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.01, Y:-24.32, Z:-0.58 [[ 9.87781445e-01 1.55836533e-01 1.67109955e-03 2.26005730e+02] [-1.55836323e-01 9.87782858e-01 -2.56122030e-04 -2.43248149e+01] [-1.69059666e-03 -7.42542042e-06 9.99998571e-01 -5.78375187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.03, Y:-24.33, Z:-0.58 [[ 9.87866348e-01 1.55297417e-01 1.67083193e-03 2.26034402e+02] [-1.55297203e-01 9.87867761e-01 -2.57856144e-04 -2.43272474e+01] [-1.69060539e-03 -4.74811794e-06 9.99998571e-01 -5.79096545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.06, Y:-24.33, Z:-0.58 [[ 9.87902199e-01 1.55069192e-01 1.67084400e-03 2.26063087e+02] [-1.55068978e-01 9.87903612e-01 -2.57777880e-04 -2.43296118e+01] [-1.69060623e-03 -4.43673689e-06 9.99998571e-01 -5.79751524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.09, Y:-24.33, Z:-0.58 [[ 9.87887059e-01 1.55165611e-01 1.67085673e-03 2.26090595e+02] [-1.55165397e-01 9.87888472e-01 -2.57695356e-04 -2.43316336e+01] [-1.69060556e-03 -4.68524094e-06 9.99998571e-01 -5.81328850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.12, Y:-24.33, Z:-0.58 [[ 9.87916523e-01 1.54977906e-01 1.67087255e-03 2.26118978e+02] [-1.54977692e-01 9.87917936e-01 -2.57592746e-04 -2.43325374e+01] [-1.69060614e-03 -4.46784077e-06 9.99998571e-01 -5.82657495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.15, Y:-24.34, Z:-0.58 [[ 9.87987759e-01 1.54523128e-01 1.67088773e-03 2.26146774e+02] [-1.54522913e-01 9.87989171e-01 -2.57494265e-04 -2.43350452e+01] [-1.69060780e-03 -3.78925757e-06 9.99998571e-01 -5.82789833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:226.18, Y:-24.34, Z:-0.58 [[ 9.88260032e-01 1.52772106e-01 1.67090237e-03 2.26175687e+02] [-1.52771890e-01 9.88261445e-01 -2.57399207e-04 -2.43351651e+01] [-1.69061181e-03 -8.89563591e-07 9.99998571e-01 -5.82183184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.895769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.20, Y:-24.34, Z:-0.58 [[ 9.88441353e-01 1.51594524e-01 1.67091397e-03 2.26204887e+02] [-1.51594305e-01 9.88442765e-01 -2.57323859e-04 -2.43379493e+01] [-1.69061172e-03 1.04850098e-06 9.99998571e-01 -5.82385845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.925769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:226.23, Y:-24.34, Z:-0.58 [[ 9.88656922e-01 1.50182220e-01 1.67092626e-03 2.26233551e+02] [-1.50182000e-01 9.88658334e-01 -2.57244065e-04 -2.43411889e+01] [-1.69060865e-03 3.38307858e-06 9.99998571e-01 -5.83899021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.955769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.26, Y:-24.34, Z:-0.58 [[ 9.89116602e-01 1.47124285e-01 1.67093847e-03 2.26262008e+02] [-1.47124061e-01 9.89118014e-01 -2.57164688e-04 -2.43444748e+01] [-1.69059052e-03 8.53060901e-06 9.99998571e-01 -5.83243577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.29, Y:-24.35, Z:-0.58 [[ 9.89352295e-01 1.45530903e-01 1.67095069e-03 2.26290540e+02] [-1.45530677e-01 9.89353706e-01 -2.57085305e-04 -2.43484719e+01] [-1.69057511e-03 1.11733520e-05 9.99998571e-01 -5.80914277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:-24.35, Z:-0.58 [[ 9.89531165e-01 1.44309669e-01 1.67096301e-03 2.26318047e+02] [-1.44309440e-01 9.89532576e-01 -2.57005172e-04 -2.43531063e+01] [-1.69056067e-03 1.31788895e-05 9.99998571e-01 -5.79458240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.045769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.35, Y:-24.36, Z:-0.58 [[ 9.89796512e-01 1.42478323e-01 1.67097829e-03 2.26345233e+02] [-1.42478093e-01 9.89797922e-01 -2.56905818e-04 -2.43587799e+01] [-1.69053435e-03 1.62066829e-05 9.99998571e-01 -5.79243637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.075769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.37, Y:-24.36, Z:-0.58 [[ 9.89863390e-01 1.42012946e-01 1.67099328e-03 2.26372134e+02] [-1.42012715e-01 9.89864800e-01 -2.56808297e-04 -2.43644027e+01] [-1.69052753e-03 1.69028389e-05 9.99998571e-01 -5.81444595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.105769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.40, Y:-24.37, Z:-0.58 [[ 9.89815226e-01 1.42348260e-01 1.67100824e-03 2.26400461e+02] [-1.42348029e-01 9.89816636e-01 -2.56710888e-04 -2.43725284e+01] [-1.69053410e-03 1.62316158e-05 9.99998571e-01 -5.84177534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.135769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.43, Y:-24.38, Z:-0.58 [[ 9.89708846e-01 1.43086018e-01 1.67102029e-03 2.26428122e+02] [-1.43085789e-01 9.89710256e-01 -2.56632405e-04 -2.43788917e+01] [-1.69054643e-03 1.48921049e-05 9.99998571e-01 -5.83218453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:-24.39, Z:-0.58 [[ 9.89608525e-01 1.43778212e-01 1.67103530e-03 2.26456128e+02] [-1.43777983e-01 9.89609936e-01 -2.56534680e-04 -2.43852800e+01] [-1.69055723e-03 1.36108219e-05 9.99998571e-01 -5.81669050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.195769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.48, Y:-24.39, Z:-0.58 [[ 9.89665966e-01 1.43382295e-01 1.67104750e-03 2.26482694e+02] [-1.43382067e-01 9.89667377e-01 -2.56455176e-04 -2.43930442e+01] [-1.69055233e-03 1.42067160e-05 9.99998571e-01 -5.80865696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.51, Y:-24.40, Z:-0.58 [[ 9.89733841e-01 1.42913022e-01 1.67106268e-03 2.26511240e+02] [-1.42912793e-01 9.89735251e-01 -2.56356177e-04 -2.43992266e+01] [-1.69054628e-03 1.49081479e-05 9.99998571e-01 -5.80590676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:-24.41, Z:-0.59 [[ 9.89977746e-01 1.41213559e-01 1.67135298e-03 2.26539154e+02] [-1.41213331e-01 9.89979157e-01 -2.54462828e-04 -2.44059895e+01] [-1.69053821e-03 1.58952159e-05 9.99998571e-01 -5.85474559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.57, Y:-24.41, Z:-0.59 [[ 9.90085637e-01 1.40455110e-01 1.67108778e-03 2.26568346e+02] [-1.40454878e-01 9.90087048e-01 -2.56192687e-04 -2.44122199e+01] [-1.69050593e-03 1.89402713e-05 9.99998571e-01 -5.85773329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.60, Y:-24.42, Z:-0.58 [[ 9.90262197e-01 1.39204847e-01 1.67109383e-03 2.26598181e+02] [-1.39204613e-01 9.90263606e-01 -2.56153222e-04 -2.44192440e+01] [-1.69048117e-03 2.10348832e-05 9.99998571e-01 -5.84026889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:-24.43, Z:-0.58 [[ 9.90700611e-01 1.36049648e-01 1.67109383e-03 2.26625879e+02] [-1.36049410e-01 9.90702020e-01 -2.56153222e-04 -2.44305749e+01] [-1.69040558e-03 2.64198250e-05 9.99998571e-01 -5.81525880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.65, Y:-24.44, Z:-0.58 [[ 9.90929529e-01 1.34372158e-01 1.67109697e-03 2.26654398e+02] [-1.34371917e-01 9.90930937e-01 -2.56132686e-04 -2.44382387e+01] [-1.69035879e-03 2.92609384e-05 9.99998571e-01 -5.81084046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:-24.45, Z:-0.58 [[ 9.91098974e-01 1.33116604e-01 1.67110000e-03 2.26683677e+02] [-1.33116361e-01 9.91100383e-01 -2.56112964e-04 -2.44458373e+01] [-1.69032073e-03 3.13825453e-05 9.99998571e-01 -5.81192729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:-24.45, Z:-0.58 [[ 9.91206791e-01 1.32311392e-01 1.67110000e-03 2.26714312e+02] [-1.32311148e-01 9.91208199e-01 -2.56112964e-04 -2.44534618e+01] [-1.69029468e-03 3.27557512e-05 9.99998571e-01 -5.81831967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.74, Y:-24.47, Z:-0.58 [[ 9.91048243e-01 1.33493772e-01 1.67109374e-03 2.26744163e+02] [-1.33493530e-01 9.91049652e-01 -2.56153744e-04 -2.44655921e+01] [-1.69033180e-03 3.07805151e-05 9.99998571e-01 -5.83812765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.77, Y:-24.47, Z:-0.58 [[ 9.90748368e-01 1.35701434e-01 1.67105309e-03 2.26774272e+02] [-1.35701194e-01 9.90749777e-01 -2.56418683e-04 -2.44733961e+01] [-1.69039186e-03 2.72824919e-05 9.99998571e-01 -5.83322741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.80, Y:-24.48, Z:-0.58 [[ 9.89987488e-01 1.41145252e-01 1.67104696e-03 2.26803504e+02] [-1.41145020e-01 9.89988898e-01 -2.56458606e-04 -2.44796855e+01] [-1.69051586e-03 1.80308540e-05 9.99998571e-01 -5.80922815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:-24.49, Z:-0.58 [[ 9.89607284e-01 1.43786754e-01 1.67103175e-03 2.26834559e+02] [-1.43786526e-01 9.89608695e-01 -2.56557721e-04 -2.44853555e+01] [-1.69055715e-03 1.36195404e-05 9.99998571e-01 -5.80192239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.87, Y:-24.49, Z:-0.58 [[ 9.89279033e-01 1.46028090e-01 1.67102543e-03 2.26865266e+02] [-1.46027865e-01 9.89280444e-01 -2.56598857e-04 -2.44919659e+01] [-1.69058342e-03 9.83159275e-06 9.99998571e-01 -5.80805651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.90, Y:-24.50, Z:-0.58 [[ 9.89104565e-01 1.47205185e-01 1.67098456e-03 2.26895721e+02] [-1.47204961e-01 9.89105977e-01 -2.56864699e-04 -2.45011194e+01] [-1.69059263e-03 8.08882809e-06 9.99998571e-01 -5.80471378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.645769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:-24.51, Z:-0.58 [[ 9.89206142e-01 1.46521042e-01 1.67097845e-03 2.26926030e+02] [-1.46520818e-01 9.89207554e-01 -2.56904450e-04 -2.45076536e+01] [-1.69058641e-03 9.29833078e-06 9.99998571e-01 -5.80566867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.675769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.96, Y:-24.52, Z:-0.58 [[ 9.89521997e-01 1.44372521e-01 1.67097231e-03 2.26957450e+02] [-1.44372293e-01 9.89523408e-01 -2.56944407e-04 -2.45163120e+01] [-1.69056192e-03 1.30100389e-05 9.99998571e-01 -5.81440554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.705769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.99, Y:-24.52, Z:-0.58 [[ 9.89578774e-01 1.43982837e-01 1.67092960e-03 2.26989117e+02] [-1.43982608e-01 9.89580185e-01 -2.57221813e-04 -2.45238505e+01] [-1.69055435e-03 1.39564430e-05 9.99998571e-01 -5.81432469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.735769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.02, Y:-24.53, Z:-0.58 [[ 9.89614295e-01 1.43738497e-01 1.67088669e-03 2.27020978e+02] [-1.43738267e-01 9.89615705e-01 -2.57500261e-04 -2.45310079e+01] [-1.69054841e-03 1.46555815e-05 9.99998571e-01 -5.80719559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.05, Y:-24.54, Z:-0.58 [[ 9.89424756e-01 1.45037443e-01 1.67084311e-03 2.27051874e+02] [-1.45037214e-01 9.89426167e-01 -2.57782728e-04 -2.45392207e+01] [-1.69056404e-03 1.27221819e-05 9.99998571e-01 -5.80636661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:-24.55, Z:-0.58 [[ 9.89206301e-01 1.46519973e-01 1.67079654e-03 2.27084625e+02] [-1.46519746e-01 9.89207712e-01 -2.58084240e-04 -2.45461126e+01] [-1.69057932e-03 1.04938707e-05 9.99998571e-01 -5.80563277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:-24.56, Z:-0.58 [[ 9.88634206e-01 1.50331683e-01 1.67074739e-03 2.27116069e+02] [-1.50331461e-01 9.88635618e-01 -2.58402039e-04 -2.45552731e+01] [-1.69060639e-03 4.29919790e-06 9.99998571e-01 -5.79686452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:-24.56, Z:-0.58 [[ 9.88322519e-01 1.52367340e-01 1.67071677e-03 2.27148827e+02] [-1.52367120e-01 9.88323932e-01 -2.58599815e-04 -2.45624171e+01] [-1.69061154e-03 1.01771742e-06 9.99998571e-01 -5.79203190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:-24.57, Z:-0.58 [[ 9.87999151e-01 1.54450269e-01 1.67066812e-03 2.27181362e+02] [-1.54450052e-01 9.88000564e-01 -2.58913764e-04 -2.45688213e+01] [-1.69061035e-03 -2.22819878e-06 9.99998571e-01 -5.80068737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:-24.58, Z:-0.58 [[ 9.87568386e-01 1.57181083e-01 1.67061943e-03 2.27213890e+02] [-1.57180870e-01 9.87569799e-01 -2.59227549e-04 -2.45754323e+01] [-1.69059896e-03 -6.58448286e-06 9.99998571e-01 -5.81952657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:-24.58, Z:-0.58 [[ 9.87438242e-01 1.57996604e-01 1.67057002e-03 2.27244990e+02] [-1.57996391e-01 9.87439655e-01 -2.59545604e-04 -2.45805538e+01] [-1.69059441e-03 -7.65877949e-06 9.99998571e-01 -5.81834267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:-24.59, Z:-0.58 [[ 9.87326154e-01 1.58695540e-01 1.67052397e-03 2.27276415e+02] [-1.58695327e-01 9.87327568e-01 -2.59841624e-04 -2.45856564e+01] [-1.69059008e-03 -8.55591628e-06 9.99998571e-01 -5.80304670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.31, Y:-24.59, Z:-0.58 [[ 9.87144295e-01 1.59822870e-01 1.67047855e-03 2.27308171e+02] [-1.59822659e-01 9.87145709e-01 -2.60133287e-04 -2.45878007e+01] [-1.69058098e-03 -1.01912333e-05 9.99998571e-01 -5.77333873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.34, Y:-24.59, Z:-0.58 [[ 9.86998246e-01 1.60722346e-01 1.67043617e-03 2.27340182e+02] [-1.60722135e-01 9.86999659e-01 -2.60405151e-04 -2.45909667e+01] [-1.69057286e-03 -1.14566417e-05 9.99998571e-01 -5.77666662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:-24.59, Z:-0.58 [[ 9.86785330e-01 1.62024452e-01 1.67039298e-03 2.27371830e+02] [-1.62024243e-01 9.86786743e-01 -2.60681924e-04 -2.45913117e+01] [-1.69055849e-03 -1.34070604e-05 9.99998571e-01 -5.78517664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:-24.59, Z:-0.58 [[ 9.86715514e-01 1.62449085e-01 1.67038680e-03 2.27403380e+02] [-1.62448876e-01 9.86716927e-01 -2.60721484e-04 -2.45930270e+01] [-1.69055290e-03 -1.40945267e-05 9.99998571e-01 -5.77938879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:-24.59, Z:-0.58 [[ 9.86628713e-01 1.62975434e-01 1.67038060e-03 2.27434301e+02] [-1.62975226e-01 9.86630127e-01 -2.60761248e-04 -2.45947823e+01] [-1.69054550e-03 -1.49561201e-05 9.99998571e-01 -5.77722790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:-24.59, Z:-0.58 [[ 9.86482038e-01 1.63860909e-01 1.67037751e-03 2.27463918e+02] [-1.63860703e-01 9.86483453e-01 -2.60781019e-04 -2.45938989e+01] [-1.69053159e-03 -1.64534410e-05 9.99998571e-01 -5.76405298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:-24.60, Z:-0.58 [[ 9.86441380e-01 1.64105496e-01 1.67038055e-03 2.27494063e+02] [-1.64105289e-01 9.86442794e-01 -2.60761534e-04 -2.45957669e+01] [-1.69052726e-03 -1.68923160e-05 9.99998571e-01 -5.75647772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.53, Y:-24.59, Z:-0.58 [[ 9.86500699e-01 1.63748527e-01 1.67038055e-03 2.27525340e+02] [-1.63748320e-01 9.86502113e-01 -2.60761534e-04 -2.45937463e+01] [-1.69053326e-03 -1.62805738e-05 9.99998571e-01 -5.76056982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:-24.59, Z:-0.58 [[ 9.86584300e-01 1.63244080e-01 1.67038055e-03 2.27555602e+02] [-1.63243872e-01 9.86585714e-01 -2.60761534e-04 -2.45943092e+01] [-1.69054137e-03 -1.54161533e-05 9.99998571e-01 -5.77033966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:-24.60, Z:-0.58 [[ 9.86588064e-01 1.63221326e-01 1.67037747e-03 2.27585415e+02] [-1.63221119e-01 9.86589478e-01 -2.60781272e-04 -2.45989169e+01] [-1.69054190e-03 -1.53571894e-05 9.99998571e-01 -5.77084967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:-24.60, Z:-0.58 [[ 9.86694669e-01 1.62575642e-01 1.67038348e-03 2.27614935e+02] [-1.62575433e-01 9.86696083e-01 -2.60742748e-04 -2.45995188e+01] [-1.69055126e-03 -1.42898385e-05 9.99998571e-01 -5.77897137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:-24.60, Z:-0.58 [[ 9.86840575e-01 1.61687629e-01 1.67038957e-03 2.27645288e+02] [-1.61687419e-01 9.86841989e-01 -2.60703744e-04 -2.45970294e+01] [-1.69056314e-03 -1.28079467e-05 9.99998571e-01 -5.76831031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:-24.60, Z:-0.58 [[ 9.86768504e-01 1.62126894e-01 1.67039568e-03 2.27674411e+02] [-1.62126685e-01 9.86769918e-01 -2.60664613e-04 -2.45975292e+01] [-1.69055695e-03 -1.36000841e-05 9.99998571e-01 -5.76032952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.395769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:-24.59, Z:-0.58 [[ 9.86439133e-01 1.64119002e-01 1.67040795e-03 2.27704285e+02] [-1.64118796e-01 9.86440547e-01 -2.60585925e-04 -2.45925788e+01] [-1.69052524e-03 -1.70931873e-05 9.99998571e-01 -5.75211826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:-24.59, Z:-0.58 [[ 9.86286418e-01 1.65034275e-01 1.67042024e-03 2.27732941e+02] [-1.65034071e-01 9.86287832e-01 -2.60507166e-04 -2.45927136e+01] [-1.69050776e-03 -1.87415721e-05 9.99998571e-01 -5.75249957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:-24.59, Z:-0.57 [[ 9.86271382e-01 1.65124105e-01 1.67043303e-03 2.27760827e+02] [-1.65123901e-01 9.86272797e-01 -2.60425080e-04 -2.45932817e+01] [-1.69050512e-03 -1.89786144e-05 9.99998571e-01 -5.74935333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:-24.59, Z:-0.57 [[ 9.86460944e-01 1.63987852e-01 1.67044895e-03 2.27788876e+02] [-1.63987646e-01 9.86462358e-01 -2.60322975e-04 -2.45914803e+01] [-1.69052481e-03 -1.71345423e-05 9.99998571e-01 -5.73241041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.82, Y:-24.59, Z:-0.57 [[ 9.86559113e-01 1.63396226e-01 1.67046467e-03 2.27818285e+02] [-1.63396020e-01 9.86560527e-01 -2.60222036e-04 -2.45926284e+01] [-1.69053380e-03 -1.62228567e-05 9.99998571e-01 -5.73921113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.85, Y:-24.59, Z:-0.58 [[ 9.86667216e-01 1.62742171e-01 1.67047716e-03 2.27846809e+02] [-1.62741964e-01 9.86668630e-01 -2.60141807e-04 -2.45913092e+01] [-1.69054346e-03 -1.51833414e-05 9.99998571e-01 -5.75429796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:-24.59, Z:-0.57 [[ 9.86692564e-01 1.62588418e-01 1.67049266e-03 2.27875436e+02] [-1.62588211e-01 9.86693978e-01 -2.60042239e-04 -2.45938827e+01] [-1.69054491e-03 -1.50206698e-05 9.99998571e-01 -5.74979459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:-24.60, Z:-0.57 [[ 9.86686841e-01 1.62623143e-01 1.67050499e-03 2.27903439e+02] [-1.62622936e-01 9.86688255e-01 -2.59962999e-04 -2.45957974e+01] [-1.69054366e-03 -1.51603566e-05 9.99998571e-01 -5.74359993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:-24.59, Z:-0.57 [[ 9.86528503e-01 1.63580937e-01 1.67052031e-03 2.27930981e+02] [-1.63580732e-01 9.86529917e-01 -2.59864512e-04 -2.45940725e+01] [-1.69052715e-03 -1.69011880e-05 9.99998571e-01 -5.72555925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.96, Y:-24.60, Z:-0.57 [[ 9.86352432e-01 1.64639272e-01 1.67054612e-03 2.27959925e+02] [-1.64639068e-01 9.86353846e-01 -2.59698514e-04 -2.45962655e+01] [-1.69050617e-03 -1.88828961e-05 9.99998571e-01 -5.72383904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:-24.60, Z:-0.57 [[ 9.85878752e-01 1.67452369e-01 1.67055835e-03 2.27987586e+02] [-1.67452170e-01 9.85880167e-01 -2.59619820e-04 -2.45979592e+01] [-1.69044430e-03 -2.37849566e-05 9.99998571e-01 -5.71835042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.02, Y:-24.60, Z:-0.57 [[ 9.85653993e-01 1.68770304e-01 1.67057666e-03 2.28015466e+02] [-1.68770106e-01 9.85655408e-01 -2.59501952e-04 -2.45999057e+01] [-1.69040914e-03 -2.61642651e-05 9.99998571e-01 -5.72420167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:-24.60, Z:-0.57 [[ 9.85383882e-01 1.70340290e-01 1.67059562e-03 2.28043703e+02] [-1.70340095e-01 9.85385298e-01 -2.59379804e-04 -2.46010677e+01] [-1.69036320e-03 -2.89807393e-05 9.99998571e-01 -5.72362978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:-24.60, Z:-0.57 [[ 9.85105901e-01 1.71940610e-01 1.67061453e-03 2.28072022e+02] [-1.71940417e-01 9.85107317e-01 -2.59257995e-04 -2.46021538e+01] [-1.69031157e-03 -3.18495782e-05 9.99998571e-01 -5.71976598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:-24.60, Z:-0.57 [[ 9.84587254e-01 1.74886103e-01 1.67063356e-03 2.28099972e+02] [-1.74885915e-01 9.84588670e-01 -2.59135300e-04 -2.46005609e+01] [-1.69020604e-03 -3.70289662e-05 9.99998571e-01 -5.71847293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.13, Y:-24.60, Z:-0.57 [[ 9.84446077e-01 1.75679055e-01 1.67065561e-03 2.28126909e+02] [-1.75678869e-01 9.84447494e-01 -2.58993036e-04 -2.46008639e+01] [-1.69017238e-03 -3.85342095e-05 9.99998571e-01 -5.72335102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:-24.60, Z:-0.57 [[ 9.84381486e-01 1.76040614e-01 1.67067736e-03 2.28156952e+02] [-1.76040429e-01 9.84382903e-01 -2.58852648e-04 -2.45975331e+01] [-1.69015481e-03 -3.92970049e-05 9.99998571e-01 -5.74421041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:-24.60, Z:-0.57 [[ 9.84482706e-01 1.75473674e-01 1.67068955e-03 2.28184141e+02] [-1.75473487e-01 9.84484123e-01 -2.58773947e-04 -2.45986296e+01] [-1.69017536e-03 -3.84032462e-05 9.99998571e-01 -5.74246333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:-24.60, Z:-0.57 [[ 9.84674216e-01 1.74395803e-01 1.67071078e-03 2.28212533e+02] [-1.74395615e-01 9.84675633e-01 -2.58636826e-04 -2.46006858e+01] [-1.69021337e-03 -3.66916211e-05 9.99998571e-01 -5.73123176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:-24.60, Z:-0.57 [[ 9.85316686e-01 1.70728549e-01 1.67072903e-03 2.28240580e+02] [-1.70728356e-01 9.85318102e-01 -2.58518907e-04 -2.45994878e+01] [-1.69033611e-03 -3.05178280e-05 9.99998571e-01 -5.69654373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:-24.60, Z:-0.57 [[ 9.85702121e-01 1.68488982e-01 1.67074415e-03 2.28269348e+02] [-1.68488786e-01 9.85703537e-01 -2.58421112e-04 -2.45997624e+01] [-1.69039953e-03 -2.67754165e-05 9.99998571e-01 -5.69258277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:-24.60, Z:-0.57 [[ 9.86052835e-01 1.66424201e-01 1.67076267e-03 2.28296978e+02] [-1.66424002e-01 9.86054250e-01 -2.58301362e-04 -2.46002096e+01] [-1.69045023e-03 -2.33562199e-05 9.99998571e-01 -5.69074031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:-24.60, Z:-0.57 [[ 9.86698528e-01 1.62552216e-01 1.67078415e-03 2.28326590e+02] [-1.62552011e-01 9.86699943e-01 -2.58162327e-04 -2.46000975e+01] [-1.69052748e-03 -1.68609360e-05 9.99998571e-01 -5.69733931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:-24.60, Z:-0.57 [[ 9.87102293e-01 1.60082079e-01 1.67079625e-03 2.28354711e+02] [-1.60081872e-01 9.87103707e-01 -2.58083974e-04 -2.46031086e+01] [-1.69056379e-03 -1.27089094e-05 9.99998571e-01 -5.70371351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:-24.61, Z:-0.57 [[ 9.88014395e-01 1.54352725e-01 1.67081449e-03 2.28382463e+02] [-1.54352509e-01 9.88015808e-01 -2.57965870e-04 -2.46059392e+01] [-1.69060886e-03 -3.02041551e-06 9.99998571e-01 -5.70909213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.145769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:-24.61, Z:-0.57 [[ 9.88513083e-01 1.51126083e-01 1.67083257e-03 2.28409030e+02] [-1.51125863e-01 9.88514495e-01 -2.57848714e-04 -2.46107173e+01] [-1.69060988e-03 2.38081353e-06 9.99998571e-01 -5.71283881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:-24.62, Z:-0.57 [[ 9.88991399e-01 1.47963577e-01 1.67086297e-03 2.28437018e+02] [-1.47963352e-01 9.88992811e-01 -2.57651561e-04 -2.46168301e+01] [-1.69059451e-03 7.58869134e-06 9.99998571e-01 -5.72536278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:-24.62, Z:-0.57 [[ 9.89749890e-01 1.42801832e-01 1.67087511e-03 2.28463215e+02] [-1.42801601e-01 9.89751300e-01 -2.57572781e-04 -2.46249329e+01] [-1.69053268e-03 1.63289905e-05 9.99998571e-01 -5.72633869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:-24.63, Z:-0.57 [[ 9.89986257e-01 1.41153884e-01 1.67089625e-03 2.28491622e+02] [-1.41153651e-01 9.89987667e-01 -2.57435597e-04 -2.46307176e+01] [-1.69050472e-03 1.90045974e-05 9.99998571e-01 -5.71853478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:-24.64, Z:-0.57 [[ 9.90016537e-01 1.40941351e-01 1.67090833e-03 2.28519770e+02] [-1.40941117e-01 9.90017947e-01 -2.57357163e-04 -2.46380087e+01] [-1.69050150e-03 1.92881608e-05 9.99998571e-01 -5.69784425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:-24.64, Z:-0.57 [[ 9.89868958e-01 1.41974135e-01 1.67092030e-03 2.28546177e+02] [-1.41973903e-01 9.89870368e-01 -2.57279425e-04 -2.46437073e+01] [-1.69052152e-03 1.74458401e-05 9.99998571e-01 -5.70261026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:-24.65, Z:-0.57 [[ 9.89619509e-01 1.43702594e-01 1.67094119e-03 2.28573941e+02] [-1.43702365e-01 9.89620919e-01 -2.57143697e-04 -2.46495412e+01] [-1.69055057e-03 1.43562194e-05 9.99998571e-01 -5.72208726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:-24.66, Z:-0.58 [[ 9.89061402e-01 1.47494920e-01 1.67095997e-03 2.28601580e+02] [-1.47494696e-01 9.89062813e-01 -2.57021623e-04 -2.46551562e+01] [-1.69059375e-03 7.75243486e-06 9.99998571e-01 -5.77027036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:-24.66, Z:-0.58 [[ 9.88827108e-01 1.49057569e-01 1.67098061e-03 2.28628514e+02] [-1.49057348e-01 9.88828520e-01 -2.56887311e-04 -2.46591946e+01] [-1.69060428e-03 4.94519847e-06 9.99998571e-01 -5.77866954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:-24.66, Z:-0.58 [[ 9.88566986e-01 1.50773083e-01 1.67100697e-03 2.28655724e+02] [-1.50772864e-01 9.88568398e-01 -2.56715730e-04 -2.46634038e+01] [-1.69061051e-03 1.83818808e-06 9.99998571e-01 -5.77170115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.68, Y:-24.67, Z:-0.58 [[ 9.88110920e-01 1.53733594e-01 1.67102449e-03 2.28682222e+02] [-1.53733380e-01 9.88112333e-01 -2.56601648e-04 -2.46662405e+01] [-1.69060820e-03 -3.34135279e-06 9.99998571e-01 -5.76802974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:-24.67, Z:-0.58 [[ 9.87949436e-01 1.54767951e-01 1.67104190e-03 2.28710268e+02] [-1.54767739e-01 9.87950850e-01 -2.56488231e-04 -2.46690158e+01] [-1.69060342e-03 -5.22597290e-06 9.99998571e-01 -5.77241372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:228.74, Y:-24.67, Z:-0.58 [[ 9.87843423e-01 1.55443173e-01 1.67105927e-03 2.28737717e+02] [-1.55442962e-01 9.87844836e-01 -2.56375009e-04 -2.46706340e+01] [-1.69059902e-03 -6.49603555e-06 9.99998571e-01 -5.76008705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.77, Y:-24.67, Z:-0.58 [[ 9.87848862e-01 1.55408600e-01 1.67107363e-03 2.28765017e+02] [-1.55408389e-01 9.87850276e-01 -2.56281351e-04 -2.46741738e+01] [-1.69059888e-03 -6.53161974e-06 9.99998571e-01 -5.76855748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.79, Y:-24.68, Z:-0.58 [[ 9.87964202e-01 1.54673664e-01 1.67109128e-03 2.28792002e+02] [-1.54673452e-01 9.87965616e-01 -2.56166264e-04 -2.46775266e+01] [-1.69060290e-03 -5.39035735e-06 9.99998571e-01 -5.77446648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.82, Y:-24.68, Z:-0.58 [[ 9.88297266e-01 1.52531048e-01 1.67112112e-03 2.28819340e+02] [-1.52530833e-01 9.88298679e-01 -2.55971430e-04 -2.46804833e+01] [-1.69061039e-03 -1.92163158e-06 9.99998571e-01 -5.78429642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:-24.68, Z:-0.58 [[ 9.88453049e-01 1.51518239e-01 1.67113532e-03 2.28847422e+02] [-1.51518023e-01 9.88454462e-01 -2.55878673e-04 -2.46838389e+01] [-1.69061145e-03 -2.83066094e-07 9.99998571e-01 -5.78705321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.88, Y:-24.69, Z:-0.58 [[ 9.88591270e-01 1.50613772e-01 1.67115246e-03 2.28875316e+02] [-1.50613555e-01 9.88592682e-01 -2.55766730e-04 -2.46879218e+01] [-1.69061108e-03 1.15054399e-06 9.99998571e-01 -5.79125948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68576923100002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:228.90, Y:-24.69, Z:-0.57 [[ 9.88742437e-01 1.49618179e-01 1.67116973e-03 2.28901387e+02] [-1.49617961e-01 9.88743850e-01 -2.55653785e-04 -2.46936078e+01] [-1.69060925e-03 2.73873912e-06 9.99998571e-01 -5.73238375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:228.93, Y:-24.70, Z:-0.58 [[ 9.88837585e-01 1.48988048e-01 1.67118976e-03 2.28930367e+02] [-1.48987829e-01 9.88838997e-01 -2.55522798e-04 -2.46979020e+01] [-1.69060745e-03 3.68361276e-06 9.99998571e-01 -5.78061964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.96, Y:-24.70, Z:-0.58 [[ 9.88984502e-01 1.48009668e-01 1.67120114e-03 2.28959222e+02] [-1.48009448e-01 9.88985914e-01 -2.55448379e-04 -2.47031418e+01] [-1.69060321e-03 5.28093115e-06 9.99998571e-01 -5.77476045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.99, Y:-24.71, Z:-0.58 [[ 9.89284151e-01 1.45993410e-01 1.67121246e-03 2.28987769e+02] [-1.45993187e-01 9.89285562e-01 -2.55374251e-04 -2.47094105e+01] [-1.69058932e-03 8.65206479e-06 9.99998571e-01 -5.76737555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.01, Y:-24.71, Z:-0.58 [[ 9.89409230e-01 1.45143315e-01 1.67122399e-03 2.29014835e+02] [-1.45143091e-01 9.89410642e-01 -2.55298824e-04 -2.47147652e+01] [-1.69058171e-03 1.00283977e-05 9.99998571e-01 -5.78140859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.04, Y:-24.72, Z:-0.58 [[ 9.89482087e-01 1.44645794e-01 1.67124222e-03 2.29042536e+02] [-1.44645569e-01 9.89483499e-01 -2.55179400e-04 -2.47204674e+01] [-1.69057723e-03 1.07576636e-05 9.99998571e-01 -5.77269164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.07, Y:-24.73, Z:-0.58 [[ 9.89480119e-01 1.44659261e-01 1.67125735e-03 2.29070192e+02] [-1.44659037e-01 9.89481530e-01 -2.55080245e-04 -2.47275071e+01] [-1.69057800e-03 1.06343518e-05 9.99998571e-01 -5.80433994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.895769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.10, Y:-24.73, Z:-0.58 [[ 9.89453303e-01 1.44842565e-01 1.67126981e-03 2.29097875e+02] [-1.44842341e-01 9.89454714e-01 -2.54998624e-04 -2.47333834e+01] [-1.69058045e-03 1.02385996e-05 9.99998571e-01 -5.78231532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:-24.74, Z:-0.58 [[ 9.89464958e-01 1.44762922e-01 1.67128528e-03 2.29123850e+02] [-1.44762698e-01 9.89466369e-01 -2.54897168e-04 -2.47390130e+01] [-1.69058024e-03 1.02720489e-05 9.99998571e-01 -5.77194441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.955769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:229.15, Y:-24.75, Z:-0.58 [[ 9.89570519e-01 1.44039560e-01 1.67130433e-03 2.29151999e+02] [-1.44039335e-01 9.89571930e-01 -2.54772242e-04 -2.47466064e+01] [-1.69057313e-03 1.13815364e-05 9.99998571e-01 -5.77427604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.985769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.18, Y:-24.75, Z:-0.58 [[ 9.89606115e-01 1.43794799e-01 1.67131626e-03 2.29180699e+02] [-1.43794574e-01 9.89607526e-01 -2.54693913e-04 -2.47528015e+01] [-1.69057081e-03 1.17204433e-05 9.99998571e-01 -5.76954774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.015769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.21, Y:-24.76, Z:-0.57 [[ 9.89574398e-01 1.44012905e-01 1.67132840e-03 2.29207387e+02] [-1.44012680e-01 9.89575810e-01 -2.54614228e-04 -2.47602691e+01] [-1.69057389e-03 1.12672388e-05 9.99998571e-01 -5.74722444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.045769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.24, Y:-24.77, Z:-0.58 [[ 9.89522105e-01 1.44371776e-01 1.67134348e-03 2.29235858e+02] [-1.44371552e-01 9.89523517e-01 -2.54515185e-04 -2.47662630e+01] [-1.69057849e-03 1.05539497e-05 9.99998571e-01 -5.79319409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:-24.77, Z:-0.58 [[ 9.89564094e-01 1.44083696e-01 1.67135550e-03 2.29264118e+02] [-1.44083471e-01 9.89565505e-01 -2.54436262e-04 -2.47721615e+01] [-1.69057586e-03 1.09662865e-05 9.99998571e-01 -5.80913712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:-24.78, Z:-0.58 [[ 9.89666514e-01 1.43378510e-01 1.67136755e-03 2.29290830e+02] [-1.43378285e-01 9.89667925e-01 -2.54357074e-04 -2.47799468e+01] [-1.69056819e-03 1.20908661e-05 9.99998571e-01 -5.79552007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:-24.79, Z:-0.58 [[ 9.89623676e-01 1.43673886e-01 1.67138258e-03 2.29319241e+02] [-1.43673662e-01 9.89625088e-01 -2.54258263e-04 -2.47861828e+01] [-1.69057241e-03 1.14863414e-05 9.99998571e-01 -5.78571392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:-24.79, Z:-0.58 [[ 9.89245698e-01 1.46253735e-01 1.67139445e-03 2.29346214e+02] [-1.46253514e-01 9.89247110e-01 -2.54180205e-04 -2.47926233e+01] [-1.69059694e-03 6.99936116e-06 9.99998571e-01 -5.78832601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:-24.80, Z:-0.58 [[ 9.89252461e-01 1.46207984e-01 1.67140919e-03 2.29375223e+02] [-1.46207763e-01 9.89253873e-01 -2.54083264e-04 -2.47969410e+01] [-1.69059702e-03 6.97949595e-06 9.99998571e-01 -5.78882184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:-24.80, Z:-0.58 [[ 9.88948892e-01 1.48247413e-01 1.67142094e-03 2.29403585e+02] [-1.48247196e-01 9.88950304e-01 -2.54005963e-04 -2.48022078e+01] [-1.69060797e-03 3.41544879e-06 9.99998571e-01 -5.78397837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:-24.81, Z:-0.58 [[ 9.88669753e-01 1.50097722e-01 1.67142976e-03 2.29431273e+02] [-1.50097507e-01 9.88671166e-01 -2.53947909e-04 -2.48071344e+01] [-1.69061141e-03 1.93176528e-07 9.99998571e-01 -5.77027896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.46, Y:-24.81, Z:-0.58 [[ 9.88237652e-01 1.52916804e-01 1.67144446e-03 2.29459716e+02] [-1.52916593e-01 9.88239066e-01 -2.53851111e-04 -2.48146898e+01] [-1.69060481e-03 -4.72636550e-06 9.99998571e-01 -5.75608874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:229.49, Y:-24.82, Z:-0.58 [[ 9.88132161e-01 1.53597000e-01 1.67145610e-03 2.29487278e+02] [-1.53596791e-01 9.88133575e-01 -2.53774444e-04 -2.48208848e+01] [-1.69060088e-03 -5.96760318e-06 9.99998571e-01 -5.77288342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34576923100002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:229.51, Y:-24.83, Z:-0.58 [[ 9.88128467e-01 1.53620761e-01 1.67147059e-03 2.29513817e+02] [-1.53620552e-01 9.88129881e-01 -2.53678939e-04 -2.48298936e+01] [-1.69060039e-03 -6.10485380e-06 9.99998571e-01 -5.82785383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.54, Y:-24.84, Z:-0.58 [[ 9.88153208e-01 1.53461536e-01 1.67148502e-03 2.29541752e+02] [-1.53461326e-01 9.88154622e-01 -2.53583822e-04 -2.48361460e+01] [-1.69060101e-03 -5.92864100e-06 9.99998571e-01 -5.84942310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:-24.84, Z:-0.59 [[ 9.88122152e-01 1.53661380e-01 1.67149654e-03 2.29568888e+02] [-1.53661171e-01 9.88123565e-01 -2.53507905e-04 -2.48419071e+01] [-1.69059949e-03 -6.34733788e-06 9.99998571e-01 -5.85550621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:229.60, Y:-24.85, Z:-0.59 [[ 9.87822727e-01 1.55574629e-01 1.67151203e-03 2.29596127e+02] [-1.55574423e-01 9.87824142e-01 -2.53405722e-04 -2.48486441e+01] [-1.69058344e-03 -9.72458750e-06 9.99998571e-01 -5.85735489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.62, Y:-24.85, Z:-0.59 [[ 9.87570682e-01 1.57166642e-01 1.67152733e-03 2.29623076e+02] [-1.57166439e-01 9.87572097e-01 -2.53304775e-04 -2.48539498e+01] [-1.69056481e-03 -1.25516283e-05 9.99998571e-01 -5.85890447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.65, Y:-24.86, Z:-0.59 [[ 9.87113533e-01 1.60012745e-01 1.67154141e-03 2.29650996e+02] [-1.60012546e-01 9.87114948e-01 -2.53211807e-04 -2.48602202e+01] [-1.69052063e-03 -1.75187953e-05 9.99998571e-01 -5.87605784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.68, Y:-24.87, Z:-0.59 [[ 9.87025518e-01 1.60554766e-01 1.67155300e-03 2.29679670e+02] [-1.60554568e-01 9.87026933e-01 -2.53135289e-04 -2.48660938e+01] [-1.69050991e-03 -1.85244789e-05 9.99998571e-01 -5.88531768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:229.71, Y:-24.87, Z:-0.59 [[ 9.87073780e-01 1.60257789e-01 1.67156452e-03 2.29707211e+02] [-1.60257590e-01 9.87075195e-01 -2.53059171e-04 -2.48719389e+01] [-1.69051458e-03 -1.80928295e-05 9.99998571e-01 -5.88482012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:-24.88, Z:-0.59 [[ 9.87138661e-01 1.59857654e-01 1.67157886e-03 2.29735117e+02] [-1.59857455e-01 9.87140076e-01 -2.52964430e-04 -2.48812358e+01] [-1.69052078e-03 -1.75033738e-05 9.99998571e-01 -5.87109061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.76, Y:-24.89, Z:-0.59 [[ 9.87252803e-01 1.59151214e-01 1.67159050e-03 2.29762743e+02] [-1.59151014e-01 9.87254218e-01 -2.52887482e-04 -2.48884606e+01] [-1.69053212e-03 -1.63714485e-05 9.99998571e-01 -5.87355336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.645769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.79, Y:-24.90, Z:-0.59 [[ 9.87346828e-01 1.58566856e-01 1.67160229e-03 2.29791213e+02] [-1.58566655e-01 9.87348243e-01 -2.52809552e-04 -2.48953100e+01] [-1.69054079e-03 -1.54496732e-05 9.99998571e-01 -5.88088641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.675769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:229.82, Y:-24.90, Z:-0.59 [[ 9.87301401e-01 1.58849457e-01 1.67161436e-03 2.29818211e+02] [-1.58849257e-01 9.87302816e-01 -2.52729703e-04 -2.49044704e+01] [-1.69053554e-03 -1.60143082e-05 9.99998571e-01 -5.85843907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.705769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:229.85, Y:-24.91, Z:-0.59 [[ 9.87063872e-01 1.60318801e-01 1.67163052e-03 2.29846510e+02] [-1.60318603e-01 9.87065288e-01 -2.52622767e-04 -2.49134275e+01] [-1.69050864e-03 -1.86386621e-05 9.99998571e-01 -5.85298468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.735769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:229.87, Y:-24.92, Z:-0.59 [[ 9.86931639e-01 1.61130834e-01 1.67164124e-03 2.29874529e+02] [-1.61130638e-01 9.86933054e-01 -2.52551793e-04 -2.49195604e+01] [-1.69049188e-03 -2.01012645e-05 9.99998571e-01 -5.85670213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.765769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:229.90, Y:-24.93, Z:-0.59 [[ 9.86802663e-01 1.61918836e-01 1.67165192e-03 2.29902898e+02] [-1.61918641e-01 9.86804079e-01 -2.52481100e-04 -2.49260565e+01] [-1.69047438e-03 -2.15225848e-05 9.99998571e-01 -5.87421864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:-24.94, Z:-0.59 [[ 9.86613866e-01 1.63065279e-01 1.67166261e-03 2.29930805e+02] [-1.63065086e-01 9.86615282e-01 -2.52410314e-04 -2.49362577e+01] [-1.69044723e-03 -2.35582898e-05 9.99998571e-01 -5.94934358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.96, Y:-24.94, Z:-0.60 [[ 9.86675254e-01 1.62693417e-01 1.67167135e-03 2.29958937e+02] [-1.62693222e-01 9.86676670e-01 -2.52352364e-04 -2.49436890e+01] [-1.69045519e-03 -2.29797670e-05 9.99998571e-01 -5.95858557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.855769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:229.99, Y:-24.95, Z:-0.60 [[ 9.86834688e-01 1.61723541e-01 1.67168008e-03 2.29988370e+02] [-1.61723345e-01 9.86836104e-01 -2.52294534e-04 -2.49545068e+01] [-1.69047622e-03 -2.13766976e-05 9.99998571e-01 -5.97672243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.02, Y:-24.96, Z:-0.60 [[ 9.86781088e-01 1.62050271e-01 1.67168008e-03 2.30016744e+02] [-1.62050076e-01 9.86782504e-01 -2.52294534e-04 -2.49625094e+01] [-1.69046905e-03 -2.19364096e-05 9.99998571e-01 -5.97315696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:-24.97, Z:-0.60 [[ 9.86613989e-01 1.63064531e-01 1.67168605e-03 2.30046348e+02] [-1.63064338e-01 9.86615405e-01 -2.52254983e-04 -2.49710081e+01] [-1.69044505e-03 -2.37140838e-05 9.99998571e-01 -5.97712704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.07, Y:-24.98, Z:-0.60 [[ 9.86335064e-01 1.64743273e-01 1.67168605e-03 2.30074855e+02] [-1.64743082e-01 9.86336481e-01 -2.52254983e-04 -2.49788024e+01] [-1.69040225e-03 -2.65907771e-05 9.99998571e-01 -5.97334637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.10, Y:-24.99, Z:-0.59 [[ 9.85431050e-01 1.70067194e-01 1.67168906e-03 2.30104581e+02] [-1.70067011e-01 9.85432468e-01 -2.52235063e-04 -2.49881831e+01] [-1.69023358e-03 -3.57388974e-05 9.99998571e-01 -5.94030293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:-24.99, Z:-0.59 [[ 9.84343132e-01 1.76254941e-01 1.67168906e-03 2.30132676e+02] [-1.76254767e-01 9.84344550e-01 -2.52235063e-04 -2.49945996e+01] [-1.68997569e-03 -4.63573130e-05 9.99998571e-01 -5.92536366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.16, Y:-25.00, Z:-0.59 [[ 9.83755924e-01 1.79503448e-01 1.67169468e-03 2.30160944e+02] [-1.79503278e-01 9.83757343e-01 -2.52197801e-04 -2.49994217e+01] [-1.68981229e-03 -5.19735937e-05 9.99998571e-01 -5.93802460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:-25.00, Z:-0.60 [[ 9.83165931e-01 1.82707299e-01 1.67170054e-03 2.30190552e+02] [-1.82707134e-01 9.83167351e-01 -2.52158932e-04 -2.50046827e+01] [-1.68963267e-03 -5.75175427e-05 9.99998571e-01 -5.95544999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09576923100002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:230.22, Y:-25.01, Z:-0.60 [[ 9.82745993e-01 1.84952744e-01 1.67170624e-03 2.30219255e+02] [-1.84952583e-01 9.82747413e-01 -2.52121144e-04 -2.50086679e+01] [-1.68949548e-03 -6.14153427e-05 9.99998571e-01 -5.96416013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.25, Y:-25.01, Z:-0.60 [[ 9.82545723e-01 1.86013731e-01 1.67171211e-03 2.30248968e+02] [-1.86013571e-01 9.82547143e-01 -2.52082205e-04 -2.50114868e+01] [-1.68942671e-03 -6.32788478e-05 9.99998571e-01 -5.96144966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15576923100002 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:230.28, Y:-25.02, Z:-0.60 [[ 9.82813350e-01 1.84594487e-01 1.67171771e-03 2.30278047e+02] [-1.84594325e-01 9.82814770e-01 -2.52045060e-04 -2.50153433e+01] [-1.68951499e-03 -6.08763534e-05 9.99998571e-01 -5.96252609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18576923100002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:230.31, Y:-25.02, Z:-0.60 [[ 9.83945973e-01 1.78458756e-01 1.67172355e-03 2.30308977e+02] [-1.78458585e-01 9.83947392e-01 -2.52006345e-04 -2.50204265e+01] [-1.68986076e-03 -5.03727903e-05 9.99998571e-01 -5.98707840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.34, Y:-25.03, Z:-0.60 [[ 9.84599084e-01 1.74819473e-01 1.67171747e-03 2.30338640e+02] [-1.74819297e-01 9.84600503e-01 -2.52046655e-04 -2.50251196e+01] [-1.69003652e-03 -4.40835674e-05 9.99998571e-01 -5.99218475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24576923100003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:230.37, Y:-25.03, Z:-0.60 [[ 9.85897589e-01 1.67341416e-01 1.67171444e-03 2.30369865e+02] [-1.67341230e-01 9.85899006e-01 -2.52066764e-04 -2.50296114e+01] [-1.69032281e-03 -3.12347350e-05 9.99998571e-01 -6.01656357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27576923100003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:230.40, Y:-25.03, Z:-0.60 [[ 9.86505258e-01 1.63721048e-01 1.67170872e-03 2.30401119e+02] [-1.63720856e-01 9.86506674e-01 -2.52104664e-04 -2.50344825e+01] [-1.69042665e-03 -2.49910057e-05 9.99998571e-01 -6.02623824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30576923100003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:230.43, Y:-25.04, Z:-0.60 [[ 9.87054149e-01 1.60378654e-01 1.67170277e-03 2.30433021e+02] [-1.60378457e-01 9.87055564e-01 -2.52144099e-04 -2.50398285e+01] [-1.69050206e-03 -1.92252329e-05 9.99998571e-01 -6.03168636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33576923100003 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:230.46, Y:-25.05, Z:-0.60 [[ 9.88031705e-01 1.54241872e-01 1.67165945e-03 2.30464225e+02] [-1.54241666e-01 9.88033119e-01 -2.52430982e-04 -2.50465811e+01] [-1.69059033e-03 -8.42972557e-06 9.99998571e-01 -5.99966687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:230.50, Y:-25.05, Z:-0.60 [[ 9.88410278e-01 1.51796996e-01 1.67161319e-03 2.30495932e+02] [-1.51796786e-01 9.88411692e-01 -2.52736994e-04 -2.50531579e+01] [-1.69060673e-03 -3.93766680e-06 9.99998571e-01 -5.99724775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.395769231 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:230.53, Y:-25.06, Z:-0.60 [[ 9.88794410e-01 1.49274310e-01 1.67157283e-03 2.30528085e+02] [-1.49274096e-01 9.88795823e-01 -2.53003596e-04 -2.50622957e+01] [-1.69061117e-03 6.46018634e-07 9.99998571e-01 -6.02473479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.425769231 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:230.56, Y:-25.07, Z:-0.60 [[ 9.88830109e-01 1.49037650e-01 1.67152430e-03 2.30559755e+02] [-1.49037434e-01 9.88831522e-01 -2.53323870e-04 -2.50697553e+01] [-1.69061071e-03 1.37457790e-06 9.99998571e-01 -6.03323761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.455769231 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:230.59, Y:-25.08, Z:-0.60 [[ 9.88808916e-01 1.49178196e-01 1.67147888e-03 2.30592348e+02] [-1.49177981e-01 9.88810328e-01 -2.53623160e-04 -2.50770048e+01] [-1.69061063e-03 1.43699702e-06 9.99998571e-01 -6.04826981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.485769231 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:230.62, Y:-25.08, Z:-0.60 [[ 9.88739849e-01 1.49635284e-01 1.67142943e-03 2.30623171e+02] [-1.49635068e-01 9.88741261e-01 -2.53948642e-04 -2.50841934e+01] [-1.69061092e-03 9.84685010e-07 9.99998571e-01 -6.04594985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.515769231 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:230.65, Y:-25.10, Z:-0.60 [[ 9.88782699e-01 1.49351868e-01 1.67138314e-03 2.30653524e+02] [-1.49351651e-01 9.88784112e-01 -2.54252959e-04 -2.50953959e+01] [-1.69061025e-03 1.77709520e-06 9.99998571e-01 -6.04892557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.545769231 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:230.68, Y:-25.11, Z:-0.61 [[ 9.88940823e-01 1.48301233e-01 1.67133735e-03 2.30683608e+02] [-1.48301015e-01 9.88942235e-01 -2.54553594e-04 -2.51080466e+01] [-1.69060671e-03 3.87741506e-06 9.99998571e-01 -6.05865131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.575769231 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:230.72, Y:-25.12, Z:-0.61 [[ 9.88938831e-01 1.48314514e-01 1.67129207e-03 2.30716067e+02] [-1.48314295e-01 9.88940243e-01 -2.54850507e-04 -2.51167913e+01] [-1.69060602e-03 4.15505685e-06 9.99998571e-01 -6.05718575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.605769231 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:230.75, Y:-25.12, Z:-0.61 [[ 9.88887293e-01 1.48657756e-01 1.67124351e-03 2.30747966e+02] [-1.48657537e-01 9.88888705e-01 -2.55168560e-04 -2.51248558e+01] [-1.69060662e-03 3.89000162e-06 9.99998571e-01 -6.05356378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.635769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:230.78, Y:-25.13, Z:-0.61 [[ 9.88689616e-01 1.49966833e-01 1.67119494e-03 2.30779479e+02] [-1.49966616e-01 9.88691028e-01 -2.55486262e-04 -2.51326429e+01] [-1.69060991e-03 1.97316419e-06 9.99998571e-01 -6.05489136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.665769231 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:230.81, Y:-25.14, Z:-0.61 [[ 9.88025621e-01 1.54280847e-01 1.67114956e-03 2.30811495e+02] [-1.54280635e-01 9.88027034e-01 -2.55782788e-04 -2.51417875e+01] [-1.69060333e-03 -5.10606693e-06 9.99998571e-01 -6.07443898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.695769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:230.84, Y:-25.15, Z:-0.61 [[ 9.87202780e-01 1.59461213e-01 1.67110067e-03 2.30842429e+02] [-1.59461008e-01 9.87204194e-01 -2.56101813e-04 -2.51502390e+01] [-1.69055589e-03 -1.36509752e-05 9.99998571e-01 -6.06313203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72576923100002 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:230.87, Y:-25.16, Z:-0.61 [[ 9.86897751e-01 1.61338270e-01 1.67105521e-03 2.30874458e+02] [-1.61338067e-01 9.86899165e-01 -2.56398102e-04 -2.51569421e+01] [-1.69052981e-03 -1.65661073e-05 9.99998571e-01 -6.06303099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75576923100002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:230.91, Y:-25.16, Z:-0.61 [[ 9.86682997e-01 1.62646460e-01 1.67100727e-03 2.30906878e+02] [-1.62646258e-01 9.86684412e-01 -2.56710104e-04 -2.51638607e+01] [-1.69050982e-03 -1.84915862e-05 9.99998571e-01 -6.06657805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78576923100002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:230.94, Y:-25.17, Z:-0.61 [[ 9.86639415e-01 1.62910629e-01 1.67095894e-03 2.30937328e+02] [-1.62910427e-01 9.86640830e-01 -2.57024337e-04 -2.51737024e+01] [-1.69050831e-03 -1.86262932e-05 9.99998571e-01 -6.08307189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81576923100002 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:230.97, Y:-25.18, Z:-0.61 [[ 9.86786732e-01 1.62015908e-01 1.67092882e-03 2.30967902e+02] [-1.62015705e-01 9.86788146e-01 -2.57220016e-04 -2.51827052e+01] [-1.69052648e-03 -1.68954112e-05 9.99998571e-01 -6.08444456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84576923100002 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:231.00, Y:-25.20, Z:-0.61 [[ 9.87194185e-01 1.59514419e-01 1.67088405e-03 2.30998788e+02] [-1.59514212e-01 9.87195599e-01 -2.57510458e-04 -2.51960038e+01] [-1.69056602e-03 -1.23169269e-05 9.99998571e-01 -6.07404631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87576923100002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:231.03, Y:-25.20, Z:-0.61 [[ 9.87282678e-01 1.58965791e-01 1.67083586e-03 2.31029711e+02] [-1.58965582e-01 9.87284091e-01 -2.57822808e-04 -2.52041728e+01] [-1.69057467e-03 -1.10614022e-05 9.99998571e-01 -6.07104431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90576923100002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:231.06, Y:-25.21, Z:-0.61 [[ 9.87180181e-01 1.59601059e-01 1.67079075e-03 2.31061145e+02] [-1.59600851e-01 9.87181595e-01 -2.58114785e-04 -2.52121235e+01] [-1.69056927e-03 -1.18538251e-05 9.99998571e-01 -6.08506764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.09, Y:-25.22, Z:-0.62 [[ 9.86629093e-01 1.62973131e-01 1.67074661e-03 2.31092742e+02] [-1.62972927e-01 9.86630508e-01 -2.58400193e-04 -2.52229466e+01] [-1.69052186e-03 -1.73413162e-05 9.99998571e-01 -6.16181405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96576923100002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:231.12, Y:-25.23, Z:-0.62 [[ 9.86143526e-01 1.65885972e-01 1.67069876e-03 2.31124759e+02] [-1.65885772e-01 9.86144941e-01 -2.58709208e-04 -2.52310800e+01] [-1.69046736e-03 -2.20207423e-05 9.99998571e-01 -6.17615862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:231.16, Y:-25.24, Z:-0.62 [[ 9.84842095e-01 1.73445255e-01 1.67064949e-03 2.31155701e+02] [-1.73445065e-01 9.84843512e-01 -2.59026988e-04 -2.52389170e+01] [-1.69025531e-03 -3.46652276e-05 9.99998571e-01 -6.18006820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02576923100003 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:231.19, Y:-25.24, Z:-0.62 [[ 9.84232661e-01 1.76870795e-01 1.67060345e-03 2.31187896e+02] [-1.76870610e-01 9.84234078e-01 -2.59323559e-04 -2.52449351e+01] [-1.69013161e-03 -4.02459349e-05 9.99998571e-01 -6.17607906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:231.22, Y:-25.25, Z:-0.62 [[ 9.83839929e-01 1.79042463e-01 1.67055459e-03 2.31219291e+02] [-1.79042280e-01 9.83841346e-01 -2.59637947e-04 -2.52513289e+01] [-1.69004689e-03 -4.36577238e-05 9.99998571e-01 -6.17133294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:231.25, Y:-25.26, Z:-0.62 [[ 9.83808416e-01 1.79215539e-01 1.67052416e-03 2.31252350e+02] [-1.79215356e-01 9.83809834e-01 -2.59833578e-04 -2.52566660e+01] [-1.69004431e-03 -4.37571213e-05 9.99998571e-01 -6.17189942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.28, Y:-25.26, Z:-0.62 [[ 9.83558981e-01 1.80579457e-01 1.67047840e-03 2.31284365e+02] [-1.80579275e-01 9.83560399e-01 -2.60127450e-04 -2.52648723e+01] [-1.68999007e-03 -4.58030882e-05 9.99998571e-01 -6.17221311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.145769231 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:231.32, Y:-25.27, Z:-0.62 [[ 9.83621378e-01 1.80239269e-01 1.67043087e-03 2.31315282e+02] [-1.80239087e-01 9.83622795e-01 -2.60432278e-04 -2.52711926e+01] [-1.69001401e-03 -4.49101787e-05 9.99998571e-01 -6.18126085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.175769231 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:231.35, Y:-25.28, Z:-0.62 [[ 9.84052161e-01 1.77872299e-01 1.67038645e-03 2.31346996e+02] [-1.77872112e-01 9.84053578e-01 -2.60716926e-04 -2.52791593e+01] [-1.69012408e-03 -4.05561111e-05 9.99998571e-01 -6.21192185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.205769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:231.38, Y:-25.29, Z:-0.62 [[ 9.84346558e-01 1.76235819e-01 1.67033805e-03 2.31379022e+02] [-1.76235630e-01 9.84347974e-01 -2.61026594e-04 -2.52863120e+01] [-1.69019611e-03 -3.74324497e-05 9.99998571e-01 -6.21624560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.235769231 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:231.41, Y:-25.29, Z:-0.62 [[ 9.84966726e-01 1.72736094e-01 1.67028880e-03 2.31410043e+02] [-1.72735899e-01 9.84968142e-01 -2.61341371e-04 -2.52949192e+01] [-1.69032434e-03 -3.11062835e-05 9.99998571e-01 -6.20390184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.265769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.44, Y:-25.30, Z:-0.62 [[ 9.85261343e-01 1.71047642e-01 1.67024286e-03 2.31442143e+02] [-1.71047444e-01 9.85262759e-01 -2.61634648e-04 -2.53023567e+01] [-1.69038008e-03 -2.79122681e-05 9.99998571e-01 -6.20757530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.295769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:231.47, Y:-25.31, Z:-0.62 [[ 9.85458295e-01 1.69909269e-01 1.67022216e-03 2.31474012e+02] [-1.69909069e-01 9.85459710e-01 -2.61766723e-04 -2.53095188e+01] [-1.69041324e-03 -2.58257047e-05 9.99998571e-01 -6.21840084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.325769231 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:231.50, Y:-25.32, Z:-0.63 [[ 9.85691765e-01 1.68549560e-01 1.67017204e-03 2.31503728e+02] [-1.68549358e-01 9.85693180e-01 -2.62086153e-04 -2.53188939e+01] [-1.69045169e-03 -2.31702611e-05 9.99998571e-01 -6.26558075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.355769231 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:231.54, Y:-25.33, Z:-0.63 [[ 9.85761286e-01 1.68142491e-01 1.67013158e-03 2.31536037e+02] [-1.68142287e-01 9.85762701e-01 -2.62343709e-04 -2.53267640e+01] [-1.69046454e-03 -2.22114719e-05 9.99998571e-01 -6.27012236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.385769231 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:231.57, Y:-25.34, Z:-0.63 [[ 9.86092790e-01 1.66187306e-01 1.67008180e-03 2.31566280e+02] [-1.66187100e-01 9.86094204e-01 -2.62660232e-04 -2.53376867e+01] [-1.69050878e-03 -1.85386899e-05 9.99998571e-01 -6.29654467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.415769231 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:231.60, Y:-25.35, Z:-0.63 [[ 9.86268846e-01 1.65139258e-01 1.67004154e-03 2.31598650e+02] [-1.65139050e-01 9.86270260e-01 -2.62915956e-04 -2.53455786e+01] [-1.69053005e-03 -1.64832567e-05 9.99998571e-01 -6.29567766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.445769231 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:231.63, Y:-25.35, Z:-0.63 [[ 9.86405755e-01 1.64319501e-01 1.66999167e-03 2.31630475e+02] [-1.64319291e-01 9.86407168e-01 -2.63232332e-04 -2.53547631e+01] [-1.69054596e-03 -1.47579600e-05 9.99998571e-01 -6.30862921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47576923100002 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:231.66, Y:-25.36, Z:-0.63 [[ 9.86282464e-01 1.65057908e-01 1.66994179e-03 2.31662067e+02] [-1.65057698e-01 9.86283877e-01 -2.63548414e-04 -2.53621213e+01] [-1.69053741e-03 -1.57035682e-05 9.99998571e-01 -6.30292218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50576923100002 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:231.69, Y:-25.37, Z:-0.63 [[ 9.86080311e-01 1.66261334e-01 1.66989521e-03 2.31694723e+02] [-1.66261126e-01 9.86081725e-01 -2.63843212e-04 -2.53698004e+01] [-1.69052007e-03 -1.74680609e-05 9.99998571e-01 -6.27750010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53576923100002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:231.73, Y:-25.38, Z:-0.63 [[ 9.85611172e-01 1.69020205e-01 1.66984625e-03 2.31725400e+02] [-1.69020000e-01 9.85612586e-01 -2.64152689e-04 -2.53781658e+01] [-1.69046863e-03 -2.18855736e-05 9.99998571e-01 -6.28699944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56576923100002 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:231.76, Y:-25.39, Z:-0.63 [[ 9.85422086e-01 1.70119148e-01 1.66980068e-03 2.31757841e+02] [-1.70118944e-01 9.85423500e-01 -2.64440439e-04 -2.53850558e+01] [-1.69044722e-03 -2.34792790e-05 9.99998571e-01 -6.29395920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59576923100002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:231.79, Y:-25.39, Z:-0.63 [[ 9.85267756e-01 1.71010707e-01 1.66975120e-03 2.31789268e+02] [-1.71010504e-01 9.85269170e-01 -2.64752536e-04 -2.53938628e+01] [-1.69042989e-03 -2.46928569e-05 9.99998571e-01 -6.29696426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62576923100002 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:231.82, Y:-25.40, Z:-0.63 [[ 9.85123915e-01 1.71837378e-01 1.66972042e-03 2.31821751e+02] [-1.71837176e-01 9.85125329e-01 -2.64946510e-04 -2.54005219e+01] [-1.69041159e-03 -2.59148979e-05 9.99998571e-01 -6.29491609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65576923100002 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:231.85, Y:-25.41, Z:-0.63 [[ 9.84950113e-01 1.72830805e-01 1.66967129e-03 2.31852933e+02] [-1.72830603e-01 9.84951528e-01 -2.65255781e-04 -2.54069068e+01] [-1.69038965e-03 -2.73065841e-05 9.99998571e-01 -6.29674520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68576923100002 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:231.88, Y:-25.41, Z:-0.63 [[ 9.84536559e-01 1.75171277e-01 1.66962532e-03 2.31884843e+02] [-1.75171078e-01 9.84537974e-01 -2.65544770e-04 -2.54141839e+01] [-1.69032535e-03 -3.10315340e-05 9.99998571e-01 -6.29742002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71576923100002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:231.92, Y:-25.42, Z:-0.63 [[ 9.84291964e-01 1.76540481e-01 1.66961000e-03 2.31916506e+02] [-1.76540285e-01 9.84293380e-01 -2.65641101e-04 -2.54199860e+01] [-1.69028247e-03 -3.32850227e-05 9.99998571e-01 -6.29997726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.95, Y:-25.43, Z:-0.63 [[ 9.83916762e-01 1.78619758e-01 1.66956420e-03 2.31948925e+02] [-1.78619564e-01 9.83918178e-01 -2.65928603e-04 -2.54260475e+01] [-1.69021467e-03 -3.65652193e-05 9.99998571e-01 -6.30296839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77576923100003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:231.98, Y:-25.43, Z:-0.63 [[ 9.83770369e-01 1.79424285e-01 1.66951577e-03 2.31981612e+02] [-1.79424091e-01 9.83771785e-01 -2.66232303e-04 -2.54313993e+01] [-1.69019105e-03 -3.76398994e-05 9.99998571e-01 -6.30671021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:232.01, Y:-25.44, Z:-0.63 [[ 9.83691010e-01 1.79858863e-01 1.66946726e-03 2.32014137e+02] [-1.79858669e-01 9.83692426e-01 -2.66536160e-04 -2.54367213e+01] [-1.69018119e-03 -3.80789354e-05 9.99998571e-01 -6.31675205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83576923100003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:232.04, Y:-25.44, Z:-0.64 [[ 9.83762199e-01 1.79469075e-01 1.66941881e-03 2.32044826e+02] [-1.79468881e-01 9.83763615e-01 -2.66839267e-04 -2.54449776e+01] [-1.69020288e-03 -3.71023412e-05 9.99998571e-01 -6.36154000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86576923100003 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:232.08, Y:-25.45, Z:-0.64 [[ 9.83805312e-01 1.79232591e-01 1.66937671e-03 2.32075602e+02] [-1.79232396e-01 9.83806727e-01 -2.67102427e-04 -2.54544519e+01] [-1.69021749e-03 -3.64296006e-05 9.99998571e-01 -6.39257553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.895769231 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:232.11, Y:-25.46, Z:-0.64 [[ 9.83691330e-01 1.79857113e-01 1.66933517e-03 2.32108386e+02] [-1.79856918e-01 9.83692746e-01 -2.67361751e-04 -2.54606252e+01] [-1.69019981e-03 -3.72400427e-05 9.99998571e-01 -6.38184099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.925769231 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:232.14, Y:-25.47, Z:-0.64 [[ 9.83460043e-01 1.81117523e-01 1.66928774e-03 2.32139554e+02] [-1.81117329e-01 9.83461459e-01 -2.67657605e-04 -2.54661690e+01] [-1.69015763e-03 -3.91063761e-05 9.99998571e-01 -6.37260340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.955769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:232.17, Y:-25.47, Z:-0.64 [[ 9.83136768e-01 1.82864184e-01 1.66924342e-03 2.32172042e+02] [-1.82863993e-01 9.83138184e-01 -2.67933712e-04 -2.54723710e+01] [-1.69009242e-03 -4.18290320e-05 9.99998571e-01 -6.35697132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.985769231 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:232.20, Y:-25.48, Z:-0.64 [[ 9.82347603e-01 1.87057212e-01 1.66919668e-03 2.32202772e+02] [-1.87057026e-01 9.82349020e-01 -2.68224582e-04 -2.54787115e+01] [-1.68990706e-03 -4.87451915e-05 9.99998571e-01 -6.35290689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.015769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:232.24, Y:-25.48, Z:-0.64 [[ 9.81233443e-01 1.92816345e-01 1.66944689e-03 2.32235483e+02] [-1.92816170e-01 9.81234862e-01 -2.66668980e-04 -2.54824352e+01] [-1.68953762e-03 -6.02318331e-05 9.99998571e-01 -6.36949366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.045769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:232.27, Y:-25.49, Z:-0.64 [[ 9.80566759e-01 1.96178607e-01 1.66910549e-03 2.32268273e+02] [-1.96178433e-01 9.80568177e-01 -2.68788975e-04 -2.54864041e+01] [-1.68940237e-03 -6.38769650e-05 9.99998571e-01 -6.35072459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.075769231 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:232.30, Y:-25.49, Z:-0.64 [[ 9.79898355e-01 1.99490423e-01 1.66905640e-03 2.32299662e+02] [-1.99490253e-01 9.79899774e-01 -2.69093455e-04 -2.54898642e+01] [-1.68918955e-03 -6.92762499e-05 9.99998571e-01 -6.35547981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.105769231 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:232.33, Y:-25.49, Z:-0.64 [[ 9.78722327e-01 2.05182409e-01 1.66901062e-03 2.32332384e+02] [-2.05182247e-01 9.78723747e-01 -2.69377086e-04 -2.54902544e+01] [-1.68877177e-03 -7.88059801e-05 9.99998571e-01 -6.37403518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.135769231 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:232.36, Y:-25.49, Z:-0.64 [[ 9.78288129e-01 2.07242734e-01 1.66896720e-03 2.32363316e+02] [-2.07242575e-01 9.78289549e-01 -2.69645847e-04 -2.54924603e+01] [-1.68861531e-03 -8.20897286e-05 9.99998571e-01 -6.42180205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.165769231 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:232.40, Y:-25.49, Z:-0.65 [[ 9.78113318e-01 2.08066220e-01 1.66892717e-03 2.32395376e+02] [-2.08066061e-01 9.78114738e-01 -2.69893381e-04 -2.54933541e+01] [-1.68855795e-03 -8.32607925e-05 9.99998571e-01 -6.49231929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.195769231 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:232.43, Y:-25.50, Z:-0.65 [[ 9.78303588e-01 2.07169746e-01 1.66890416e-03 2.32427357e+02] [-2.07169586e-01 9.78305008e-01 -2.70035592e-04 -2.54970976e+01] [-1.68864050e-03 -8.15693952e-05 9.99998571e-01 -6.50158644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22576923100002 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:232.46, Y:-25.50, Z:-0.65 [[ 9.79087012e-01 2.03435096e-01 1.66886149e-03 2.32459982e+02] [-2.03434930e-01 9.79088431e-01 -2.70299049e-04 -2.54986390e+01] [-1.68895129e-03 -7.48584316e-05 9.99998571e-01 -6.53995772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25576923100002 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:232.49, Y:-25.50, Z:-0.65 [[ 9.79512190e-01 2.01377962e-01 1.66883122e-03 2.32491636e+02] [-2.01377793e-01 9.79513610e-01 -2.70485793e-04 -2.55016853e+01] [-1.68911277e-03 -7.11214161e-05 9.99998571e-01 -6.48862416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28576923100002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:232.52, Y:-25.51, Z:-0.64 [[ 9.79928345e-01 1.99343053e-01 1.66881599e-03 2.32523832e+02] [-1.99342881e-01 9.79929764e-01 -2.70579710e-04 -2.55053008e+01] [-1.68926065e-03 -6.75178603e-05 9.99998571e-01 -6.44887423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31576923100002 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:232.55, Y:-25.51, Z:-0.65 [[ 9.80842466e-01 1.94795464e-01 1.66877081e-03 2.32554689e+02] [-1.94795285e-01 9.80843883e-01 -2.70858059e-04 -2.55081265e+01] [-1.68956556e-03 -5.93995996e-05 9.99998571e-01 -6.45059177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34576923100002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:232.59, Y:-25.51, Z:-0.64 [[ 9.81260645e-01 1.92677872e-01 1.66872913e-03 2.32587863e+02] [-1.92677689e-01 9.81262062e-01 -2.71114629e-04 -2.55122164e+01] [-1.68969837e-03 -5.54927557e-05 9.99998571e-01 -6.43886283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37576923100002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:232.62, Y:-25.52, Z:-0.64 [[ 9.81995675e-01 1.88896028e-01 1.66867986e-03 2.32621150e+02] [-1.88895840e-01 9.81997092e-01 -2.71417506e-04 -2.55157688e+01] [-1.68990846e-03 -4.86758670e-05 9.99998571e-01 -6.43579672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40576923100002 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:232.65, Y:-25.52, Z:-0.64 [[ 9.82405174e-01 1.86754622e-01 1.66864534e-03 2.32652211e+02] [-1.86754430e-01 9.82406591e-01 -2.71629563e-04 -2.55210870e+01] [-1.69001626e-03 -4.47766217e-05 9.99998571e-01 -6.43263236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43576923100002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:232.68, Y:-25.53, Z:-0.64 [[ 9.82855301e-01 1.84371022e-01 1.66862108e-03 2.32683644e+02] [-1.84370826e-01 9.82856716e-01 -2.71778509e-04 -2.55269195e+01] [-1.69012352e-03 -4.05260996e-05 9.99998571e-01 -6.38822648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:232.71, Y:-25.53, Z:-0.63 [[ 9.83742551e-01 1.79576749e-01 1.66857629e-03 2.32714302e+02] [-1.79576546e-01 9.83743966e-01 -2.72053242e-04 -2.55329731e+01] [-1.69030629e-03 -3.20068165e-05 9.99998571e-01 -6.31314435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49576923100003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:232.75, Y:-25.54, Z:-0.63 [[ 9.84023397e-01 1.78031372e-01 1.66853180e-03 2.32746400e+02] [-1.78031166e-01 9.84024812e-01 -2.72325844e-04 -2.55388068e+01] [-1.69035923e-03 -2.90756586e-05 9.99998571e-01 -6.26975192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.78, Y:-25.55, Z:-0.63 [[ 9.84309854e-01 1.76440720e-01 1.66848707e-03 2.32778556e+02] [-1.76440512e-01 9.84311268e-01 -2.72599579e-04 -2.55455991e+01] [-1.69040829e-03 -2.60662617e-05 9.99998571e-01 -6.26036140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:232.81, Y:-25.55, Z:-0.63 [[ 9.84247737e-01 1.76786901e-01 1.66843493e-03 2.32810206e+02] [-1.76786692e-01 9.84249151e-01 -2.72918386e-04 -2.55512852e+01] [-1.69040405e-03 -2.63377874e-05 9.99998571e-01 -6.27068975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.84, Y:-25.56, Z:-0.63 [[ 9.84108666e-01 1.77559424e-01 1.66838617e-03 2.32843164e+02] [-1.77559216e-01 9.84110080e-01 -2.73216131e-04 -2.55570433e+01] [-1.69038774e-03 -2.73629776e-05 9.99998571e-01 -6.28398144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61576923100003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:232.88, Y:-25.56, Z:-0.63 [[ 9.83844788e-01 1.79015780e-01 1.66833417e-03 2.32875586e+02] [-1.79015573e-01 9.83846202e-01 -2.73533288e-04 -2.55644465e+01] [-1.69035101e-03 -2.95434971e-05 9.99998571e-01 -6.29585731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:232.91, Y:-25.57, Z:-0.63 [[ 9.83737666e-01 1.79603510e-01 1.66828234e-03 2.32907027e+02] [-1.79603304e-01 9.83739080e-01 -2.73848987e-04 -2.55711828e+01] [-1.69033878e-03 -3.02334570e-05 9.99998571e-01 -6.30568458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.675769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:232.94, Y:-25.58, Z:-0.63 [[ 9.83498483e-01 1.80908679e-01 1.66823382e-03 2.32939506e+02] [-1.80908474e-01 9.83499898e-01 -2.74144289e-04 -2.55787365e+01] [-1.69030287e-03 -3.21771421e-05 9.99998571e-01 -6.28581681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.705769231 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:232.97, Y:-25.58, Z:-0.63 [[ 9.83280115e-01 1.82091822e-01 1.66818188e-03 2.32971927e+02] [-1.82091619e-01 9.83281530e-01 -2.74459933e-04 -2.55846322e+01] [-1.69026935e-03 -3.38909453e-05 9.99998571e-01 -6.29135524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.735769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.00, Y:-25.59, Z:-0.63 [[ 9.83129882e-01 1.82901211e-01 1.66812904e-03 2.33003027e+02] [-1.82901008e-01 9.83131296e-01 -2.74780730e-04 -2.55902470e+01] [-1.69024760e-03 -3.49573360e-05 9.99998571e-01 -6.32068905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.765769231 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:233.03, Y:-25.60, Z:-0.63 [[ 9.82754424e-01 1.84907975e-01 1.66808643e-03 2.33034671e+02] [-1.84907774e-01 9.82755839e-01 -2.75039178e-04 -2.55965927e+01] [-1.69017861e-03 -3.81461798e-05 9.99998571e-01 -6.33679735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.795769231 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:233.07, Y:-25.60, Z:-0.63 [[ 9.82444312e-01 1.86548630e-01 1.66804075e-03 2.33066771e+02] [-1.86548431e-01 9.82445727e-01 -2.75315936e-04 -2.56017596e+01] [-1.69011932e-03 -4.06878086e-05 9.99998571e-01 -6.28366597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.825769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.10, Y:-25.60, Z:-0.63 [[ 9.81499396e-01 1.91457969e-01 1.66798844e-03 2.33097823e+02] [-1.91457777e-01 9.81500812e-01 -2.75632454e-04 -2.56026998e+01] [-1.68990404e-03 -4.88162721e-05 9.99998571e-01 -6.31546176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.13, Y:-25.61, Z:-0.63 [[ 9.80946795e-01 1.94269408e-01 1.66794613e-03 2.33129890e+02] [-1.94269219e-01 9.80948212e-01 -2.75888246e-04 -2.56060121e+01] [-1.68976542e-03 -5.33989033e-05 9.99998571e-01 -6.31252905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.885769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.16, Y:-25.61, Z:-0.63 [[ 9.80392214e-01 1.97049041e-01 1.66789760e-03 2.33162783e+02] [-1.97048856e-01 9.80393631e-01 -2.76181374e-04 -2.56097171e+01] [-1.68961746e-03 -5.78912451e-05 9.99998571e-01 -6.30368894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.915769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:233.20, Y:-25.61, Z:-0.63 [[ 9.79150500e-01 2.03129310e-01 1.66784552e-03 2.33195797e+02] [-2.03129133e-01 9.79151918e-01 -2.76495483e-04 -2.56084822e+01] [-1.68923848e-03 -6.80573256e-05 9.99998571e-01 -6.30192662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.23, Y:-25.61, Z:-0.63 [[ 9.78613345e-01 2.05701578e-01 1.66779697e-03 2.33228641e+02] [-2.05701405e-01 9.78614764e-01 -2.76788069e-04 -2.56092617e+01] [-1.68906648e-03 -7.21996805e-05 9.99998571e-01 -6.29601919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.26, Y:-25.61, Z:-0.63 [[ 9.78075451e-01 2.08244161e-01 1.66774605e-03 2.33262234e+02] [-2.08243991e-01 9.78076870e-01 -2.77094494e-04 -2.56058557e+01] [-1.68888715e-03 -7.62787719e-05 9.99998571e-01 -6.28881764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.30, Y:-25.61, Z:-0.63 [[ 9.78036976e-01 2.08424788e-01 1.66769484e-03 2.33295234e+02] [-2.08424617e-01 9.78038395e-01 -2.77402359e-04 -2.56115192e+01] [-1.68888712e-03 -7.62788942e-05 9.99998571e-01 -6.28938429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.33, Y:-25.61, Z:-0.63 [[ 9.78032354e-01 2.08446477e-01 1.66764356e-03 2.33328756e+02] [-2.08446306e-01 9.78033773e-01 -2.77710337e-04 -2.56139372e+01] [-1.68889946e-03 -7.60044440e-05 9.99998571e-01 -6.29686983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.36, Y:-25.61, Z:-0.63 [[ 9.78710764e-01 2.05237568e-01 1.66759247e-03 2.33361694e+02] [-2.05237391e-01 9.78712182e-01 -2.78016783e-04 -2.56133580e+01] [-1.68915255e-03 -7.01543090e-05 9.99998571e-01 -6.34164737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.39, Y:-25.62, Z:-0.64 [[ 9.79169327e-01 2.03038541e-01 1.66754791e-03 2.33394211e+02] [-2.03038361e-01 9.79170744e-01 -2.78283751e-04 -2.56150364e+01] [-1.68931646e-03 -6.60892824e-05 9.99998571e-01 -6.36642983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.43, Y:-25.61, Z:-0.64 [[ 9.80047338e-01 1.98757226e-01 1.66750333e-03 2.33426640e+02] [-1.98757039e-01 9.80048755e-01 -2.78550672e-04 -2.56138332e+01] [-1.68959852e-03 -5.84351794e-05 9.99998571e-01 -6.36876199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.46, Y:-25.62, Z:-0.63 [[ 9.80435901e-01 1.96831561e-01 1.66745565e-03 2.33458967e+02] [-1.96831371e-01 9.80437318e-01 -2.78835767e-04 -2.56171134e+01] [-1.68971943e-03 -5.48269865e-05 9.99998571e-01 -6.34941932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:-25.62, Z:-0.63 [[ 9.80859172e-01 1.94711336e-01 1.66741113e-03 2.33490744e+02] [-1.94711143e-01 9.80860588e-01 -2.79101744e-04 -2.56207798e+01] [-1.68984214e-03 -5.09040220e-05 9.99998571e-01 -6.32143169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.52, Y:-25.62, Z:-0.63 [[ 9.81565664e-01 1.91117941e-01 1.66736666e-03 2.33523543e+02] [-1.91117742e-01 9.81567079e-01 -2.79367175e-04 -2.56213986e+01] [-1.69002430e-03 -4.44461238e-05 9.99998571e-01 -6.28826679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:-25.62, Z:-0.63 [[ 9.81903003e-01 1.89377169e-01 1.66732073e-03 2.33555180e+02] [-1.89376967e-01 9.81904418e-01 -2.79641004e-04 -2.56248665e+01] [-1.69010721e-03 -4.11718022e-05 9.99998571e-01 -6.29681708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.59, Y:-25.63, Z:-0.63 [[ 9.82618239e-01 1.85630324e-01 1.66727145e-03 2.33586527e+02] [-1.85630116e-01 9.82619653e-01 -2.79934502e-04 -2.56291921e+01] [-1.69025803e-03 -3.44270467e-05 9.99998571e-01 -6.34403716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.62, Y:-25.63, Z:-0.64 [[ 9.82899746e-01 1.84133943e-01 1.66722626e-03 2.33617640e+02] [-1.84133732e-01 9.82901160e-01 -2.80203415e-04 -2.56342070e+01] [-1.69031358e-03 -3.15807286e-05 9.99998571e-01 -6.36647850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.65, Y:-25.64, Z:-0.64 [[ 9.83272608e-01 1.82132365e-01 1.66718525e-03 2.33649000e+02] [-1.82132152e-01 9.83274021e-01 -2.80447224e-04 -2.56387754e+01] [-1.69037846e-03 -2.78919623e-05 9.99998571e-01 -6.37029502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.68, Y:-25.64, Z:-0.64 [[ 9.84128463e-01 1.77449679e-01 1.66713986e-03 2.33680024e+02] [-1.77449458e-01 9.84129875e-01 -2.80716756e-04 -2.56442036e+01] [-1.69049524e-03 -1.95717159e-05 9.99998571e-01 -6.40696445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.71, Y:-25.65, Z:-0.64 [[ 9.84523977e-01 1.75242002e-01 1.66709795e-03 2.33712051e+02] [-1.75241778e-01 9.84525388e-01 -2.80965435e-04 -2.56499505e+01] [-1.69053720e-03 -1.55280013e-05 9.99998571e-01 -6.40570077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.74, Y:-25.66, Z:-0.64 [[ 9.85107730e-01 1.71930161e-01 1.66705266e-03 2.33743962e+02] [-1.71929931e-01 9.85109141e-01 -2.81233887e-04 -2.56555682e+01] [-1.69058140e-03 -9.57057373e-06 9.99998571e-01 -6.42192494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.455769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.78, Y:-25.66, Z:-0.64 [[ 9.85289570e-01 1.70885002e-01 1.66700405e-03 2.33775467e+02] [-1.70884770e-01 9.85290980e-01 -2.81521749e-04 -2.56617827e+01] [-1.69059190e-03 -7.48516059e-06 9.99998571e-01 -6.42172708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.81, Y:-25.67, Z:-0.64 [[ 9.85657252e-01 1.68751302e-01 1.66695568e-03 2.33806412e+02] [-1.68751067e-01 9.85658662e-01 -2.81807842e-04 -2.56703661e+01] [-1.69060475e-03 -3.53460626e-06 9.99998571e-01 -6.40277978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.84, Y:-25.68, Z:-0.64 [[ 9.85781410e-01 1.68024504e-01 1.66691091e-03 2.33837677e+02] [-1.68024267e-01 9.85782819e-01 -2.82072434e-04 -2.56781690e+01] [-1.69060722e-03 -2.01972217e-06 9.99998571e-01 -6.41333132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.545769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.87, Y:-25.69, Z:-0.64 [[ 9.85803174e-01 1.67896764e-01 1.66687911e-03 2.33869797e+02] [-1.67896527e-01 9.85804583e-01 -2.82260245e-04 -2.56856731e+01] [-1.69060764e-03 -1.61016741e-06 9.99998571e-01 -6.41086942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:-25.69, Z:-0.64 [[ 9.85649637e-01 1.68795780e-01 1.66682837e-03 2.33901060e+02] [-1.68795544e-01 9.85651046e-01 -2.82559556e-04 -2.56920141e+01] [-1.69060598e-03 -2.84847747e-06 9.99998571e-01 -6.43437173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.605769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:233.93, Y:-25.70, Z:-0.64 [[ 9.85473037e-01 1.69823776e-01 1.66678426e-03 2.33932128e+02] [-1.69823540e-01 9.85474447e-01 -2.82819512e-04 -2.56984119e+01] [-1.69060277e-03 -4.34820052e-06 9.99998571e-01 -6.38473253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:233.96, Y:-25.71, Z:-0.65 [[ 9.84989709e-01 1.72605029e-01 1.66674026e-03 2.33962838e+02] [-1.72604797e-01 9.84991119e-01 -2.83078579e-04 -2.57054651e+01] [-1.69058514e-03 -8.85787716e-06 9.99998571e-01 -6.45982226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.665769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.00, Y:-25.71, Z:-0.65 [[ 9.84764016e-01 1.73888055e-01 1.66671542e-03 2.33995324e+02] [-1.73887825e-01 9.84765426e-01 -2.83224724e-04 -2.57121131e+01] [-1.69057312e-03 -1.09120024e-05 9.99998571e-01 -6.46207660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.695769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.03, Y:-25.72, Z:-0.64 [[ 9.84569164e-01 1.74987952e-01 1.66666564e-03 2.34026866e+02] [-1.74987723e-01 9.84570575e-01 -2.83517389e-04 -2.57181916e+01] [-1.69056207e-03 -1.25035455e-05 9.99998571e-01 -6.44464407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.06, Y:-25.72, Z:-0.64 [[ 9.84099518e-01 1.77610136e-01 1.66662218e-03 2.34057695e+02] [-1.77609910e-01 9.84100929e-01 -2.83772649e-04 -2.57243057e+01] [-1.69052533e-03 -1.67480883e-05 9.99998571e-01 -6.41384808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.09, Y:-25.73, Z:-0.64 [[ 9.83805277e-01 1.79232810e-01 1.66658196e-03 2.34089704e+02] [-1.79232586e-01 9.83806688e-01 -2.84008632e-04 -2.57310918e+01] [-1.69049814e-03 -1.92966046e-05 9.99998571e-01 -6.40541454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:-25.74, Z:-0.64 [[ 9.83321683e-01 1.81867235e-01 1.66653266e-03 2.34120451e+02] [-1.81867014e-01 9.83323095e-01 -2.84297639e-04 -2.57376556e+01] [-1.69044448e-03 -2.35312859e-05 9.99998571e-01 -6.39802745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.15, Y:-25.74, Z:-0.64 [[ 9.83028229e-01 1.83446788e-01 1.66650881e-03 2.34152779e+02] [-1.83446569e-01 9.83029641e-01 -2.84437390e-04 -2.57433009e+01] [-1.69040668e-03 -2.61053394e-05 9.99998571e-01 -6.39403902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.18, Y:-25.75, Z:-0.64 [[ 9.82804194e-01 1.84643274e-01 1.66645995e-03 2.34183826e+02] [-1.84643057e-01 9.82805607e-01 -2.84723349e-04 -2.57489513e+01] [-1.69037843e-03 -2.78729568e-05 9.99998571e-01 -6.38814163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:-25.76, Z:-0.64 [[ 9.82779773e-01 1.84773213e-01 1.66641442e-03 2.34216208e+02] [-1.84772995e-01 9.82781186e-01 -2.84989594e-04 -2.57569020e+01] [-1.69037918e-03 -2.78263744e-05 9.99998571e-01 -6.36654553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:-25.76, Z:-0.64 [[ 9.82829702e-01 1.84507453e-01 1.66636616e-03 2.34247748e+02] [-1.84507234e-01 9.82831114e-01 -2.85271478e-04 -2.57635640e+01] [-1.69039122e-03 -2.70833299e-05 9.99998571e-01 -6.36223788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:-25.77, Z:-0.63 [[ 9.83076616e-01 1.83187312e-01 1.66632086e-03 2.34279142e+02] [-1.83187091e-01 9.83078028e-01 -2.85535848e-04 -2.57703920e+01] [-1.69042997e-03 -2.45448548e-05 9.99998571e-01 -6.34164959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.31, Y:-25.78, Z:-0.63 [[ 9.83151461e-01 1.82785198e-01 1.66627621e-03 2.34311127e+02] [-1.82784976e-01 9.83152873e-01 -2.85796176e-04 -2.57772789e+01] [-1.69044355e-03 -2.35893278e-05 9.99998571e-01 -6.32802865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:-25.78, Z:-0.63 [[ 9.83173376e-01 1.82667281e-01 1.66622857e-03 2.34343453e+02] [-1.82667059e-01 9.83174788e-01 -2.86073642e-04 -2.57849236e+01] [-1.69045021e-03 -2.31050831e-05 9.99998571e-01 -6.30821565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:-25.79, Z:-0.63 [[ 9.82856461e-01 1.84364857e-01 1.66618060e-03 2.34375231e+02] [-1.84364636e-01 9.82857873e-01 -2.86352735e-04 -2.57934135e+01] [-1.69041210e-03 -2.57411448e-05 9.99998571e-01 -6.29280172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:-25.80, Z:-0.63 [[ 9.82598087e-01 1.85736975e-01 1.66612941e-03 2.34405878e+02] [-1.85736756e-01 9.82599499e-01 -2.86650296e-04 -2.57992850e+01] [-1.69037948e-03 -2.77994392e-05 9.99998571e-01 -6.33290021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:-25.81, Z:-0.64 [[ 9.81955565e-01 1.89104449e-01 1.66610425e-03 2.34437718e+02] [-1.89104235e-01 9.81956978e-01 -2.86796477e-04 -2.58051203e+01] [-1.69027718e-03 -3.34459717e-05 9.99998571e-01 -6.38595800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:-25.81, Z:-0.64 [[ 9.81664252e-01 1.90610912e-01 1.66606286e-03 2.34469814e+02] [-1.90610700e-01 9.81665665e-01 -2.87036694e-04 -2.58107292e+01] [-1.69022903e-03 -3.57957458e-05 9.99998571e-01 -6.37627679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:-25.81, Z:-0.63 [[ 9.81425889e-01 1.91834429e-01 1.66601564e-03 2.34501681e+02] [-1.91834218e-01 9.81427303e-01 -2.87310503e-04 -2.58148505e+01] [-1.69018928e-03 -3.76248412e-05 9.99998571e-01 -6.32650199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:-25.82, Z:-0.63 [[ 9.81311406e-01 1.92419202e-01 1.66597130e-03 2.34532961e+02] [-1.92418990e-01 9.81312819e-01 -2.87567381e-04 -2.58198460e+01] [-1.69017248e-03 -3.83713652e-05 9.99998571e-01 -6.34768612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:-25.83, Z:-0.64 [[ 9.81272919e-01 1.92615375e-01 1.66592720e-03 2.34563939e+02] [-1.92615163e-01 9.81274333e-01 -2.87822641e-04 -2.58251917e+01] [-1.69017067e-03 -3.84502767e-05 9.99998571e-01 -6.39953906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.60, Y:-25.83, Z:-0.64 [[ 9.81433260e-01 1.91796717e-01 1.66588621e-03 2.34596537e+02] [-1.91796504e-01 9.81434673e-01 -2.88059709e-04 -2.58312229e+01] [-1.69020739e-03 -3.67997714e-05 9.99998571e-01 -6.39144160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:-25.84, Z:-0.64 [[ 9.81506946e-01 1.91419275e-01 1.66583331e-03 2.34628859e+02] [-1.91419062e-01 9.81508359e-01 -2.88365295e-04 -2.58369647e+01] [-1.69022799e-03 -3.58397077e-05 9.99998571e-01 -6.38048033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:-25.84, Z:-0.64 [[ 9.81444921e-01 1.91737040e-01 1.66577996e-03 2.34660853e+02] [-1.91736826e-01 9.81446334e-01 -2.88673128e-04 -2.58410832e+01] [-1.69022297e-03 -3.60745872e-05 9.99998571e-01 -6.37074082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.69, Y:-25.84, Z:-0.64 [[ 9.81361485e-01 1.92163633e-01 1.66573011e-03 2.34691686e+02] [-1.92163419e-01 9.81362898e-01 -2.88960518e-04 -2.58448637e+01] [-1.69021343e-03 -3.65176698e-05 9.99998571e-01 -6.39963879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.355769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.72, Y:-25.85, Z:-0.64 [[ 9.81285456e-01 1.92551499e-01 1.66570403e-03 2.34723327e+02] [-1.92551285e-01 9.81286869e-01 -2.89110771e-04 -2.58489749e+01] [-1.69020220e-03 -3.70332569e-05 9.99998571e-01 -6.39385695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.385769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.76, Y:-25.85, Z:-0.64 [[ 9.81410107e-01 1.91915156e-01 1.66565805e-03 2.34756090e+02] [-1.91914941e-01 9.81411520e-01 -2.89375393e-04 -2.58522950e+01] [-1.69023153e-03 -3.56687310e-05 9.99998571e-01 -6.39971969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.79, Y:-25.86, Z:-0.64 [[ 9.81681428e-01 1.90522437e-01 1.66560546e-03 2.34788711e+02] [-1.90522219e-01 9.81682841e-01 -2.89677808e-04 -2.58570819e+01] [-1.69028642e-03 -3.29635242e-05 9.99998571e-01 -6.39407732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.82, Y:-25.86, Z:-0.64 [[ 9.82578118e-01 1.85842587e-01 1.66555140e-03 2.34820610e+02] [-1.85842362e-01 9.82579530e-01 -2.89988288e-04 -2.58616342e+01] [-1.69042889e-03 -2.45938602e-05 9.99998571e-01 -6.41898245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:234.85, Y:-25.87, Z:-0.64 [[ 9.83125714e-01 1.82923634e-01 1.66550088e-03 2.34851121e+02] [-1.82923404e-01 9.83127125e-01 -2.90278186e-04 -2.58664813e+01] [-1.69049783e-03 -1.92791413e-05 9.99998571e-01 -6.44372011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:-25.87, Z:-0.64 [[ 9.83802333e-01 1.79248977e-01 1.66545761e-03 2.34882900e+02] [-1.79248742e-01 9.83803743e-01 -2.90526186e-04 -2.58713686e+01] [-1.69055996e-03 -1.27108424e-05 9.99998571e-01 -6.42120075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:-25.88, Z:-0.64 [[ 9.84936009e-01 1.72911207e-01 1.66540894e-03 2.34914407e+02] [-1.72910962e-01 9.84937417e-01 -2.90804947e-04 -2.58757828e+01] [-1.69060701e-03 -1.54319816e-06 9.99998571e-01 -6.40326056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:234.95, Y:-25.88, Z:-0.64 [[ 9.85240209e-01 1.71169384e-01 1.66535669e-03 2.34945704e+02] [-1.71169136e-01 9.85241616e-01 -2.91103829e-04 -2.58805890e+01] [-1.69060678e-03 1.74953003e-06 9.99998571e-01 -6.39548578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:234.98, Y:-25.88, Z:-0.64 [[ 9.85415068e-01 1.70159838e-01 1.66530510e-03 2.34978334e+02] [-1.70159588e-01 9.85416475e-01 -2.91398659e-04 -2.58830355e+01] [-1.69060343e-03 3.78099846e-06 9.99998571e-01 -6.39261968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.01, Y:-25.89, Z:-0.64 [[ 9.85357423e-01 1.70493333e-01 1.66524945e-03 2.35008899e+02] [-1.70493084e-01 9.85358830e-01 -2.91716331e-04 -2.58869587e+01] [-1.69060394e-03 3.53133673e-06 9.99998571e-01 -6.41486893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.04, Y:-25.89, Z:-0.64 [[ 9.85256731e-01 1.71074258e-01 1.66520454e-03 2.35040132e+02] [-1.71074008e-01 9.85258138e-01 -2.91972466e-04 -2.58910143e+01] [-1.69060530e-03 2.79462139e-06 9.99998571e-01 -6.44036674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.07, Y:-25.90, Z:-0.64 [[ 9.85368370e-01 1.70430055e-01 1.66516004e-03 2.35071804e+02] [-1.70429804e-01 9.85369777e-01 -2.92226038e-04 -2.58964627e+01] [-1.69060248e-03 4.15739456e-06 9.99998571e-01 -6.40763356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.10, Y:-25.90, Z:-0.64 [[ 9.85626452e-01 1.68931126e-01 1.66511169e-03 2.35102294e+02] [-1.68930873e-01 9.85627858e-01 -2.92501313e-04 -2.59022007e+01] [-1.69059304e-03 7.00825990e-06 9.99998571e-01 -6.38054596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.13, Y:-25.91, Z:-0.63 [[ 9.86315715e-01 1.64859145e-01 1.66506707e-03 2.35133571e+02] [-1.64858886e-01 9.86317120e-01 -2.92755098e-04 -2.59109840e+01] [-1.69054751e-03 1.42478522e-05 9.99998571e-01 -6.34991612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:-25.92, Z:-0.63 [[ 9.86652219e-01 1.62833123e-01 1.66501886e-03 2.35163337e+02] [-1.62832860e-01 9.86653624e-01 -2.93029040e-04 -2.59188250e+01] [-1.69051172e-03 1.79979701e-05 9.99998571e-01 -6.34441226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.19, Y:-25.93, Z:-0.63 [[ 9.86908986e-01 1.61269592e-01 1.66499485e-03 2.35193620e+02] [-1.61269327e-01 9.86910390e-01 -2.93165385e-04 -2.59287749e+01] [-1.69047938e-03 2.08149540e-05 9.99998571e-01 -6.33750654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.22, Y:-25.94, Z:-0.63 [[ 9.86835488e-01 1.61718727e-01 1.66494436e-03 2.35224471e+02] [-1.61718462e-01 9.86836893e-01 -2.93451840e-04 -2.59364698e+01] [-1.69048518e-03 2.03364485e-05 9.99998571e-01 -6.34867632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.26, Y:-25.94, Z:-0.64 [[ 9.86690186e-01 1.62602903e-01 1.66489658e-03 2.35255724e+02] [-1.62602639e-01 9.86691591e-01 -2.93722641e-04 -2.59445839e+01] [-1.69049961e-03 1.90966690e-05 9.99998571e-01 -6.37786646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.29, Y:-25.95, Z:-0.64 [[ 9.86659705e-01 1.62787759e-01 1.66484850e-03 2.35288662e+02] [-1.62787495e-01 9.86661110e-01 -2.93994925e-04 -2.59506043e+01] [-1.69050005e-03 1.90564289e-05 9.99998571e-01 -6.37843302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.32, Y:-25.96, Z:-0.64 [[ 9.86495715e-01 1.63778611e-01 1.66479336e-03 2.35319821e+02] [-1.63778347e-01 9.86497119e-01 -2.94306828e-04 -2.59585685e+01] [-1.69051502e-03 1.76753183e-05 9.99998571e-01 -6.39103610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.955769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.35, Y:-25.97, Z:-0.64 [[ 9.85700001e-01 1.68501447e-01 1.66474401e-03 2.35349660e+02] [-1.68501189e-01 9.85701406e-01 -2.94585733e-04 -2.59672997e+01] [-1.69057863e-03 9.86181122e-06 9.99998571e-01 -6.40028056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.38, Y:-25.97, Z:-0.64 [[ 9.84322792e-01 1.76368561e-01 1.66471623e-03 2.35382243e+02] [-1.76368314e-01 9.84324200e-01 -2.94742632e-04 -2.59748881e+01] [-1.69060381e-03 -3.48130537e-06 9.99998571e-01 -6.38156918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:-25.98, Z:-0.64 [[ 9.83480931e-01 1.81004106e-01 1.66466023e-03 2.35413395e+02] [-1.81003866e-01 9.83482340e-01 -2.95058570e-04 -2.59809955e+01] [-1.69057075e-03 -1.11254598e-05 9.99998571e-01 -6.37749947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:-25.99, Z:-0.64 [[ 9.82760506e-01 1.84875680e-01 1.66460796e-03 2.35444922e+02] [-1.84875445e-01 9.82761916e-01 -2.95353183e-04 -2.59856777e+01] [-1.69051692e-03 -1.74836929e-05 9.99998571e-01 -6.39152109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.48, Y:-25.99, Z:-0.64 [[ 9.82166976e-01 1.88003352e-01 1.66455634e-03 2.35477985e+02] [-1.88003121e-01 9.82168386e-01 -2.95643812e-04 -2.59892186e+01] [-1.69045664e-03 -2.25701979e-05 9.99998571e-01 -6.37179401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.105769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.51, Y:-25.99, Z:-0.63 [[ 9.81228412e-01 1.92841987e-01 1.66450205e-03 2.35509519e+02] [-1.92841762e-01 9.81229824e-01 -2.95949154e-04 -2.59896107e+01] [-1.69033047e-03 -3.05917896e-05 9.99998571e-01 -6.32109020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:-25.99, Z:-0.63 [[ 9.80432025e-01 1.96850894e-01 1.66447630e-03 2.35541494e+02] [-1.96850675e-01 9.80433437e-01 -2.96093912e-04 -2.59910319e+01] [-1.69019457e-03 -3.73533289e-05 9.99998571e-01 -6.34656523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:-25.99, Z:-0.64 [[ 9.80121901e-01 1.98389235e-01 1.66442607e-03 2.35573688e+02] [-1.98389018e-01 9.80123314e-01 -2.96375990e-04 -2.59937061e+01] [-1.69014060e-03 -3.97192545e-05 9.99998571e-01 -6.36666269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:-26.00, Z:-0.64 [[ 9.79896506e-01 1.99499542e-01 1.66437939e-03 2.35606315e+02] [-1.99499326e-01 9.79897919e-01 -2.96637911e-04 -2.59961396e+01] [-1.69010102e-03 -4.13681135e-05 9.99998571e-01 -6.39384080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:-25.99, Z:-0.64 [[ 9.79589234e-01 2.01002893e-01 1.66433294e-03 2.35638880e+02] [-2.01002679e-01 9.79590647e-01 -2.96898260e-04 -2.59948967e+01] [-1.69004239e-03 -4.36970413e-05 9.99998571e-01 -6.42871925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.67, Y:-25.99, Z:-0.64 [[ 9.79583151e-01 2.01032533e-01 1.66428637e-03 2.35671427e+02] [-2.01032319e-01 9.79584564e-01 -2.97159122e-04 -2.59942560e+01] [-1.69004789e-03 -4.34832781e-05 9.99998571e-01 -6.41971778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:-26.00, Z:-0.64 [[ 9.79470798e-01 2.01579231e-01 1.66423979e-03 2.35703304e+02] [-2.01579016e-01 9.79472211e-01 -2.97419753e-04 -2.59970188e+01] [-1.69003027e-03 -4.41618565e-05 9.99998571e-01 -6.40279794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.74, Y:-26.00, Z:-0.64 [[ 9.79469327e-01 2.01586378e-01 1.66419324e-03 2.35735821e+02] [-2.01586162e-01 9.79470740e-01 -2.97679970e-04 -2.59997382e+01] [-1.69003681e-03 -4.39099297e-05 9.99998571e-01 -6.37215822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:-26.00, Z:-0.64 [[ 9.79469447e-01 2.01585798e-01 1.66414419e-03 2.35768228e+02] [-2.01585582e-01 9.79470859e-01 -2.97953932e-04 -2.60022552e+01] [-1.69004402e-03 -4.36307029e-05 9.99998571e-01 -6.37491767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:235.80, Y:-26.00, Z:-0.64 [[ 9.79703089e-01 2.00447219e-01 1.66409191e-03 2.35801389e+02] [-2.00447001e-01 9.79704502e-01 -2.98245654e-04 -2.60024892e+01] [-1.69010085e-03 -4.13700440e-05 9.99998571e-01 -6.38455143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:-26.00, Z:-0.65 [[ 9.80193350e-01 1.98035923e-01 1.66406601e-03 2.35832637e+02] [-1.98035702e-01 9.80194762e-01 -2.98390070e-04 -2.60035366e+01] [-1.69020074e-03 -3.70645187e-05 9.99998571e-01 -6.46376608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.86, Y:-26.01, Z:-0.65 [[ 9.80599562e-01 1.96014617e-01 1.66403890e-03 2.35863238e+02] [-1.96014392e-01 9.80600973e-01 -2.98541217e-04 -2.60063463e+01] [-1.69027660e-03 -3.34261858e-05 9.99998571e-01 -6.47598170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:-26.01, Z:-0.65 [[ 9.81113669e-01 1.93424921e-01 1.66403890e-03 2.35894355e+02] [-1.93424692e-01 9.81115080e-01 -2.98541217e-04 -2.60090735e+01] [-1.69035896e-03 -2.89633423e-05 9.99998571e-01 -6.45911532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:-26.01, Z:-0.64 [[ 9.81565776e-01 1.91117396e-01 1.66403245e-03 2.35926243e+02] [-1.91117164e-01 9.81567186e-01 -2.98577140e-04 -2.60130876e+01] [-1.69042293e-03 -2.49520619e-05 9.99998571e-01 -6.41796079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:-26.02, Z:-0.64 [[ 9.82439122e-01 1.86575998e-01 1.66398429e-03 2.35957181e+02] [-1.86575759e-01 9.82440531e-01 -2.98845294e-04 -2.60152047e+01] [-1.69052297e-03 -1.68618240e-05 9.99998571e-01 -6.40031694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:-26.02, Z:-0.64 [[ 9.83041854e-01 1.83373782e-01 1.66393962e-03 2.35989493e+02] [-1.83373539e-01 9.83043262e-01 -2.99093821e-04 -2.60184053e+01] [-1.69057060e-03 -1.11007514e-05 9.99998571e-01 -6.36228849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:-26.02, Z:-0.64 [[ 9.83098303e-01 1.83070912e-01 1.66389018e-03 2.36020332e+02] [-1.83070667e-01 9.83099711e-01 -2.99368605e-04 -2.60230534e+01] [-1.69057564e-03 -1.03007178e-05 9.99998571e-01 -6.40191791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.05, Y:-26.03, Z:-0.64 [[ 9.82988277e-01 1.83660774e-01 1.66384455e-03 2.36051551e+02] [-1.83660529e-01 9.82989685e-01 -2.99621977e-04 -2.60269610e+01] [-1.69057084e-03 -1.10576807e-05 9.99998571e-01 -6.38720157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:-26.03, Z:-0.64 [[ 9.82551154e-01 1.85985108e-01 1.66383771e-03 2.36082202e+02] [-1.85984867e-01 9.82552563e-01 -2.99659939e-04 -2.60270759e+01] [-1.69054030e-03 -1.50174175e-05 9.99998571e-01 -6.37481850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:-26.03, Z:-0.64 [[ 9.82289709e-01 1.87361042e-01 1.66383771e-03 2.36112747e+02] [-1.87360803e-01 9.82291118e-01 -2.99659939e-04 -2.60305912e+01] [-1.69051761e-03 -1.73850964e-05 9.99998571e-01 -6.36678398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.14, Y:-26.03, Z:-0.64 [[ 9.81893166e-01 1.89428197e-01 1.66383771e-03 2.36142458e+02] [-1.89427961e-01 9.81894576e-01 -2.99659939e-04 -2.60312431e+01] [-1.69047727e-03 -2.09433396e-05 9.99998571e-01 -6.36984085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:-26.03, Z:-0.64 [[ 9.81847761e-01 1.89663403e-01 1.66383417e-03 2.36171656e+02] [-1.89663168e-01 9.81849170e-01 -2.99679599e-04 -2.60319340e+01] [-1.69047246e-03 -2.13283167e-05 9.99998571e-01 -6.37436029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.20, Y:-26.03, Z:-0.64 [[ 9.81812138e-01 1.89847719e-01 1.66384446e-03 2.36201479e+02] [-1.89847484e-01 9.81813548e-01 -2.99622490e-04 -2.60323300e+01] [-1.69046768e-03 -2.17036869e-05 9.99998571e-01 -6.37587789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:-26.03, Z:-0.64 [[ 9.81514272e-01 1.91381726e-01 1.66385144e-03 2.36232307e+02] [-1.91381493e-01 9.81515682e-01 -2.99583686e-04 -2.60314695e+01] [-1.69043113e-03 -2.43847104e-05 9.99998571e-01 -6.39854660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:-26.03, Z:-0.64 [[ 9.81194991e-01 1.93011972e-01 1.66385503e-03 2.36261256e+02] [-1.93011742e-01 9.81196401e-01 -2.99563778e-04 -2.60337435e+01] [-1.69038796e-03 -2.72130785e-05 9.99998571e-01 -6.42349805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.855769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:236.29, Y:-26.03, Z:-0.65 [[ 9.80552556e-01 1.96249626e-01 1.66386574e-03 2.36290104e+02] [-1.96249400e-01 9.80553967e-01 -2.99504296e-04 -2.60299188e+01] [-1.69028775e-03 -3.28529497e-05 9.99998571e-01 -6.48751923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.885769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.32, Y:-26.03, Z:-0.65 [[ 9.80364247e-01 1.97188169e-01 1.66388309e-03 2.36318846e+02] [-1.97187945e-01 9.80365659e-01 -2.99407873e-04 -2.60306515e+01] [-1.69025353e-03 -3.45689131e-05 9.99998571e-01 -6.47868434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:-26.03, Z:-0.65 [[ 9.80344735e-01 1.97285153e-01 1.66389648e-03 2.36347096e+02] [-1.97284929e-01 9.80346147e-01 -2.99333443e-04 -2.60324323e+01] [-1.69024854e-03 -3.48117339e-05 9.99998571e-01 -6.51665472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:-26.03, Z:-0.64 [[ 9.80756371e-01 1.95228513e-01 1.66391315e-03 2.36376864e+02] [-1.95228287e-01 9.80757782e-01 -2.99240717e-04 -2.60322645e+01] [-1.69031609e-03 -3.13606740e-05 9.99998571e-01 -6.43601236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.41, Y:-26.03, Z:-0.64 [[ 9.80947591e-01 1.94265424e-01 1.66392702e-03 2.36405739e+02] [-1.94265196e-01 9.80949002e-01 -2.99163584e-04 -2.60340802e+01] [-1.69034469e-03 -2.97793113e-05 9.99998571e-01 -6.41950949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:-26.04, Z:-0.64 [[ 9.81123603e-01 1.93374527e-01 1.66394095e-03 2.36434120e+02] [-1.93374298e-01 9.81125013e-01 -2.99086108e-04 -2.60357350e+01] [-1.69036972e-03 -2.83229730e-05 9.99998571e-01 -6.42296643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.46, Y:-26.04, Z:-0.64 [[ 9.81527085e-01 1.91316004e-01 1.66395825e-03 2.36463010e+02] [-1.91315772e-01 9.81528495e-01 -2.98989796e-04 -2.60375185e+01] [-1.69042397e-03 -2.48748741e-05 9.99998571e-01 -6.41109275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:-26.04, Z:-0.65 [[ 9.81762053e-01 1.90106557e-01 1.66397196e-03 2.36490155e+02] [-1.90106323e-01 9.81763463e-01 -2.98913467e-04 -2.60416050e+01] [-1.69045229e-03 -2.28696929e-05 9.99998571e-01 -6.46409381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:-26.04, Z:-0.65 [[ 9.82260388e-01 1.87514694e-01 1.66398898e-03 2.36519661e+02] [-1.87514457e-01 9.82261798e-01 -2.98818689e-04 -2.60436657e+01] [-1.69050571e-03 -1.85042295e-05 9.99998571e-01 -6.47792053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.55, Y:-26.05, Z:-0.65 [[ 9.82330818e-01 1.87145386e-01 1.66399939e-03 2.36547820e+02] [-1.87145148e-01 9.82332227e-01 -2.98760755e-04 -2.60471491e+01] [-1.69051192e-03 -1.79275152e-05 9.99998571e-01 -6.52027978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.58, Y:-26.05, Z:-0.65 [[ 9.82221840e-01 1.87716511e-01 1.66401323e-03 2.36576017e+02] [-1.87716275e-01 9.82223249e-01 -2.98683639e-04 -2.60511962e+01] [-1.69050033e-03 -1.89887707e-05 9.99998571e-01 -6.50261572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.60, Y:-26.05, Z:-0.66 [[ 9.81616479e-01 1.90856803e-01 1.66402757e-03 2.36604355e+02] [-1.90856571e-01 9.81617889e-01 -2.98603714e-04 -2.60527528e+01] [-1.69042978e-03 -2.44762697e-05 9.99998571e-01 -6.58768841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:-26.06, Z:-0.65 [[ 9.81314060e-01 1.92405681e-01 1.66404542e-03 2.36632993e+02] [-1.92405452e-01 9.81315471e-01 -2.98504203e-04 -2.60558589e+01] [-1.69038742e-03 -2.72450399e-05 9.99998571e-01 -6.52076024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:-26.06, Z:-0.64 [[ 9.80857686e-01 1.94718851e-01 1.66405878e-03 2.36662062e+02] [-1.94718624e-01 9.80859097e-01 -2.98429697e-04 -2.60569123e+01] [-1.69031708e-03 -3.13061747e-05 9.99998571e-01 -6.44518821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:-26.06, Z:-0.64 [[ 9.80593288e-01 1.96046000e-01 1.66407276e-03 2.36691247e+02] [-1.96045776e-01 9.80594700e-01 -2.98351720e-04 -2.60597834e+01] [-1.69027159e-03 -3.36727421e-05 9.99998571e-01 -6.38545496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.72, Y:-26.06, Z:-0.64 [[ 9.80391797e-01 1.97051148e-01 1.66408669e-03 2.36718905e+02] [-1.97050925e-01 9.80393209e-01 -2.98274029e-04 -2.60612437e+01] [-1.69023453e-03 -3.54844101e-05 9.99998571e-01 -6.39185779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.75, Y:-26.06, Z:-0.64 [[ 9.79992299e-01 1.99028454e-01 1.66410400e-03 2.36748815e+02] [-1.99028234e-01 9.79993711e-01 -2.98177394e-04 -2.60599822e+01] [-1.69015724e-03 -3.89921314e-05 9.99998571e-01 -6.35946429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:-26.06, Z:-0.64 [[ 9.79848287e-01 1.99736237e-01 1.66411791e-03 2.36777489e+02] [-1.99736019e-01 9.79849700e-01 -2.98099750e-04 -2.60608254e+01] [-1.69012676e-03 -4.02917574e-05 9.99998571e-01 -6.35461376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.81, Y:-26.06, Z:-0.63 [[ 9.79918235e-01 1.99392784e-01 1.66413174e-03 2.36806418e+02] [-1.99392566e-01 9.79919648e-01 -2.98022513e-04 -2.60573943e+01] [-1.69013893e-03 -3.97778033e-05 9.99998571e-01 -6.34458942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.425769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.84, Y:-26.06, Z:-0.64 [[ 9.79970950e-01 1.99133542e-01 1.66415255e-03 2.36835358e+02] [-1.99133323e-01 9.79972362e-01 -2.97906312e-04 -2.60588421e+01] [-1.69014664e-03 -3.94486950e-05 9.99998571e-01 -6.36313227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:-26.06, Z:-0.64 [[ 9.80083791e-01 1.98577423e-01 1.66416637e-03 2.36863659e+02] [-1.98577204e-01 9.80085203e-01 -2.97829052e-04 -2.60603105e+01] [-1.69016696e-03 -3.85680786e-05 9.99998571e-01 -6.39884082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:-26.06, Z:-0.64 [[ 9.80337085e-01 1.97323163e-01 1.66418355e-03 2.36893646e+02] [-1.97322942e-01 9.80338497e-01 -2.97733015e-04 -2.60582382e+01] [-1.69021282e-03 -3.65028784e-05 9.99998571e-01 -6.42410244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.515769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.92, Y:-26.06, Z:-0.64 [[ 9.80466494e-01 1.96679141e-01 1.66419726e-03 2.36923110e+02] [-1.96678919e-01 9.80467906e-01 -2.97656391e-04 -2.60595039e+01] [-1.69023481e-03 -3.54703989e-05 9.99998571e-01 -6.40675611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:-26.06, Z:-0.63 [[ 9.80859328e-01 1.94710578e-01 1.66421093e-03 2.36952592e+02] [-1.94710353e-01 9.80860739e-01 -2.97579922e-04 -2.60568842e+01] [-1.69030112e-03 -3.21550555e-05 9.99998571e-01 -6.34922115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:-26.06, Z:-0.63 [[ 9.81088987e-01 1.93550072e-01 1.66422496e-03 2.36980881e+02] [-1.93549846e-01 9.81090398e-01 -2.97501450e-04 -2.60588295e+01] [-1.69033656e-03 -3.02350888e-05 9.99998571e-01 -6.34994343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.01, Y:-26.06, Z:-0.63 [[ 9.81380270e-01 1.92067684e-01 1.66424240e-03 2.37010422e+02] [-1.92067456e-01 9.81381681e-01 -2.97403854e-04 -2.60572348e+01] [-1.69037868e-03 -2.77805298e-05 9.99998571e-01 -6.30783830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.635769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.04, Y:-26.06, Z:-0.63 [[ 9.81549163e-01 1.91202695e-01 1.66425604e-03 2.37039497e+02] [-1.91202465e-01 9.81550574e-01 -2.97327517e-04 -2.60585216e+01] [-1.69040129e-03 -2.63682822e-05 9.99998571e-01 -6.28840376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:-26.06, Z:-0.63 [[ 9.81587898e-01 1.91003738e-01 1.66426996e-03 2.37068719e+02] [-1.91003509e-01 9.81589309e-01 -2.97249604e-04 -2.60599808e+01] [-1.69040538e-03 -2.61047869e-05 9.99998571e-01 -6.28023744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:-26.06, Z:-0.63 [[ 9.81602630e-01 1.90928016e-01 1.66428426e-03 2.37096963e+02] [-1.90927787e-01 9.81604040e-01 -2.97169498e-04 -2.60578788e+01] [-1.69040614e-03 -2.60557492e-05 9.99998571e-01 -6.30311663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:-26.06, Z:-0.63 [[ 9.81630024e-01 1.90787122e-01 1.66431093e-03 2.37124984e+02] [-1.90786892e-01 9.81631435e-01 -2.97020059e-04 -2.60591671e+01] [-1.69040753e-03 -2.59649021e-05 9.99998571e-01 -6.31703318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:-26.06, Z:-0.63 [[ 9.81850480e-01 1.89649319e-01 1.66433212e-03 2.37152850e+02] [-1.89649088e-01 9.81851891e-01 -2.96901270e-04 -2.60550752e+01] [-1.69043476e-03 -2.41264145e-05 9.99998571e-01 -6.32904118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.18, Y:-26.06, Z:-0.64 [[ 9.82234646e-01 1.87649490e-01 1.66435676e-03 2.37181891e+02] [-1.87649256e-01 9.82236055e-01 -2.96763099e-04 -2.60552326e+01] [-1.69047866e-03 -2.08243100e-05 9.99998571e-01 -6.35158814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:-26.06, Z:-0.64 [[ 9.82270501e-01 1.87461712e-01 1.66440645e-03 2.37209956e+02] [-1.87461479e-01 9.82271910e-01 -2.96484148e-04 -2.60600300e+01] [-1.69047913e-03 -2.07844608e-05 9.99998571e-01 -6.35206962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:-26.06, Z:-0.64 [[ 9.82780546e-01 1.84769122e-01 1.66446306e-03 2.37237747e+02] [-1.84768885e-01 9.82781955e-01 -2.96165953e-04 -2.60615514e+01] [-1.69052659e-03 -1.64748487e-05 9.99998571e-01 -6.40055599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:-26.06, Z:-0.65 [[ 9.84256884e-01 1.76736009e-01 1.66448902e-03 2.37267131e+02] [-1.76735761e-01 9.84258291e-01 -2.96019999e-04 -2.60629659e+01] [-1.69060451e-03 -2.81501217e-06 9.99998571e-01 -6.46378183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.30, Y:-26.07, Z:-0.65 [[ 9.85068818e-01 1.72152991e-01 1.66453444e-03 2.37295923e+02] [-1.72152737e-01 9.85070225e-01 -2.95764361e-04 -2.60666132e+01] [-1.69060004e-03 4.79408918e-06 9.99998571e-01 -6.46573746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:-26.07, Z:-0.64 [[ 9.86576182e-01 1.63293194e-01 1.66454840e-03 2.37324717e+02] [-1.63292928e-01 9.86577586e-01 -2.95685808e-04 -2.60712999e+01] [-1.69048962e-03 1.99075947e-05 9.99998571e-01 -6.41622189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:-26.08, Z:-0.64 [[ 9.87340437e-01 1.58606719e-01 1.66456243e-03 2.37352289e+02] [-1.58606446e-01 9.87341839e-01 -2.95606778e-04 -2.60776509e+01] [-1.69037736e-03 2.78541939e-05 9.99998571e-01 -6.40424087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.38, Y:-26.09, Z:-0.64 [[ 9.88809516e-01 1.49174292e-01 1.66457978e-03 2.37378740e+02] [-1.49174006e-01 9.88810917e-01 -2.95509082e-04 -2.60873885e+01] [-1.69003701e-03 4.38901585e-05 9.99998571e-01 -6.40226197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.41, Y:-26.10, Z:-0.64 [[ 9.89345974e-01 1.45573944e-01 1.66459665e-03 2.37406305e+02] [-1.45573653e-01 9.89347373e-01 -2.95413995e-04 -2.60950667e+01] [-1.68986890e-03 4.99452318e-05 9.99998571e-01 -6.37301235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:-26.10, Z:-0.64 [[ 9.89696357e-01 1.43172450e-01 1.66461033e-03 2.37432837e+02] [-1.43172155e-01 9.89697755e-01 -2.95336920e-04 -2.61026417e+01] [-1.68974521e-03 5.39680249e-05 9.99998571e-01 -6.35872074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:-26.11, Z:-0.63 [[ 9.89789852e-01 1.42524660e-01 1.66463509e-03 2.37460614e+02] [-1.42524365e-01 9.89791250e-01 -2.95197268e-04 -2.61121676e+01] [-1.68971414e-03 5.49322008e-05 9.99998571e-01 -6.30312237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.49, Y:-26.12, Z:-0.63 [[ 9.89604424e-01 1.43806512e-01 1.66464871e-03 2.37488237e+02] [-1.43806219e-01 9.89605823e-01 -2.95120441e-04 -2.61184928e+01] [-1.68978630e-03 5.26656567e-05 9.99998571e-01 -6.28884089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.52, Y:-26.13, Z:-0.63 [[ 9.89327590e-01 1.45698828e-01 1.66466565e-03 2.37516437e+02] [-1.45698538e-01 9.89328989e-01 -2.95024876e-04 -2.61255096e+01] [-1.68988676e-03 4.93368981e-05 9.99998571e-01 -6.26246184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:-26.14, Z:-0.63 [[ 9.88838425e-01 1.48982540e-01 1.66467949e-03 2.37542578e+02] [-1.48982255e-01 9.88839826e-01 -2.94946739e-04 -2.61355417e+01] [-1.69004329e-03 4.36469651e-05 9.99998571e-01 -6.28481950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:-26.14, Z:-0.63 [[ 9.88725566e-01 1.49729701e-01 1.66469674e-03 2.37570024e+02] [-1.49729417e-01 9.88726967e-01 -2.94849379e-04 -2.61432687e+01] [-1.69007827e-03 4.22710477e-05 9.99998571e-01 -6.28901959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:-26.15, Z:-0.63 [[ 9.88576133e-01 1.50713163e-01 1.66471732e-03 2.37597688e+02] [-1.50712880e-01 9.88577534e-01 -2.94733099e-04 -2.61526813e+01] [-1.69012231e-03 4.04717647e-05 9.99998571e-01 -6.27130429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:-26.16, Z:-0.63 [[ 9.88542749e-01 1.50931981e-01 1.66473121e-03 2.37623402e+02] [-1.50931699e-01 9.88544149e-01 -2.94654657e-04 -2.61595853e+01] [-1.69013311e-03 4.00180145e-05 9.99998571e-01 -6.27612346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.65, Y:-26.17, Z:-0.63 [[ 9.88559113e-01 1.50824760e-01 1.66475539e-03 2.37649908e+02] [-1.50824478e-01 9.88560514e-01 -2.94517986e-04 -2.61671144e+01] [-1.69013205e-03 4.00625775e-05 9.99998571e-01 -6.28221663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.68, Y:-26.18, Z:-0.63 [[ 9.88976980e-01 1.48059996e-01 1.66477907e-03 2.37677491e+02] [-1.48059710e-01 9.88978380e-01 -2.94384065e-04 -2.61789508e+01] [-1.69001701e-03 4.46523565e-05 9.99998571e-01 -6.29154677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.355769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.70, Y:-26.19, Z:-0.63 [[ 9.89237798e-01 1.46307234e-01 1.66479285e-03 2.37704555e+02] [-1.46306945e-01 9.89239198e-01 -2.94306133e-04 -2.61874627e+01] [-1.68993746e-03 4.75679948e-05 9.99998571e-01 -6.32975151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.385769231 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.73, Y:-26.20, Z:-0.64 [[ 9.89571340e-01 1.44033995e-01 1.66480998e-03 2.37731854e+02] [-1.44033704e-01 9.89572739e-01 -2.94209172e-04 -2.61999832e+01] [-1.68982670e-03 5.13522169e-05 9.99998571e-01 -6.36679521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.415769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.76, Y:-26.21, Z:-0.64 [[ 9.89633829e-01 1.43604017e-01 1.66482374e-03 2.37758370e+02] [-1.43603725e-01 9.89635228e-01 -2.94131286e-04 -2.62083377e+01] [-1.68980666e-03 5.20073801e-05 9.99998571e-01 -6.39005224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.445769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.79, Y:-26.22, Z:-0.64 [[ 9.89716542e-01 1.43032846e-01 1.66484191e-03 2.37785478e+02] [-1.43032554e-01 9.89717941e-01 -2.94028423e-04 -2.62168912e+01] [-1.68977963e-03 5.28782041e-05 9.99998571e-01 -6.41611278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.81, Y:-26.23, Z:-0.65 [[ 9.89854734e-01 1.42073338e-01 1.66485953e-03 2.37812165e+02] [-1.42073045e-01 9.89856133e-01 -2.93928617e-04 -2.62304240e+01] [-1.68973083e-03 5.44149702e-05 9.99998571e-01 -6.45409754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.84, Y:-26.24, Z:-0.64 [[ 9.89912217e-01 1.41672266e-01 1.66487305e-03 2.37840368e+02] [-1.41671972e-01 9.89913615e-01 -2.93852024e-04 -2.62389917e+01] [-1.68971118e-03 5.50218607e-05 9.99998571e-01 -6.42330003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.87, Y:-26.25, Z:-0.65 [[ 9.89822025e-01 1.42301041e-01 1.66488322e-03 2.37866635e+02] [-1.42300748e-01 9.89823424e-01 -2.93794401e-04 -2.62508272e+01] [-1.68974765e-03 5.38900423e-05 9.99998571e-01 -6.46844312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.89, Y:-26.26, Z:-0.64 [[ 9.89703906e-01 1.43120249e-01 1.66490013e-03 2.37894287e+02] [-1.43119958e-01 9.89705305e-01 -2.93698544e-04 -2.62583446e+01] [-1.68979470e-03 5.23941609e-05 9.99998571e-01 -6.44105522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.92, Y:-26.27, Z:-0.64 [[ 9.89521579e-01 1.44375460e-01 1.66491357e-03 2.37920993e+02] [-1.44375170e-01 9.89522978e-01 -2.93622290e-04 -2.62660399e+01] [-1.68986209e-03 5.01734112e-05 9.99998571e-01 -6.44618352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.95, Y:-26.28, Z:-0.65 [[ 9.89146299e-01 1.46924566e-01 1.66493031e-03 2.37948217e+02] [-1.46924280e-01 9.89147699e-01 -2.93527375e-04 -2.62765617e+01] [-1.68998836e-03 4.57228301e-05 9.99998571e-01 -6.45086011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.98, Y:-26.28, Z:-0.65 [[ 9.89084569e-01 1.47339549e-01 1.66494364e-03 2.37976158e+02] [-1.47339264e-01 9.89085970e-01 -2.93451735e-04 -2.62832098e+01] [-1.69000944e-03 4.49370135e-05 9.99998571e-01 -6.45389480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.00, Y:-26.29, Z:-0.64 [[ 9.89183472e-01 1.46674086e-01 1.66495695e-03 2.38003578e+02] [-1.46673800e-01 9.89184872e-01 -2.93376221e-04 -2.62927012e+01] [-1.68998091e-03 4.59973469e-05 9.99998571e-01 -6.44386416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.03, Y:-26.30, Z:-0.64 [[ 9.89447253e-01 1.44883958e-01 1.66497055e-03 2.38032482e+02] [-1.44883669e-01 9.89448653e-01 -2.93298993e-04 -2.63011693e+01] [-1.68989719e-03 4.89768406e-05 9.99998571e-01 -6.41286117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.06, Y:-26.31, Z:-0.64 [[ 9.89831095e-01 1.42237942e-01 1.66497755e-03 2.38060560e+02] [-1.42237649e-01 9.89832493e-01 -2.93259266e-04 -2.63097808e+01] [-1.68976147e-03 5.34546483e-05 9.99998571e-01 -6.37911336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.09, Y:-26.32, Z:-0.63 [[ 9.90444945e-01 1.37898657e-01 1.66498821e-03 2.38089315e+02] [-1.37898359e-01 9.90446342e-01 -2.93198735e-04 -2.63215800e+01] [-1.68951319e-03 6.07980636e-05 9.99998571e-01 -6.33040403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:238.12, Y:-26.33, Z:-0.63 [[ 9.90548975e-01 1.37149393e-01 1.66498821e-03 2.38118200e+02] [-1.37149094e-01 9.90550372e-01 -2.93198735e-04 -2.63289929e+01] [-1.68946672e-03 6.20760830e-05 9.99998571e-01 -6.27487031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.15, Y:-26.34, Z:-0.63 [[ 9.90317084e-01 1.38813906e-01 1.66498498e-03 2.38145694e+02] [-1.38813609e-01 9.90318482e-01 -2.93217067e-04 -2.63426736e+01] [-1.68956800e-03 5.92552966e-05 9.99998571e-01 -6.33485436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:-26.35, Z:-0.64 [[ 9.90179369e-01 1.39792864e-01 1.66498834e-03 2.38174151e+02] [-1.39792568e-01 9.90180767e-01 -2.93197984e-04 -2.63524447e+01] [-1.68962642e-03 5.75655990e-05 9.99998571e-01 -6.35250520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.20, Y:-26.36, Z:-0.64 [[ 9.90042800e-01 1.40756817e-01 1.66499162e-03 2.38203925e+02] [-1.40756522e-01 9.90044199e-01 -2.93179359e-04 -2.63615184e+01] [-1.68968229e-03 5.59016836e-05 9.99998571e-01 -6.35702335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.23, Y:-26.37, Z:-0.63 [[ 9.89556908e-01 1.44133112e-01 1.66499162e-03 2.38233983e+02] [-1.44132823e-01 9.89558307e-01 -2.93179359e-04 -2.63726407e+01] [-1.68986314e-03 5.01377184e-05 9.99998571e-01 -6.34687026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.955769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.26, Y:-26.38, Z:-0.64 [[ 9.88793013e-01 1.49283641e-01 1.66498447e-03 2.38262615e+02] [-1.49283359e-01 9.88794414e-01 -2.93219940e-04 -2.63845422e+01] [-1.69010028e-03 4.13793541e-05 9.99998571e-01 -6.43331079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.985769231 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:238.29, Y:-26.39, Z:-0.63 [[ 9.88446340e-01 1.51562071e-01 1.66498091e-03 2.38293493e+02] [-1.51561792e-01 9.88447741e-01 -2.93240184e-04 -2.63921550e+01] [-1.69019071e-03 3.75046967e-05 9.99998571e-01 -6.32377210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:-26.40, Z:-0.64 [[ 9.88102886e-01 1.53785287e-01 1.66497394e-03 2.38322819e+02] [-1.53785011e-01 9.88104288e-01 -2.93279734e-04 -2.64009856e+01] [-1.69027000e-03 3.37425157e-05 9.99998571e-01 -6.39845494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:-26.41, Z:-0.64 [[ 9.87828871e-01 1.55535689e-01 1.66495825e-03 2.38353417e+02] [-1.55535415e-01 9.87830273e-01 -2.93368780e-04 -2.64090797e+01] [-1.69032548e-03 3.08381779e-05 9.99998571e-01 -6.37229000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.075769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.38, Y:-26.42, Z:-0.64 [[ 9.87175345e-01 1.59631034e-01 1.66495136e-03 2.38382206e+02] [-1.59630766e-01 9.87176748e-01 -2.93407882e-04 -2.64199926e+01] [-1.69043827e-03 2.38675656e-05 9.99998571e-01 -6.37980425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.105769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:238.41, Y:-26.43, Z:-0.64 [[ 9.86151416e-01 1.65839119e-01 1.66494792e-03 2.38411801e+02] [-1.65838860e-01 9.86152821e-01 -2.93427405e-04 -2.64315906e+01] [-1.69055483e-03 1.32507862e-05 9.99998571e-01 -6.36997070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.135769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.44, Y:-26.44, Z:-0.64 [[ 9.85543208e-01 1.69416098e-01 1.66494078e-03 2.38442354e+02] [-1.69415843e-01 9.85544614e-01 -2.93467884e-04 -2.64395586e+01] [-1.69059160e-03 7.15793303e-06 9.99998571e-01 -6.40976835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.165769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.47, Y:-26.45, Z:-0.64 [[ 9.84910141e-01 1.73058492e-01 1.66491283e-03 2.38472647e+02] [-1.73058243e-01 9.84911548e-01 -2.93626353e-04 -2.64467327e+01] [-1.69060641e-03 1.06868189e-06 9.99998571e-01 -6.38033184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.50, Y:-26.45, Z:-0.63 [[ 9.83632034e-01 1.80181159e-01 1.66490589e-03 2.38502783e+02] [-1.80180921e-01 9.83633443e-01 -2.93665722e-04 -2.64532327e+01] [-1.69057014e-03 -1.11252641e-05 9.99998571e-01 -6.33247762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.53, Y:-26.46, Z:-0.63 [[ 9.82881287e-01 1.84232473e-01 1.66490589e-03 2.38532705e+02] [-1.84232240e-01 9.82882697e-01 -2.93665722e-04 -2.64578943e+01] [-1.69050995e-03 -1.80907981e-05 9.99998571e-01 -6.32503798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.56, Y:-26.46, Z:-0.63 [[ 9.81661334e-01 1.90625951e-01 1.66490589e-03 2.38562545e+02] [-1.90625727e-01 9.81662745e-01 -2.93665722e-04 -2.64620413e+01] [-1.69035640e-03 -2.90936112e-05 9.99998571e-01 -6.32635399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.59, Y:-26.47, Z:-0.63 [[ 9.81374765e-01 1.92095805e-01 1.66490589e-03 2.38592652e+02] [-1.92095583e-01 9.81376177e-01 -2.93665722e-04 -2.64672015e+01] [-1.69031093e-03 -3.16249383e-05 9.99998571e-01 -6.34569683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.62, Y:-26.47, Z:-0.64 [[ 9.81358840e-01 1.92177143e-01 1.66490589e-03 2.38622750e+02] [-1.92176921e-01 9.81360252e-01 -2.93665722e-04 -2.64724557e+01] [-1.69030830e-03 -3.17650352e-05 9.99998571e-01 -6.36026615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.65, Y:-26.48, Z:-0.63 [[ 9.81743156e-01 1.90204111e-01 1.66490589e-03 2.38654029e+02] [-1.90203886e-01 9.81744567e-01 -2.93665722e-04 -2.64770876e+01] [-1.69036874e-03 -2.83672572e-05 9.99998571e-01 -6.34305016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.69, Y:-26.48, Z:-0.63 [[ 9.81846803e-01 1.89668351e-01 1.66489893e-03 2.38685233e+02] [-1.89668126e-01 9.81848214e-01 -2.93705199e-04 -2.64812363e+01] [-1.69038462e-03 -2.74047485e-05 9.99998571e-01 -6.31282963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:-26.49, Z:-0.63 [[ 9.81944778e-01 1.89160466e-01 1.66489182e-03 2.38715434e+02] [-1.89160239e-01 9.81946189e-01 -2.93745456e-04 -2.64851176e+01] [-1.69039921e-03 -2.64895198e-05 9.99998571e-01 -6.31764347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:-26.49, Z:-0.63 [[ 9.81893907e-01 1.89424350e-01 1.66487621e-03 2.38746150e+02] [-1.89424124e-01 9.81895318e-01 -2.93833946e-04 -2.64884248e+01] [-1.69039346e-03 -2.68539550e-05 9.99998571e-01 -6.26089939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.78, Y:-26.49, Z:-0.63 [[ 9.81800293e-01 1.89908958e-01 1.66487265e-03 2.38776029e+02] [-1.89908733e-01 9.81801704e-01 -2.93854119e-04 -2.64912357e+01] [-1.69038033e-03 -2.76677935e-05 9.99998571e-01 -6.25568341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:-26.49, Z:-0.63 [[ 9.81539099e-01 1.91254349e-01 1.66487619e-03 2.38805350e+02] [-1.91254126e-01 9.81540510e-01 -2.93834035e-04 -2.64888823e+01] [-1.69034046e-03 -3.00048458e-05 9.99998571e-01 -6.29447365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.83, Y:-26.49, Z:-0.63 [[ 9.81269278e-01 1.92633934e-01 1.66488667e-03 2.38834960e+02] [-1.92633712e-01 9.81270690e-01 -2.93774662e-04 -2.64903455e+01] [-1.69029546e-03 -3.24412483e-05 9.99998571e-01 -6.31341185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.86, Y:-26.49, Z:-0.63 [[ 9.80926654e-01 1.94371107e-01 1.66489354e-03 2.38863167e+02] [-1.94370889e-01 9.80928066e-01 -2.93735727e-04 -2.64915143e+01] [-1.69023454e-03 -3.54736321e-05 9.99998571e-01 -6.31767788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.89, Y:-26.49, Z:-0.63 [[ 9.80457132e-01 1.96725798e-01 1.66491058e-03 2.38891799e+02] [-1.96725583e-01 9.80458545e-01 -2.93639078e-04 -2.64888389e+01] [-1.69014219e-03 -3.96299766e-05 9.99998571e-01 -6.25646935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.92, Y:-26.49, Z:-0.62 [[ 9.80476258e-01 1.96630453e-01 1.66492998e-03 2.38920391e+02] [-1.96630238e-01 9.80477671e-01 -2.93529035e-04 -2.64903153e+01] [-1.69014342e-03 -3.95773284e-05 9.99998571e-01 -6.21452765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.95, Y:-26.49, Z:-0.62 [[ 9.81000503e-01 1.93998042e-01 1.66494370e-03 2.38949752e+02] [-1.93997823e-01 9.81001916e-01 -2.93451235e-04 -2.64894834e+01] [-1.69024192e-03 -3.51196429e-05 9.99998571e-01 -6.20155917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.675769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.98, Y:-26.49, Z:-0.62 [[ 9.81009533e-01 1.93952377e-01 1.66495736e-03 2.38978654e+02] [-1.93952158e-01 9.81010945e-01 -2.93373664e-04 -2.64944849e+01] [-1.69024192e-03 -3.51197129e-05 9.99998571e-01 -6.20205500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:-26.50, Z:-0.62 [[ 9.81541813e-01 1.91240418e-01 1.66497102e-03 2.39007322e+02] [-1.91240196e-01 9.81543224e-01 -2.93296160e-04 -2.64978185e+01] [-1.69033110e-03 -3.05269382e-05 9.99998571e-01 -6.21976290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.735769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.04, Y:-26.50, Z:-0.62 [[ 9.82198283e-01 1.87839718e-01 1.66498461e-03 2.39036205e+02] [-1.87839491e-01 9.82199694e-01 -2.93218957e-04 -2.65018501e+01] [-1.69042554e-03 -2.47507061e-05 9.99998571e-01 -6.23858268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.06, Y:-26.51, Z:-0.63 [[ 9.83171950e-01 1.82674969e-01 1.66499822e-03 2.39063745e+02] [-1.82674735e-01 9.83173360e-01 -2.93141659e-04 -2.65062574e+01] [-1.69053154e-03 -1.59444525e-05 9.99998571e-01 -6.27651573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:-26.51, Z:-0.63 [[ 9.83403774e-01 1.81422836e-01 1.66501521e-03 2.39092390e+02] [-1.81422600e-01 9.83405183e-01 -2.93045142e-04 -2.65116310e+01] [-1.69054967e-03 -1.38896896e-05 9.99998571e-01 -6.26978151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.825769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.12, Y:-26.52, Z:-0.62 [[ 9.83608265e-01 1.80310865e-01 1.66502866e-03 2.39120788e+02] [-1.80310628e-01 9.83609674e-01 -2.92968697e-04 -2.65186435e+01] [-1.69056374e-03 -1.20559303e-05 9.99998571e-01 -6.22978562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.15, Y:-26.52, Z:-0.62 [[ 9.83656227e-01 1.80049037e-01 1.66504208e-03 2.39148116e+02] [-1.80048799e-01 9.83657636e-01 -2.92892432e-04 -2.65244009e+01] [-1.69056635e-03 -1.16833613e-05 9.99998571e-01 -6.23410635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:-26.53, Z:-0.62 [[ 9.83692023e-01 1.79853358e-01 1.66505881e-03 2.39176289e+02] [-1.79853120e-01 9.83693433e-01 -2.92797293e-04 -2.65301467e+01] [-1.69056799e-03 -1.14436596e-05 9.99998571e-01 -6.23398219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:-26.54, Z:-0.63 [[ 9.83605913e-01 1.80323698e-01 1.66507255e-03 2.39203127e+02] [-1.80323461e-01 9.83607322e-01 -2.92719090e-04 -2.65382620e+01] [-1.69056174e-03 -1.23314178e-05 9.99998571e-01 -6.27630460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.945769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.23, Y:-26.55, Z:-0.63 [[ 9.83451157e-01 1.81165804e-01 1.66508962e-03 2.39229795e+02] [-1.81165569e-01 9.83452567e-01 -2.92622000e-04 -2.65460846e+01] [-1.69054976e-03 -1.38774624e-05 9.99998571e-01 -6.30165756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.26, Y:-26.56, Z:-0.63 [[ 9.82847184e-01 1.84414320e-01 1.66510683e-03 2.39257445e+02] [-1.84414089e-01 9.82848594e-01 -2.92523986e-04 -2.65553633e+01] [-1.69049352e-03 -1.95627831e-05 9.99998571e-01 -6.30559067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.28, Y:-26.56, Z:-0.63 [[ 9.82458001e-01 1.86476549e-01 1.66512040e-03 2.39284717e+02] [-1.86476322e-01 9.82459412e-01 -2.92446725e-04 -2.65598798e+01] [-1.69044767e-03 -2.31889034e-05 9.99998571e-01 -6.30865340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.31, Y:-26.56, Z:-0.63 [[ 9.81942270e-01 1.89173482e-01 1.66513724e-03 2.39313630e+02] [-1.89173258e-01 9.81943681e-01 -2.92350828e-04 -2.65640083e+01] [-1.69037602e-03 -2.79278009e-05 9.99998571e-01 -6.29011961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.34, Y:-26.57, Z:-0.63 [[ 9.80945316e-01 1.94276902e-01 1.66515072e-03 2.39341310e+02] [-1.94276685e-01 9.80946728e-01 -2.92274046e-04 -2.65674330e+01] [-1.69020625e-03 -3.67951056e-05 9.99998571e-01 -6.28471063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.37, Y:-26.57, Z:-0.63 [[ 9.80741169e-01 1.95304853e-01 1.66516745e-03 2.39369950e+02] [-1.95304639e-01 9.80742582e-01 -2.92178703e-04 -2.65716919e+01] [-1.69016454e-03 -3.86632438e-05 9.99998571e-01 -6.27909033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.40, Y:-26.58, Z:-0.63 [[ 9.80815481e-01 1.94931321e-01 1.66518090e-03 2.39397972e+02] [-1.94931106e-01 9.80816894e-01 -2.92102008e-04 -2.65752563e+01] [-1.69017739e-03 -3.80973832e-05 9.99998571e-01 -6.27055006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.43, Y:-26.58, Z:-0.62 [[ 9.81074955e-01 1.93621176e-01 1.66519931e-03 2.39426513e+02] [-1.93620960e-01 9.81076367e-01 -2.91997023e-04 -2.65800860e+01] [-1.69022450e-03 -3.59465218e-05 9.99998571e-01 -6.24316751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:-26.58, Z:-0.62 [[ 9.81379856e-01 1.92069791e-01 1.66521304e-03 2.39453880e+02] [-1.92069572e-01 9.81381269e-01 -2.91918695e-04 -2.65847119e+01] [-1.69027765e-03 -3.33536294e-05 9.99998571e-01 -6.24305153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21576923100002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:239.48, Y:-26.59, Z:-0.61 [[ 9.81823088e-01 1.89791074e-01 1.66523016e-03 2.39482194e+02] [-1.89790852e-01 9.81824499e-01 -2.91821014e-04 -2.65878668e+01] [-1.69034879e-03 -2.95288418e-05 9.99998571e-01 -6.13734758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.51, Y:-26.59, Z:-0.62 [[ 9.82099233e-01 1.88356906e-01 1.66524375e-03 2.39510554e+02] [-1.88356682e-01 9.82100644e-01 -2.91743429e-04 -2.65930919e+01] [-1.69038885e-03 -2.71387899e-05 9.99998571e-01 -6.19110467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.54, Y:-26.60, Z:-0.62 [[ 9.82910976e-01 1.84074008e-01 1.66525733e-03 2.39540241e+02] [-1.84073778e-01 9.82912386e-01 -2.91665912e-04 -2.65976574e+01] [-1.69049017e-03 -1.98485820e-05 9.99998571e-01 -6.20487061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.57, Y:-26.60, Z:-0.62 [[ 9.83407060e-01 1.81405020e-01 1.66526436e-03 2.39568956e+02] [-1.81404786e-01 9.83408470e-01 -2.91625740e-04 -2.66022359e+01] [-1.69053745e-03 -1.53001145e-05 9.99998571e-01 -6.23300908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.60, Y:-26.61, Z:-0.62 [[ 9.83892080e-01 1.78755705e-01 1.66527138e-03 2.39598566e+02] [-1.78755468e-01 9.83893489e-01 -2.91585684e-04 -2.66072102e+01] [-1.69057227e-03 -1.07875188e-05 9.99998571e-01 -6.20477974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.63, Y:-26.61, Z:-0.62 [[ 9.84744915e-01 1.73996207e-01 1.66527823e-03 2.39627267e+02] [-1.73995963e-01 9.84746323e-01 -2.91546530e-04 -2.66124180e+01] [-1.69060461e-03 -2.65272676e-06 9.99998571e-01 -6.16836404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.66, Y:-26.62, Z:-0.62 [[ 9.85074019e-01 1.72123221e-01 1.66528854e-03 2.39656685e+02] [-1.72122974e-01 9.85075427e-01 -2.91487624e-04 -2.66188882e+01] [-1.69060661e-03 5.02468865e-07 9.99998571e-01 -6.16188919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.425769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.69, Y:-26.63, Z:-0.62 [[ 9.85699665e-01 1.68503402e-01 1.66529547e-03 2.39685340e+02] [-1.68503150e-01 9.85701072e-01 -2.91448035e-04 -2.66274981e+01] [-1.69059352e-03 6.67269772e-06 9.99998571e-01 -6.19985304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.455769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.72, Y:-26.63, Z:-0.62 [[ 9.85868329e-01 1.67513776e-01 1.66529891e-03 2.39715282e+02] [-1.67513523e-01 9.85869735e-01 -2.91428392e-04 -2.66341596e+01] [-1.69058607e-03 8.34993490e-06 9.99998571e-01 -6.19286025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.485769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.74, Y:-26.64, Z:-0.62 [[ 9.85940099e-01 1.67090835e-01 1.66529891e-03 2.39744464e+02] [-1.67090581e-01 9.85941506e-01 -2.91428392e-04 -2.66404136e+01] [-1.69058233e-03 9.07517508e-06 9.99998571e-01 -6.20783917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.515769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.77, Y:-26.65, Z:-0.62 [[ 9.85590846e-01 1.69138734e-01 1.66530250e-03 2.39773804e+02] [-1.69138483e-01 9.85592253e-01 -2.91407887e-04 -2.66491969e+01] [-1.69059760e-03 5.54220815e-06 9.99998571e-01 -6.15197474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.80, Y:-26.66, Z:-0.61 [[ 9.85241566e-01 1.71161573e-01 1.66530250e-03 2.39802695e+02] [-1.71161325e-01 9.85242973e-01 -2.91407887e-04 -2.66563614e+01] [-1.69060542e-03 2.07178106e-06 9.99998571e-01 -6.13924523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:-26.67, Z:-0.62 [[ 9.84348507e-01 1.76224980e-01 1.66530588e-03 2.39830748e+02] [-1.76224740e-01 9.84349916e-01 -2.91388553e-04 -2.66656485e+01] [-1.69059365e-03 -6.64020762e-06 9.99998571e-01 -6.17102761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.605769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.86, Y:-26.67, Z:-0.62 [[ 9.83914360e-01 1.78633031e-01 1.66531288e-03 2.39860828e+02] [-1.78632794e-01 9.83915769e-01 -2.91348564e-04 -2.66723015e+01] [-1.69057208e-03 -1.08174560e-05 9.99998571e-01 -6.18914942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.635769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.89, Y:-26.68, Z:-0.62 [[ 9.83601153e-01 1.80349654e-01 1.66531288e-03 2.39890066e+02] [-1.80349419e-01 9.83602563e-01 -2.91348564e-04 -2.66788959e+01] [-1.69055063e-03 -1.37674266e-05 9.99998571e-01 -6.20243338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.665769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.92, Y:-26.69, Z:-0.62 [[ 9.83149679e-01 1.82794789e-01 1.66531640e-03 2.39918493e+02] [-1.82794557e-01 9.83151090e-01 -2.91328438e-04 -2.66870498e+01] [-1.69051095e-03 -1.79913140e-05 9.99998571e-01 -6.18686461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.695769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:239.95, Y:-26.69, Z:-0.62 [[ 9.83007233e-01 1.83559272e-01 1.66531984e-03 2.39947837e+02] [-1.83559042e-01 9.83008644e-01 -2.91308749e-04 -2.66937436e+01] [-1.69049622e-03 -1.93259068e-05 9.99998571e-01 -6.19050848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.98, Y:-26.70, Z:-0.62 [[ 9.82842814e-01 1.84437601e-01 1.66531984e-03 2.39976927e+02] [-1.84437372e-01 9.82844225e-01 -2.91308749e-04 -2.67021024e+01] [-1.69047828e-03 -2.08365053e-05 9.99998571e-01 -6.20347028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.01, Y:-26.71, Z:-0.62 [[ 9.82748428e-01 1.84939868e-01 1.66531984e-03 2.40006088e+02] [-1.84939640e-01 9.82749838e-01 -2.91308749e-04 -2.67082818e+01] [-1.69046741e-03 -2.17004370e-05 9.99998571e-01 -6.20773969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:-26.71, Z:-0.62 [[ 9.82603442e-01 1.85708648e-01 1.66532325e-03 2.40035866e+02] [-1.85708421e-01 9.82604853e-01 -2.91289264e-04 -2.67143974e+01] [-1.69044964e-03 -2.30427180e-05 9.99998571e-01 -6.19235290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.07, Y:-26.72, Z:-0.61 [[ 9.82170932e-01 1.87982676e-01 1.66532325e-03 2.40065104e+02] [-1.87982453e-01 9.82172344e-01 -2.91289264e-04 -2.67189461e+01] [-1.69039177e-03 -2.69557006e-05 9.99998571e-01 -6.14875228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.09, Y:-26.72, Z:-0.61 [[ 9.81908167e-01 1.89350410e-01 1.66532665e-03 2.40094171e+02] [-1.89350188e-01 9.81909579e-01 -2.91269844e-04 -2.67233162e+01] [-1.69035225e-03 -2.93296755e-05 9.99998571e-01 -6.12535356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.12, Y:-26.73, Z:-0.61 [[ 9.81765637e-01 1.90088032e-01 1.66533339e-03 2.40124334e+02] [-1.90087811e-01 9.81767049e-01 -2.91231280e-04 -2.67279339e+01] [-1.69032903e-03 -3.06387156e-05 9.99998571e-01 -6.10818723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:-26.73, Z:-0.61 [[ 9.81734596e-01 1.90248287e-01 1.66533339e-03 2.40153381e+02] [-1.90248067e-01 9.81736007e-01 -2.91231280e-04 -2.67333479e+01] [-1.69032401e-03 -3.09146348e-05 9.99998571e-01 -6.12391454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.18, Y:-26.74, Z:-0.61 [[ 9.81717691e-01 1.90335497e-01 1.66533677e-03 2.40182766e+02] [-1.90335277e-01 9.81719103e-01 -2.91211957e-04 -2.67382577e+01] [-1.69032089e-03 -3.10844044e-05 9.99998571e-01 -6.14090363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.21, Y:-26.74, Z:-0.61 [[ 9.81339157e-01 1.92277624e-01 1.66534342e-03 2.40211341e+02] [-1.92277407e-01 9.81340570e-01 -2.91173932e-04 -2.67415158e+01] [-1.69025529e-03 -3.44675333e-05 9.99998571e-01 -6.13487705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.24, Y:-26.75, Z:-0.61 [[ 9.80919150e-01 1.94408971e-01 1.66535132e-03 2.40240844e+02] [-1.94408757e-01 9.80920563e-01 -2.91128748e-04 -2.67463074e+01] [-1.69017539e-03 -3.81851155e-05 9.99998571e-01 -6.12067251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.27, Y:-26.75, Z:-0.61 [[ 9.80520664e-01 1.96408897e-01 1.66535786e-03 2.40269511e+02] [-1.96408685e-01 9.80522077e-01 -2.91091340e-04 -2.67504344e+01] [-1.69009307e-03 -4.16696737e-05 9.99998571e-01 -6.11210135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.30, Y:-26.75, Z:-0.61 [[ 9.79488861e-01 2.01491436e-01 1.66537090e-03 2.40299448e+02] [-2.01491232e-01 9.79490275e-01 -2.91016716e-04 -2.67510581e+01] [-1.68985197e-03 -5.05100013e-05 9.99998571e-01 -6.08876552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:-26.75, Z:-0.61 [[ 9.78868835e-01 2.04482348e-01 1.66537780e-03 2.40328165e+02] [-2.04482148e-01 9.78870250e-01 -2.90977197e-04 -2.67526648e+01] [-1.68968848e-03 -5.57115210e-05 9.99998571e-01 -6.09301208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.36, Y:-26.76, Z:-0.61 [[ 9.78322519e-01 2.07080359e-01 1.66538483e-03 2.40356637e+02] [-2.07080164e-01 9.78323935e-01 -2.90936981e-04 -2.67550229e+01] [-1.68953317e-03 -6.02379628e-05 9.99998571e-01 -6.08685418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.38, Y:-26.75, Z:-0.61 [[ 9.78262934e-01 2.07361662e-01 1.66539864e-03 2.40384877e+02] [-2.07361467e-01 9.78264349e-01 -2.90857867e-04 -2.67543438e+01] [-1.68951289e-03 -6.08040356e-05 9.99998571e-01 -6.13391003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.175769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:240.41, Y:-26.75, Z:-0.62 [[ 9.78570091e-01 2.05907267e-01 1.66541577e-03 2.40413174e+02] [-2.05907070e-01 9.78571507e-01 -2.90759769e-04 -2.67548373e+01] [-1.68959797e-03 -5.83920671e-05 9.99998571e-01 -6.16400243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.205769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.44, Y:-26.75, Z:-0.62 [[ 9.79298439e-01 2.02414904e-01 1.66543264e-03 2.40441913e+02] [-2.02414702e-01 9.79299854e-01 -2.90663116e-04 -2.67512254e+01] [-1.68979249e-03 -5.24621157e-05 9.99998571e-01 -6.19069174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.235769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:240.47, Y:-26.75, Z:-0.62 [[ 9.79635289e-01 2.00778303e-01 1.66545060e-03 2.40469684e+02] [-2.00778099e-01 9.79636703e-01 -2.90560168e-04 -2.67529355e+01] [-1.68987471e-03 -4.97430101e-05 9.99998571e-01 -6.16745469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.265769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.50, Y:-26.76, Z:-0.61 [[ 9.80020790e-01 1.98888102e-01 1.66546630e-03 2.40498388e+02] [-1.98887895e-01 9.80022204e-01 -2.90470163e-04 -2.67552255e+01] [-1.68996501e-03 -4.65742883e-05 9.99998571e-01 -6.13649018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.295769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.53, Y:-26.75, Z:-0.62 [[ 9.81114299e-01 1.93421712e-01 1.66547995e-03 2.40526919e+02] [-1.93421498e-01 9.81115712e-01 -2.90391870e-04 -2.67538146e+01] [-1.69019664e-03 -3.72320103e-05 9.99998571e-01 -6.18734230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:-26.76, Z:-0.62 [[ 9.81723775e-01 1.90304116e-01 1.66549694e-03 2.40554799e+02] [-1.90303897e-01 9.81725187e-01 -2.90294382e-04 -2.67554343e+01] [-1.69030451e-03 -3.19616623e-05 9.99998571e-01 -6.23407720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.355769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.58, Y:-26.76, Z:-0.63 [[ 9.82985077e-01 1.83677880e-01 1.66551026e-03 2.40582909e+02] [-1.83677652e-01 9.82986488e-01 -2.90217920e-04 -2.67577461e+01] [-1.69048070e-03 -2.06371305e-05 9.99998571e-01 -6.26090926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.385769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.61, Y:-26.76, Z:-0.62 [[ 9.83709774e-01 1.79756244e-01 1.66552587e-03 2.40611330e+02] [-1.79756010e-01 9.83711184e-01 -2.90128332e-04 -2.67621484e+01] [-1.69054880e-03 -1.39862088e-05 9.99998571e-01 -6.22499800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.415769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.64, Y:-26.77, Z:-0.62 [[ 9.85194460e-01 1.71432497e-01 1.66553949e-03 2.40639770e+02] [-1.71432252e-01 9.85195868e-01 -2.90050134e-04 -2.67666772e+01] [-1.69060664e-03 2.28599992e-07 9.99998571e-01 -6.19584416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.445769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.67, Y:-26.77, Z:-0.62 [[ 9.85838505e-01 1.67689200e-01 1.66555315e-03 2.40667858e+02] [-1.67688949e-01 9.85839912e-01 -2.89971675e-04 -2.67717462e+01] [-1.69059389e-03 6.57038573e-06 9.99998571e-01 -6.17174253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47576923100002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.70, Y:-26.78, Z:-0.61 [[ 9.86355395e-01 1.64621567e-01 1.66556687e-03 2.40695555e+02] [-1.64621312e-01 9.86356801e-01 -2.89892839e-04 -2.67768892e+01] [-1.69056582e-03 1.17495620e-05 9.99998571e-01 -6.14389756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.72, Y:-26.78, Z:-0.61 [[ 9.86777785e-01 1.62070441e-01 1.66556468e-03 2.40723699e+02] [-1.62070183e-01 9.86779191e-01 -2.89905385e-04 -2.67818134e+01] [-1.69052967e-03 1.61338207e-05 9.99998571e-01 -6.13432078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:-26.79, Z:-0.62 [[ 9.86949481e-01 1.61021574e-01 1.66557822e-03 2.40751742e+02] [-1.61021314e-01 9.86950886e-01 -2.89827598e-04 -2.67869456e+01] [-1.69051240e-03 1.78516036e-05 9.99998571e-01 -6.16025177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.78, Y:-26.80, Z:-0.62 [[ 9.87467646e-01 1.57812782e-01 1.66558831e-03 2.40780465e+02] [-1.57812517e-01 9.87469050e-01 -2.89769622e-04 -2.67965274e+01] [-1.69044625e-03 2.32874427e-05 9.99998571e-01 -6.17569639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:240.81, Y:-26.80, Z:-0.61 [[ 9.87745552e-01 1.56063928e-01 1.66559519e-03 2.40808071e+02] [-1.56063661e-01 9.87746956e-01 -2.89730070e-04 -2.68035321e+01] [-1.69040299e-03 2.62407049e-05 9.99998571e-01 -6.10200399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62576923100002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:240.84, Y:-26.81, Z:-0.61 [[ 9.87749109e-01 1.56041413e-01 1.66560546e-03 2.40837798e+02] [-1.56041147e-01 9.87750513e-01 -2.89671026e-04 -2.68086547e+01] [-1.69040332e-03 2.62193131e-05 9.99998571e-01 -6.10251393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.87, Y:-26.82, Z:-0.61 [[ 9.87944658e-01 1.54798512e-01 1.66561206e-03 2.40866568e+02] [-1.54798243e-01 9.87946061e-01 -2.89633060e-04 -2.68186278e+01] [-1.69036964e-03 2.83076138e-05 9.99998571e-01 -6.08820427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:-26.83, Z:-0.61 [[ 9.87914825e-01 1.54988790e-01 1.66561865e-03 2.40895496e+02] [-1.54988522e-01 9.87916228e-01 -2.89595160e-04 -2.68255431e+01] [-1.69037569e-03 2.79435794e-05 9.99998571e-01 -6.08119601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.92, Y:-26.83, Z:-0.61 [[ 9.87910787e-01 1.55014524e-01 1.66562546e-03 2.40924425e+02] [-1.55014256e-01 9.87912191e-01 -2.89555976e-04 -2.68330564e+01] [-1.69037708e-03 2.78597815e-05 9.99998571e-01 -6.09533275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:-26.84, Z:-0.61 [[ 9.87948388e-01 1.54774700e-01 1.66563226e-03 2.40952056e+02] [-1.54774431e-01 9.87949792e-01 -2.89516841e-04 -2.68436367e+01] [-1.69037093e-03 2.82304103e-05 9.99998571e-01 -6.09313853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:240.98, Y:-26.85, Z:-0.61 [[ 9.87885232e-01 1.55177298e-01 1.66563565e-03 2.40980333e+02] [-1.55177030e-01 9.87886636e-01 -2.89497360e-04 -2.68503114e+01] [-1.69038261e-03 2.75217731e-05 9.99998571e-01 -6.08467517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.01, Y:-26.86, Z:-0.61 [[ 9.87465175e-01 1.57828243e-01 1.66562569e-03 2.41009952e+02] [-1.57827979e-01 9.87466579e-01 -2.89554616e-04 -2.68581704e+01] [-1.69044960e-03 2.30427620e-05 9.99998571e-01 -6.10383985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.04, Y:-26.87, Z:-0.61 [[ 9.87210968e-01 1.59410570e-01 1.66562569e-03 2.41038841e+02] [-1.59410308e-01 9.87212373e-01 -2.89554616e-04 -2.68652779e+01] [-1.69048436e-03 2.03335877e-05 9.99998571e-01 -6.12288390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.07, Y:-26.87, Z:-0.61 [[ 9.87059965e-01 1.60342920e-01 1.66562906e-03 2.41068595e+02] [-1.60342660e-01 9.87061370e-01 -2.89535272e-04 -2.68736821e+01] [-1.69050303e-03 1.87172826e-05 9.99998571e-01 -6.12785559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.10, Y:-26.89, Z:-0.61 [[ 9.87233334e-01 1.59272000e-01 1.66562906e-03 2.41097448e+02] [-1.59271738e-01 9.87234739e-01 -2.89535272e-04 -2.68851499e+01] [-1.69048173e-03 2.05512381e-05 9.99998571e-01 -6.13680189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.925769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.13, Y:-26.89, Z:-0.61 [[ 9.87409201e-01 1.58178052e-01 1.66562570e-03 2.41127989e+02] [-1.58177789e-01 9.87410605e-01 -2.89554563e-04 -2.68930868e+01] [-1.69045766e-03 2.24438488e-05 9.99998571e-01 -6.14907424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.955769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.16, Y:-26.90, Z:-0.62 [[ 9.87418648e-01 1.58119068e-01 1.66561897e-03 2.41158597e+02] [-1.58118804e-01 9.87420052e-01 -2.89593262e-04 -2.69004239e+01] [-1.69045579e-03 2.25841064e-05 9.99998571e-01 -6.17511178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.985769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.19, Y:-26.91, Z:-0.62 [[ 9.87041335e-01 1.60457559e-01 1.66561219e-03 2.41188950e+02] [-1.60457299e-01 9.87042740e-01 -2.89632296e-04 -2.69087509e+01] [-1.69050411e-03 1.86194160e-05 9.99998571e-01 -6.19433677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.015769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.22, Y:-26.91, Z:-0.62 [[ 9.86678901e-01 1.62671363e-01 1.66560542e-03 2.41218624e+02] [-1.62671106e-01 9.86680307e-01 -2.89671180e-04 -2.69146643e+01] [-1.69054128e-03 1.48665648e-05 9.99998571e-01 -6.18828461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.045769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.25, Y:-26.92, Z:-0.62 [[ 9.85796730e-01 1.67934609e-01 1.66560206e-03 2.41248903e+02] [-1.67934359e-01 9.85798137e-01 -2.89690521e-04 -2.69202518e+01] [-1.69059647e-03 5.86415360e-06 9.99998571e-01 -6.17228769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.075769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.28, Y:-26.93, Z:-0.62 [[ 9.85428287e-01 1.70083264e-01 1.66560206e-03 2.41277660e+02] [-1.70083017e-01 9.85429695e-01 -2.89690521e-04 -2.69254502e+01] [-1.69060524e-03 2.17861005e-06 9.99998571e-01 -6.18446693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.105769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.31, Y:-26.93, Z:-0.62 [[ 9.85183582e-01 1.71495001e-01 1.66560543e-03 2.41307394e+02] [-1.71494756e-01 9.85184990e-01 -2.89671161e-04 -2.69312724e+01] [-1.69060662e-03 -2.63324410e-07 9.99998571e-01 -6.19784091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:-26.94, Z:-0.62 [[ 9.85178972e-01 1.71521481e-01 1.66560543e-03 2.41336488e+02] [-1.71521237e-01 9.85180380e-01 -2.89671161e-04 -2.69386982e+01] [-1.69060661e-03 -3.08765615e-07 9.99998571e-01 -6.20806617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:-26.95, Z:-0.62 [[ 9.85447738e-01 1.69970532e-01 1.66560208e-03 2.41366825e+02] [-1.69970286e-01 9.85449145e-01 -2.89690394e-04 -2.69452080e+01] [-1.69060498e-03 2.37188225e-06 9.99998571e-01 -6.17530012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:-26.95, Z:-0.61 [[ 9.85874833e-01 1.67475487e-01 1.66559562e-03 2.41397375e+02] [-1.67475237e-01 9.85876240e-01 -2.89727521e-04 -2.69521395e+01] [-1.69059341e-03 6.68904982e-06 9.99998571e-01 -6.11658552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.43, Y:-26.96, Z:-0.61 [[ 9.85929500e-01 1.67153363e-01 1.66558902e-03 2.41428350e+02] [-1.67153112e-01 9.85930907e-01 -2.89765500e-04 -2.69571767e+01] [-1.69059097e-03 7.27996663e-06 9.99998571e-01 -6.12194799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:-26.96, Z:-0.61 [[ 9.85770876e-01 1.68086305e-01 1.66558240e-03 2.41458085e+02] [-1.68086055e-01 9.85772283e-01 -2.89803546e-04 -2.69612889e+01] [-1.69059697e-03 5.71872071e-06 9.99998571e-01 -6.14997841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.49, Y:-26.96, Z:-0.62 [[ 9.84921402e-01 1.72994385e-01 1.66556508e-03 2.41488804e+02] [-1.72994142e-01 9.84922811e-01 -2.89903062e-04 -2.69649623e+01] [-1.69060464e-03 -2.60127056e-06 9.99998571e-01 -6.16654334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.52, Y:-26.97, Z:-0.61 [[ 9.84444363e-01 1.75688705e-01 1.66556508e-03 2.41517956e+02] [-1.75688466e-01 9.84445772e-01 -2.89903062e-04 -2.69699489e+01] [-1.69059119e-03 -7.22713819e-06 9.99998571e-01 -6.14842276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.55, Y:-26.97, Z:-0.61 [[ 9.83807996e-01 1.79217890e-01 1.66556230e-03 2.41547510e+02] [-1.79217656e-01 9.83809406e-01 -2.89919023e-04 -2.69744577e+01] [-1.69055453e-03 -1.32735185e-05 9.99998571e-01 -6.12155594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.58, Y:-26.98, Z:-0.61 [[ 9.83685448e-01 1.79889315e-01 1.66556553e-03 2.41577947e+02] [-1.79889082e-01 9.83686858e-01 -2.89900469e-04 -2.69794297e+01] [-1.69054492e-03 -1.44461810e-05 9.99998571e-01 -6.10731584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.61, Y:-26.98, Z:-0.61 [[ 9.83638470e-01 1.80146012e-01 1.66555840e-03 2.41607901e+02] [-1.80145779e-01 9.83639880e-01 -2.89941432e-04 -2.69849668e+01] [-1.69054145e-03 -1.48457684e-05 9.99998571e-01 -6.13939598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.64, Y:-26.99, Z:-0.61 [[ 9.83738415e-01 1.79599434e-01 1.66555485e-03 2.41637338e+02] [-1.79599201e-01 9.83739825e-01 -2.89961803e-04 -2.69911554e+01] [-1.69054961e-03 -1.38857550e-05 9.99998571e-01 -6.14182445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:-27.00, Z:-0.61 [[ 9.83686030e-01 1.79886133e-01 1.66555485e-03 2.41666403e+02] [-1.79885900e-01 9.83687440e-01 -2.89961803e-04 -2.69960532e+01] [-1.69054549e-03 -1.43784574e-05 9.99998571e-01 -6.14854691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:-27.00, Z:-0.61 [[ 9.83584045e-01 1.80442930e-01 1.66592842e-03 2.41698089e+02] [-1.80442701e-01 9.83585456e-01 -2.87816920e-04 -2.69996927e+01] [-1.69051749e-03 -1.75124941e-05 9.99998571e-01 -6.13825488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.73, Y:-27.01, Z:-0.61 [[ 9.83424032e-01 1.81312987e-01 1.66549173e-03 2.41727495e+02] [-1.81312755e-01 9.83425442e-01 -2.90322043e-04 -2.70053039e+01] [-1.69052610e-03 -1.64652216e-05 9.99998571e-01 -6.12610570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.76, Y:-27.01, Z:-0.61 [[ 9.83265535e-01 1.82170563e-01 1.66548827e-03 2.41757321e+02] [-1.82170333e-01 9.83266945e-01 -2.90341912e-04 -2.70111315e+01] [-1.69051131e-03 -1.79193573e-05 9.99998571e-01 -6.10824319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:-27.02, Z:-0.61 [[ 9.82879279e-01 1.84243177e-01 1.66548827e-03 2.41787745e+02] [-1.84242950e-01 9.82880690e-01 -2.90341912e-04 -2.70154839e+01] [-1.69046978e-03 -2.14834222e-05 9.99998571e-01 -6.10453274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.82, Y:-27.02, Z:-0.61 [[ 9.82030857e-01 1.88713068e-01 1.66548827e-03 2.41817478e+02] [-1.88712847e-01 9.82032269e-01 -2.90341912e-04 -2.70169033e+01] [-1.69035454e-03 -2.91743157e-05 9.99998571e-01 -6.12111312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:-27.02, Z:-0.61 [[ 9.81581997e-01 1.91034051e-01 1.66549510e-03 2.41846598e+02] [-1.91033833e-01 9.81583410e-01 -2.90302753e-04 -2.70193922e+01] [-1.69028007e-03 -3.32099557e-05 9.99998571e-01 -6.11330060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.675769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.88, Y:-27.02, Z:-0.61 [[ 9.81174871e-01 1.93114210e-01 1.66550527e-03 2.41876112e+02] [-1.93113995e-01 9.81176284e-01 -2.90244366e-04 -2.70216699e+01] [-1.69020458e-03 -3.68518988e-05 9.99998571e-01 -6.10124037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:-27.02, Z:-0.61 [[ 9.80827318e-01 1.94871749e-01 1.66551201e-03 2.41906064e+02] [-1.94871537e-01 9.80828731e-01 -2.90205692e-04 -2.70235446e+01] [-1.69013492e-03 -3.99192149e-05 9.99998571e-01 -6.07778333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.93, Y:-27.02, Z:-0.61 [[ 9.80404206e-01 1.96989389e-01 1.66551885e-03 2.41934600e+02] [-1.96989180e-01 9.80405620e-01 -2.90166427e-04 -2.70224494e+01] [-1.69004375e-03 -4.36088071e-05 9.99998571e-01 -6.07275095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.96, Y:-27.02, Z:-0.61 [[ 9.80494212e-01 1.96540900e-01 1.66553587e-03 2.41963619e+02] [-1.96540691e-01 9.80495626e-01 -2.90068701e-04 -2.70226125e+01] [-1.69006100e-03 -4.29348873e-05 9.99998571e-01 -6.07838329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:-27.03, Z:-0.61 [[ 9.80656945e-01 1.95727318e-01 1.66554943e-03 2.41991225e+02] [-1.95727107e-01 9.80658358e-01 -2.89990852e-04 -2.70250353e+01] [-1.69009410e-03 -4.16116288e-05 9.99998571e-01 -6.09841709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:-27.03, Z:-0.61 [[ 9.80971695e-01 1.94143658e-01 1.66556632e-03 2.42020440e+02] [-1.94143445e-01 9.80973108e-01 -2.89893793e-04 -2.70276728e+01] [-1.69015681e-03 -3.89811774e-05 9.99998571e-01 -6.11480066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:-27.03, Z:-0.61 [[ 9.81334287e-01 1.92302480e-01 1.66557979e-03 2.42049048e+02] [-1.92302265e-01 9.81335699e-01 -2.89816378e-04 -2.70310432e+01] [-1.69022532e-03 -3.58880177e-05 9.99998571e-01 -6.13374658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:-27.04, Z:-0.61 [[ 9.82169235e-01 1.87991542e-01 1.66559315e-03 2.42077083e+02] [-1.87991321e-01 9.82170647e-01 -2.89739555e-04 -2.70363882e+01] [-1.69036529e-03 -2.85437806e-05 9.99998571e-01 -6.12257722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:-27.04, Z:-0.61 [[ 9.83202693e-01 1.82509427e-01 1.66560329e-03 2.42104815e+02] [-1.82509198e-01 9.83204103e-01 -2.89681271e-04 -2.70436069e+01] [-1.69049755e-03 -1.91725155e-05 9.99998571e-01 -6.10820603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:-27.05, Z:-0.61 [[ 9.83627733e-01 1.80204627e-01 1.66561343e-03 2.42133897e+02] [-1.80204395e-01 9.83629144e-01 -2.89622964e-04 -2.70499092e+01] [-1.69053731e-03 -1.52696811e-05 9.99998571e-01 -6.10815342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.16, Y:-27.06, Z:-0.61 [[ 9.83876636e-01 1.78840687e-01 1.66562015e-03 2.42161601e+02] [-1.78840453e-01 9.83878046e-01 -2.89584325e-04 -2.70559245e+01] [-1.69055655e-03 -1.29650094e-05 9.99998571e-01 -6.11806804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:-27.06, Z:-0.61 [[ 9.84002064e-01 1.78149271e-01 1.66563016e-03 2.42189632e+02] [-1.78149036e-01 9.84003474e-01 -2.89526736e-04 -2.70617976e+01] [-1.69056484e-03 -1.18355010e-05 9.99998571e-01 -6.12305908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.22, Y:-27.07, Z:-0.61 [[ 9.84129528e-01 1.77443787e-01 1.66564328e-03 2.42218885e+02] [-1.77443551e-01 9.84130938e-01 -2.89451196e-04 -2.70689152e+01] [-1.69057240e-03 -1.07001906e-05 9.99998571e-01 -6.10920486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.25, Y:-27.08, Z:-0.61 [[ 9.84200215e-01 1.77051299e-01 1.66564989e-03 2.42247990e+02] [-1.77051063e-01 9.84201624e-01 -2.89413183e-04 -2.70755413e+01] [-1.69057631e-03 -1.00645658e-05 9.99998571e-01 -6.09185317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.28, Y:-27.08, Z:-0.61 [[ 9.84351362e-01 1.76209026e-01 1.66565657e-03 2.42276633e+02] [-1.76208788e-01 9.84352772e-01 -2.89374748e-04 -2.70838885e+01] [-1.69058410e-03 -8.65689807e-06 9.99998571e-01 -6.07208220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.31, Y:-27.09, Z:-0.61 [[ 9.84404393e-01 1.75912526e-01 1.66566326e-03 2.42305552e+02] [-1.75912288e-01 9.84405802e-01 -2.89336210e-04 -2.70905227e+01] [-1.69058644e-03 -8.18679864e-06 9.99998571e-01 -6.06707717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.33, Y:-27.10, Z:-0.61 [[ 9.84453602e-01 1.75636932e-01 1.66567000e-03 2.42334137e+02] [-1.75636694e-01 9.84455011e-01 -2.89297385e-04 -2.70974551e+01] [-1.69058849e-03 -7.75291972e-06 9.99998571e-01 -6.06470612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.36, Y:-27.10, Z:-0.61 [[ 9.84510263e-01 1.75319043e-01 1.66567334e-03 2.42364072e+02] [-1.75318805e-01 9.84511672e-01 -2.89278144e-04 -2.71041303e+01] [-1.69059082e-03 -7.22655814e-06 9.99998571e-01 -6.05845335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.39, Y:-27.11, Z:-0.61 [[ 9.84630178e-01 1.74644318e-01 1.66567334e-03 2.42393450e+02] [-1.74644078e-01 9.84631587e-01 -2.89278144e-04 -2.71118295e+01] [-1.69059537e-03 -6.06799539e-06 9.99998571e-01 -6.05551469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.42, Y:-27.12, Z:-0.60 [[ 9.84841246e-01 1.73450124e-01 1.66567334e-03 2.42421996e+02] [-1.73449883e-01 9.84842655e-01 -2.89278144e-04 -2.71195242e+01] [-1.69060149e-03 -4.01779816e-06 9.99998571e-01 -6.04914611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.45, Y:-27.13, Z:-0.61 [[ 9.84992847e-01 1.72587130e-01 1.66567676e-03 2.42451321e+02] [-1.72586888e-01 9.84994255e-01 -2.89258492e-04 -2.71267620e+01] [-1.69060433e-03 -2.55642190e-06 9.99998571e-01 -6.06518898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.48, Y:-27.13, Z:-0.61 [[ 9.84771362e-01 1.73846454e-01 1.66567676e-03 2.42480896e+02] [-1.73846214e-01 9.84772771e-01 -2.89258492e-04 -2.71321363e+01] [-1.69059968e-03 -4.71811863e-06 9.99998571e-01 -6.07883764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.51, Y:-27.14, Z:-0.61 [[ 9.84360330e-01 1.76158924e-01 1.66567676e-03 2.42511188e+02] [-1.76158687e-01 9.84361739e-01 -2.89258492e-04 -2.71379559e+01] [-1.69058393e-03 -8.68884521e-06 9.99998571e-01 -6.08044255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.54, Y:-27.14, Z:-0.61 [[ 9.83512797e-01 1.80830869e-01 1.66567676e-03 2.42540123e+02] [-1.80830639e-01 9.83514208e-01 -2.89258492e-04 -2.71434307e+01] [-1.69052362e-03 -1.67159632e-05 9.99998571e-01 -6.08103259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.57, Y:-27.15, Z:-0.61 [[ 9.83236436e-01 1.82327551e-01 1.66568016e-03 2.42569809e+02] [-1.82327322e-01 9.83237847e-01 -2.89238904e-04 -2.71484844e+01] [-1.69049599e-03 -1.93087740e-05 9.99998571e-01 -6.09489050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.425769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.60, Y:-27.15, Z:-0.61 [[ 9.83187406e-01 1.82591758e-01 1.66568016e-03 2.42598513e+02] [-1.82591530e-01 9.83188817e-01 -2.89238904e-04 -2.71546270e+01] [-1.69049074e-03 -1.97630407e-05 9.99998571e-01 -6.13292609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.455769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.63, Y:-27.16, Z:-0.61 [[ 9.83292047e-01 1.82027404e-01 1.66568355e-03 2.42627081e+02] [-1.82027175e-01 9.83293458e-01 -2.89219368e-04 -2.71608252e+01] [-1.69050159e-03 -1.88125665e-05 9.99998571e-01 -6.14820222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.485769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.66, Y:-27.17, Z:-0.61 [[ 9.83359845e-01 1.81660787e-01 1.66568686e-03 2.42656806e+02] [-1.81660558e-01 9.83361255e-01 -2.89200295e-04 -2.71667492e+01] [-1.69050828e-03 -1.82016477e-05 9.99998571e-01 -6.13833097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.515769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.69, Y:-27.17, Z:-0.61 [[ 9.83359845e-01 1.81660787e-01 1.66568686e-03 2.42687348e+02] [-1.81660558e-01 9.83361255e-01 -2.89200295e-04 -2.71720521e+01] [-1.69050828e-03 -1.82016477e-05 9.99998571e-01 -6.13885505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.545769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.72, Y:-27.18, Z:-0.61 [[ 9.83189835e-01 1.82578677e-01 1.66568686e-03 2.42716341e+02] [-1.82578449e-01 9.83191246e-01 -2.89200295e-04 -2.71771802e+01] [-1.69049055e-03 -1.97797340e-05 9.99998571e-01 -6.09436427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.575769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.75, Y:-27.18, Z:-0.61 [[ 9.82931688e-01 1.83963372e-01 1.66568400e-03 2.42746988e+02] [-1.83963146e-01 9.82933099e-01 -2.89216784e-04 -2.71817187e+01] [-1.69046123e-03 -2.21441276e-05 9.99998571e-01 -6.09512763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.605769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.78, Y:-27.19, Z:-0.61 [[ 9.82537319e-01 1.86058169e-01 1.66568400e-03 2.42776116e+02] [-1.86057946e-01 9.82538730e-01 -2.89216784e-04 -2.71858304e+01] [-1.69041019e-03 -2.57474608e-05 9.99998571e-01 -6.11508552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.635769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.80, Y:-27.19, Z:-0.62 [[ 9.81699686e-01 1.90428336e-01 1.66569054e-03 2.42804345e+02] [-1.90428120e-01 9.81701099e-01 -2.89179089e-04 -2.71882559e+01] [-1.69027813e-03 -3.33072968e-05 9.99998571e-01 -6.16203973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.665769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.83, Y:-27.19, Z:-0.62 [[ 9.81330878e-01 1.92319874e-01 1.66570031e-03 2.42833629e+02] [-1.92319660e-01 9.81332291e-01 -2.89122835e-04 -2.71922480e+01] [-1.69020957e-03 -3.66217509e-05 9.99998571e-01 -6.16298036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.695769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.86, Y:-27.20, Z:-0.62 [[ 9.81001120e-01 1.93994917e-01 1.66570682e-03 2.42863255e+02] [-1.93994705e-01 9.81002534e-01 -2.89085292e-04 -2.71965392e+01] [-1.69014369e-03 -3.95453088e-05 9.99998571e-01 -6.15925882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.89, Y:-27.20, Z:-0.62 [[ 9.80758392e-01 1.95218343e-01 1.66571361e-03 2.42891223e+02] [-1.95218134e-01 9.80759806e-01 -2.89046163e-04 -2.72004904e+01] [-1.69009207e-03 -4.16930531e-05 9.99998571e-01 -6.19985169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75576923100002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.92, Y:-27.21, Z:-0.62 [[ 9.80952854e-01 1.94238829e-01 1.66572374e-03 2.42920718e+02] [-1.94238618e-01 9.80954268e-01 -2.88987764e-04 -2.72056045e+01] [-1.69013146e-03 -4.00645065e-05 9.99998571e-01 -6.15297979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.95, Y:-27.21, Z:-0.61 [[ 9.81914395e-01 1.89318108e-01 1.66573045e-03 2.42951476e+02] [-1.89317890e-01 9.81915807e-01 -2.88949123e-04 -2.72132079e+01] [-1.69031036e-03 -3.16292715e-05 9.99998571e-01 -6.08596817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.98, Y:-27.22, Z:-0.61 [[ 9.82475757e-01 1.86382973e-01 1.66572361e-03 2.42981657e+02] [-1.86382751e-01 9.82477168e-01 -2.88988537e-04 -2.72204818e+01] [-1.69039796e-03 -2.65379180e-05 9.99998571e-01 -6.06950810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.01, Y:-27.23, Z:-0.61 [[ 9.83073637e-01 1.83203301e-01 1.66571679e-03 2.43010444e+02] [-1.83203075e-01 9.83075048e-01 -2.89027841e-04 -2.72303775e+01] [-1.69047547e-03 -2.10287863e-05 9.99998571e-01 -6.08886731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.04, Y:-27.24, Z:-0.61 [[ 9.83037599e-01 1.83396576e-01 1.66571339e-03 2.43040932e+02] [-1.83396349e-01 9.83039010e-01 -2.89047426e-04 -2.72370286e+01] [-1.69047155e-03 -2.13412674e-05 9.99998571e-01 -6.09427700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.07, Y:-27.24, Z:-0.61 [[ 9.82780599e-01 1.84768825e-01 1.66570645e-03 2.43072447e+02] [-1.84768601e-01 9.82782011e-01 -2.89087407e-04 -2.72433511e+01] [-1.69044068e-03 -2.36607555e-05 9.99998571e-01 -6.10183573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.10, Y:-27.25, Z:-0.61 [[ 9.81886578e-01 1.89462328e-01 1.66565745e-03 2.43101593e+02] [-1.89462109e-01 9.81887990e-01 -2.89369474e-04 -2.72503710e+01] [-1.69031366e-03 -3.14509717e-05 9.99998571e-01 -6.10498011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96576923100002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.13, Y:-27.26, Z:-0.61 [[ 9.81340952e-01 1.92268460e-01 1.66565397e-03 2.43131030e+02] [-1.92268245e-01 9.81342365e-01 -2.89389509e-04 -2.72570198e+01] [-1.69021728e-03 -3.62625893e-05 9.99998571e-01 -6.08882128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.16, Y:-27.26, Z:-0.61 [[ 9.80839072e-01 1.94812579e-01 1.66565397e-03 2.43159346e+02] [-1.94812369e-01 9.80840485e-01 -2.89389509e-04 -2.72635645e+01] [-1.69011756e-03 -4.06454572e-05 9.99998571e-01 -6.08666631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.19, Y:-27.27, Z:-0.60 [[ 9.80128072e-01 1.98358736e-01 1.66565740e-03 2.43188843e+02] [-1.98358531e-01 9.80129486e-01 -2.89369763e-04 -2.72707177e+01] [-1.68995895e-03 -4.67779262e-05 9.99998571e-01 -6.04520869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.22, Y:-27.28, Z:-0.60 [[ 9.79863282e-01 1.99662651e-01 1.66565740e-03 2.43219587e+02] [-1.99662447e-01 9.79864696e-01 -2.89369763e-04 -2.72770094e+01] [-1.68989522e-03 -4.90264269e-05 9.99998571e-01 -6.01430772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.25, Y:-27.28, Z:-0.60 [[ 9.79666463e-01 2.00626137e-01 1.66565061e-03 2.43250164e+02] [-2.00625935e-01 9.79667878e-01 -2.89408855e-04 -2.72830925e+01] [-1.68984738e-03 -5.06485612e-05 9.99998571e-01 -5.96614738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.28, Y:-27.29, Z:-0.60 [[ 9.79365662e-01 2.02089399e-01 1.66564365e-03 2.43280222e+02] [-2.02089199e-01 9.79367077e-01 -2.89448870e-04 -2.72879602e+01] [-1.68977110e-03 -5.31323073e-05 9.99998571e-01 -5.96793697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14576923100003 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:243.31, Y:-27.29, Z:-0.60 [[ 9.78988275e-01 2.03909742e-01 1.66564021e-03 2.43310733e+02] [-2.03909544e-01 9.78989690e-01 -2.89468705e-04 -2.72920589e+01] [-1.68967008e-03 -5.62534663e-05 9.99998571e-01 -5.98989036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.175769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.34, Y:-27.30, Z:-0.60 [[ 9.78593071e-01 2.05798025e-01 1.66564021e-03 2.43340584e+02] [-2.05797830e-01 9.78594487e-01 -2.89468705e-04 -2.72960747e+01] [-1.68955841e-03 -5.95130706e-05 9.99998571e-01 -6.01718875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.205769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.37, Y:-27.30, Z:-0.61 [[ 9.78190701e-01 2.07702136e-01 1.66564021e-03 2.43371124e+02] [-2.07701944e-01 9.78192118e-01 -2.89468705e-04 -2.73004679e+01] [-1.68943939e-03 -6.28011126e-05 9.99998571e-01 -6.06833983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.235769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.40, Y:-27.31, Z:-0.61 [[ 9.78540611e-01 2.06047319e-01 1.66564021e-03 2.43401435e+02] [-2.06047124e-01 9.78542027e-01 -2.89468705e-04 -2.73054982e+01] [-1.68954319e-03 -5.99434904e-05 9.99998571e-01 -6.08523501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.265769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.43, Y:-27.31, Z:-0.61 [[ 9.79675040e-01 2.00584249e-01 1.66563682e-03 2.43432087e+02] [-2.00584046e-01 9.79676455e-01 -2.89488214e-04 -2.73127833e+01] [-1.68985195e-03 -5.04957943e-05 9.99998571e-01 -6.08173400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.295769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.46, Y:-27.32, Z:-0.61 [[ 9.80124373e-01 1.98377013e-01 1.66562997e-03 2.43462017e+02] [-1.98376807e-01 9.80125787e-01 -2.89527623e-04 -2.73190206e+01] [-1.68996251e-03 -4.66492740e-05 9.99998571e-01 -6.05744547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.325769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.49, Y:-27.33, Z:-0.61 [[ 9.80497643e-01 1.96523785e-01 1.66562655e-03 2.43491339e+02] [-1.96523576e-01 9.80499057e-01 -2.89547260e-04 -2.73257439e+01] [-1.69004819e-03 -4.34344811e-05 9.99998571e-01 -6.08754138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.355769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.52, Y:-27.33, Z:-0.61 [[ 9.80899723e-01 1.94506966e-01 1.66561074e-03 2.43521766e+02] [-1.94506754e-01 9.80901136e-01 -2.89638195e-04 -2.73339349e+01] [-1.69013611e-03 -3.98665132e-05 9.99998571e-01 -6.09225940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.385769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.55, Y:-27.34, Z:-0.61 [[ 9.81001409e-01 1.93993458e-01 1.66560405e-03 2.43551709e+02] [-1.93993245e-01 9.81002822e-01 -2.89676678e-04 -2.73400689e+01] [-1.69015765e-03 -3.89427050e-05 9.99998571e-01 -6.05541078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.415769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.58, Y:-27.35, Z:-0.61 [[ 9.81145501e-01 1.93263373e-01 1.66560071e-03 2.43583089e+02] [-1.93263160e-01 9.81146914e-01 -2.89695843e-04 -2.73475950e+01] [-1.69018660e-03 -3.76654830e-05 9.99998571e-01 -6.09605532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.445769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.61, Y:-27.36, Z:-0.61 [[ 9.80970674e-01 1.94148813e-01 1.66555352e-03 2.43613561e+02] [-1.94148601e-01 9.80972088e-01 -2.89966912e-04 -2.73551844e+01] [-1.69015825e-03 -3.89158480e-05 9.99998571e-01 -6.09471067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47576923100002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.64, Y:-27.36, Z:-0.61 [[ 9.80609409e-01 1.95965334e-01 1.66552694e-03 2.43644524e+02] [-1.95965124e-01 9.80610823e-01 -2.90119493e-04 -2.73608836e+01] [-1.69008711e-03 -4.18912890e-05 9.99998571e-01 -6.11042351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50576923100002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.67, Y:-27.36, Z:-0.62 [[ 9.79720287e-01 2.00363135e-01 1.66552024e-03 2.43674530e+02] [-2.00362931e-01 9.79721701e-01 -2.90157961e-04 -2.73645554e+01] [-1.68988328e-03 -4.94348755e-05 9.99998571e-01 -6.16014892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53576923100002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:243.71, Y:-27.37, Z:-0.62 [[ 9.79247582e-01 2.02660798e-01 1.66551691e-03 2.43705411e+02] [-2.02660597e-01 9.79248997e-01 -2.90177092e-04 -2.73683060e+01] [-1.68976328e-03 -5.33794359e-05 9.99998571e-01 -6.16806106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.73, Y:-27.37, Z:-0.62 [[ 9.78706013e-01 2.05260240e-01 1.66551030e-03 2.43734520e+02] [-2.05260042e-01 9.78707429e-01 -2.90215014e-04 -2.73716047e+01] [-1.68961691e-03 -5.78275359e-05 9.99998571e-01 -6.15859635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.76, Y:-27.37, Z:-0.61 [[ 9.77664410e-01 2.10165479e-01 1.66551359e-03 2.43763219e+02] [-2.10165289e-01 9.77665826e-01 -2.90196151e-04 -2.73715925e+01] [-1.68930493e-03 -6.63186954e-05 9.99998571e-01 -6.10585739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.79, Y:-27.37, Z:-0.61 [[ 9.77318480e-01 2.11768302e-01 1.66552337e-03 2.43792900e+02] [-2.11768115e-01 9.77319897e-01 -2.90139985e-04 -2.73733156e+01] [-1.68919158e-03 -6.91455757e-05 9.99998571e-01 -6.08294081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.82, Y:-27.37, Z:-0.61 [[ 9.77150872e-01 2.12540349e-01 1.66553013e-03 2.43822903e+02] [-2.12540163e-01 9.77152289e-01 -2.90101165e-04 -2.73749824e+01] [-1.68913478e-03 -7.05194395e-05 9.99998571e-01 -6.08289524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.85, Y:-27.37, Z:-0.61 [[ 9.77400052e-01 2.11391496e-01 1.66553695e-03 2.43853309e+02] [-2.11391308e-01 9.77401469e-01 -2.90061994e-04 -2.73743410e+01] [-1.68921490e-03 -6.85734270e-05 9.99998571e-01 -6.11171980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.88, Y:-27.38, Z:-0.61 [[ 9.77716673e-01 2.09922206e-01 1.66554387e-03 2.43881947e+02] [-2.09922016e-01 9.77718090e-01 -2.90022288e-04 -2.73761570e+01] [-1.68931449e-03 -6.60747004e-05 9.99998571e-01 -6.12587371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.91, Y:-27.38, Z:-0.61 [[ 9.78599722e-01 2.05766394e-01 1.66555415e-03 2.43912560e+02] [-2.05766199e-01 9.78601138e-01 -2.89963230e-04 -2.73750448e+01] [-1.68957787e-03 -5.89568097e-05 9.99998571e-01 -6.08878432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.94, Y:-27.38, Z:-0.61 [[ 9.78970282e-01 2.03996110e-01 1.66556103e-03 2.43941421e+02] [-2.03995912e-01 9.78971697e-01 -2.89923728e-04 -2.73772721e+01] [-1.68968042e-03 -5.59409265e-05 9.99998571e-01 -6.08012363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.97, Y:-27.38, Z:-0.61 [[ 9.79351312e-01 2.02158933e-01 1.66557132e-03 2.43970511e+02] [-2.02158732e-01 9.79352726e-01 -2.89864562e-04 -2.73800261e+01] [-1.68978053e-03 -5.28305483e-05 9.99998571e-01 -6.08323741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.00, Y:-27.38, Z:-0.61 [[ 9.80270669e-01 1.97652831e-01 1.66558490e-03 2.43999106e+02] [-1.97652624e-01 9.80272083e-01 -2.89786523e-04 -2.73811895e+01] [-1.69000351e-03 -4.51379969e-05 9.99998571e-01 -6.10394089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.03, Y:-27.38, Z:-0.61 [[ 9.80701576e-01 1.95503569e-01 1.66559852e-03 2.44027250e+02] [-1.95503358e-01 9.80702989e-01 -2.89708198e-04 -2.73842101e+01] [-1.69009644e-03 -4.15128190e-05 9.99998571e-01 -6.10863631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.06, Y:-27.39, Z:-0.61 [[ 9.81043262e-01 1.93781693e-01 1.66561550e-03 2.44055403e+02] [-1.93781481e-01 9.81044675e-01 -2.89610582e-04 -2.73882417e+01] [-1.69016444e-03 -3.86449274e-05 9.99998571e-01 -6.10589597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.925769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.08, Y:-27.39, Z:-0.61 [[ 9.81445173e-01 1.91735751e-01 1.66562897e-03 2.44082395e+02] [-1.91735535e-01 9.81446586e-01 -2.89533048e-04 -2.73928314e+01] [-1.69023971e-03 -3.51994505e-05 9.99998571e-01 -6.09202418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.955769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.11, Y:-27.40, Z:-0.61 [[ 9.81517164e-01 1.91366878e-01 1.66564572e-03 2.44111179e+02] [-1.91366662e-01 9.81518577e-01 -2.89436698e-04 -2.73973206e+01] [-1.69025081e-03 -3.46619744e-05 9.99998571e-01 -6.09217389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.985769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.14, Y:-27.40, Z:-0.61 [[ 9.81426802e-01 1.91829765e-01 1.66565917e-03 2.44139964e+02] [-1.91829550e-01 9.81428214e-01 -2.89359258e-04 -2.73999069e+01] [-1.69023262e-03 -3.55377186e-05 9.99998571e-01 -6.11867506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.015769231 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.17, Y:-27.40, Z:-0.62 [[ 9.81308076e-01 1.92436187e-01 1.66567290e-03 2.44167907e+02] [-1.92435973e-01 9.81309489e-01 -2.89280175e-04 -2.74036735e+01] [-1.69020860e-03 -3.66624149e-05 9.99998571e-01 -6.15057399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.045769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.20, Y:-27.41, Z:-0.62 [[ 9.81192576e-01 1.93024231e-01 1.66568995e-03 2.44196250e+02] [-1.93024018e-01 9.81193989e-01 -2.89181973e-04 -2.74079331e+01] [-1.69018410e-03 -3.77749623e-05 9.99998571e-01 -6.16347457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.075769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:244.23, Y:-27.41, Z:-0.61 [[ 9.81004438e-01 1.93978138e-01 1.66570322e-03 2.44225059e+02] [-1.93977926e-01 9.81005851e-01 -2.89105549e-04 -2.74118155e+01] [-1.69014476e-03 -3.94958297e-05 9.99998571e-01 -6.14396394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.105769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.25, Y:-27.42, Z:-0.61 [[ 9.80948871e-01 1.94258944e-01 1.66571671e-03 2.44253843e+02] [-1.94258733e-01 9.80950285e-01 -2.89027782e-04 -2.74163524e+01] [-1.69013151e-03 -4.00585407e-05 9.99998571e-01 -6.13213861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.135769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.28, Y:-27.42, Z:-0.61 [[ 9.81352035e-01 1.92211884e-01 1.66573022e-03 2.44280740e+02] [-1.92211670e-01 9.81353448e-01 -2.88949919e-04 -2.74213940e+01] [-1.69020970e-03 -3.66111963e-05 9.99998571e-01 -6.13057732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.165769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.31, Y:-27.43, Z:-0.61 [[ 9.81898415e-01 1.89400970e-01 1.66574697e-03 2.44308186e+02] [-1.89400753e-01 9.81899828e-01 -2.88853333e-04 -2.74263573e+01] [-1.69030576e-03 -3.18690998e-05 9.99998571e-01 -6.12430018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.195769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.34, Y:-27.43, Z:-0.61 [[ 9.82532947e-01 1.86081253e-01 1.66576511e-03 2.44336948e+02] [-1.86081031e-01 9.82534359e-01 -2.88748657e-04 -2.74315979e+01] [-1.69040217e-03 -2.62622195e-05 9.99998571e-01 -6.10535923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22576923100002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.37, Y:-27.44, Z:-0.61 [[ 9.83670454e-01 1.79971284e-01 1.66577847e-03 2.44365219e+02] [-1.79971053e-01 9.83671864e-01 -2.88671596e-04 -2.74376134e+01] [-1.69053201e-03 -1.58341847e-05 9.99998571e-01 -6.11165591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25576923100002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.39, Y:-27.44, Z:-0.61 [[ 9.84101937e-01 1.77596744e-01 1.66578843e-03 2.44393277e+02] [-1.77596510e-01 9.84103346e-01 -2.88614072e-04 -2.74438842e+01] [-1.69056489e-03 -1.18125446e-05 9.99998571e-01 -6.13283209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.42, Y:-27.45, Z:-0.62 [[ 9.84954538e-01 1.72805621e-01 1.66579833e-03 2.44421992e+02] [-1.72805380e-01 9.84955947e-01 -2.88556914e-04 -2.74521867e+01] [-1.69060223e-03 -3.64347132e-06 9.99998571e-01 -6.15834556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31576923100002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.45, Y:-27.46, Z:-0.62 [[ 9.85290079e-01 1.70882080e-01 1.66580162e-03 2.44451104e+02] [-1.70881836e-01 9.85291487e-01 -2.88537943e-04 -2.74596750e+01] [-1.69060612e-03 -3.61667513e-07 9.99998571e-01 -6.16222778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.48, Y:-27.47, Z:-0.62 [[ 9.85597817e-01 1.69098102e-01 1.66580821e-03 2.44479384e+02] [-1.69097856e-01 9.85599225e-01 -2.88499904e-04 -2.74668736e+01] [-1.69060406e-03 2.66027967e-06 9.99998571e-01 -6.16424228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37576923100002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.51, Y:-27.48, Z:-0.62 [[ 9.85801799e-01 1.67904851e-01 1.66581148e-03 2.44507553e+02] [-1.67904603e-01 9.85803206e-01 -2.88481000e-04 -2.74779309e+01] [-1.69059966e-03 4.68767242e-06 9.99998571e-01 -6.15383571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.54, Y:-27.49, Z:-0.61 [[ 9.85792061e-01 1.67962013e-01 1.66581473e-03 2.44536891e+02] [-1.67961765e-01 9.85793468e-01 -2.88462252e-04 -2.74859376e+01] [-1.69059998e-03 4.57061595e-06 9.99998571e-01 -6.13381528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43576923100002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.57, Y:-27.49, Z:-0.61 [[ 9.85792061e-01 1.67962013e-01 1.66581473e-03 2.44567436e+02] [-1.67961765e-01 9.85793468e-01 -2.88462252e-04 -2.74912269e+01] [-1.69059998e-03 4.57061595e-06 9.99998571e-01 -6.13433936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46576923100002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.60, Y:-27.50, Z:-0.61 [[ 9.85673199e-01 1.68658145e-01 1.66581473e-03 2.44597158e+02] [-1.68657898e-01 9.85674607e-01 -2.88462252e-04 -2.74991565e+01] [-1.69060279e-03 3.37670038e-06 9.99998571e-01 -6.11728062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.63, Y:-27.51, Z:-0.61 [[ 9.84980518e-01 1.72657478e-01 1.66581473e-03 2.44625908e+02] [-1.72657237e-01 9.84981926e-01 -2.88462252e-04 -2.75076521e+01] [-1.69060257e-03 -3.48527047e-06 9.99998571e-01 -6.09538948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.65, Y:-27.51, Z:-0.61 [[ 9.84522245e-01 1.75251746e-01 1.66581171e-03 2.44654556e+02] [-1.75251509e-01 9.84523654e-01 -2.88479685e-04 -2.75136295e+01] [-1.69058760e-03 -7.92134843e-06 9.99998571e-01 -6.09568626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.68, Y:-27.52, Z:-0.61 [[ 9.83673202e-01 1.79956266e-01 1.66581810e-03 2.44683270e+02] [-1.79956036e-01 9.83674612e-01 -2.88442797e-04 -2.75209773e+01] [-1.69053006e-03 -1.60405712e-05 9.99998571e-01 -6.11391793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58576923100003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.71, Y:-27.53, Z:-0.61 [[ 9.83303850e-01 1.81963631e-01 1.66582444e-03 2.44711522e+02] [-1.81963403e-01 9.83305261e-01 -2.88406185e-04 -2.75270292e+01] [-1.69049337e-03 -1.95281710e-05 9.99998571e-01 -6.11578355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.74, Y:-27.53, Z:-0.61 [[ 9.83027851e-01 1.83448818e-01 1.66583390e-03 2.44740680e+02] [-1.83448592e-01 9.83029262e-01 -2.88351511e-04 -2.75329139e+01] [-1.69046121e-03 -2.21373182e-05 9.99998571e-01 -6.10420085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.77, Y:-27.54, Z:-0.61 [[ 9.82653172e-01 1.85445327e-01 1.66584015e-03 2.44768598e+02] [-1.85445105e-01 9.82654583e-01 -2.88315386e-04 -2.75376719e+01] [-1.69041220e-03 -2.56078733e-05 9.99998571e-01 -6.07528238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.675769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.80, Y:-27.54, Z:-0.61 [[ 9.82608693e-01 1.85680859e-01 1.66584946e-03 2.44797399e+02] [-1.85680637e-01 9.82610105e-01 -2.88261610e-04 -2.75427657e+01] [-1.69040517e-03 -2.60676249e-05 9.99998571e-01 -6.06840176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.705769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.83, Y:-27.55, Z:-0.61 [[ 9.82679844e-01 1.85303937e-01 1.66585564e-03 2.44825082e+02] [-1.85303715e-01 9.82681256e-01 -2.88225868e-04 -2.75484830e+01] [-1.69041450e-03 -2.54554882e-05 9.99998571e-01 -6.06877478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.735769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.85, Y:-27.55, Z:-0.61 [[ 9.83073344e-01 1.83204873e-01 1.66586487e-03 2.44853763e+02] [-1.83204647e-01 9.83074755e-01 -2.88172500e-04 -2.75544802e+01] [-1.69046431e-03 -2.18994837e-05 9.99998571e-01 -6.10635418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.765769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.88, Y:-27.56, Z:-0.61 [[ 9.83234863e-01 1.82336035e-01 1.66586793e-03 2.44883017e+02] [-1.82335808e-01 9.83236274e-01 -2.88154807e-04 -2.75592778e+01] [-1.69048278e-03 -2.04235243e-05 9.99998571e-01 -6.13697932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.795769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.91, Y:-27.56, Z:-0.62 [[ 9.83398995e-01 1.81448728e-01 1.66587404e-03 2.44911133e+02] [-1.81448500e-01 9.83400406e-01 -2.88119527e-04 -2.75639486e+01] [-1.69050012e-03 -1.89338917e-05 9.99998571e-01 -6.15777335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.825769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.94, Y:-27.57, Z:-0.61 [[ 9.83903563e-01 1.78692484e-01 1.66588314e-03 2.44942872e+02] [-1.78692252e-01 9.83904973e-01 -2.88066901e-04 -2.75710337e+01] [-1.69054609e-03 -1.42503585e-05 9.99998571e-01 -6.12007799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.855769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.97, Y:-27.58, Z:-0.61 [[ 9.84237747e-01 1.76842535e-01 1.66583623e-03 2.44973892e+02] [-1.76842301e-01 9.84239157e-01 -2.88337895e-04 -2.75776423e+01] [-1.69057165e-03 -1.07972707e-05 9.99998571e-01 -6.11096633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.885769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.01, Y:-27.59, Z:-0.61 [[ 9.84927466e-01 1.72959858e-01 1.66578917e-03 2.45005213e+02] [-1.72959617e-01 9.84928874e-01 -2.88609525e-04 -2.75872508e+01] [-1.69060171e-03 -3.85480890e-06 9.99998571e-01 -6.08551993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.915769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.04, Y:-27.59, Z:-0.61 [[ 9.85221347e-01 1.71277910e-01 1.66573596e-03 2.45036083e+02] [-1.71277666e-01 9.85222755e-01 -2.88916277e-04 -2.75949579e+01] [-1.69060595e-03 -6.56884712e-07 9.99998571e-01 -6.09343282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.945769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.07, Y:-27.61, Z:-0.61 [[ 9.85470030e-01 1.69841234e-01 1.66570049e-03 2.45067848e+02] [-1.69840988e-01 9.85471438e-01 -2.89120669e-04 -2.76051481e+01] [-1.69060486e-03 2.01553786e-06 9.99998571e-01 -6.08409424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:-27.61, Z:-0.61 [[ 9.85558685e-01 1.69326029e-01 1.66564440e-03 2.45099724e+02] [-1.69325782e-01 9.85560092e-01 -2.89443414e-04 -2.76129326e+01] [-1.69060295e-03 3.22693071e-06 9.99998571e-01 -6.07204815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.13, Y:-27.62, Z:-0.61 [[ 9.85646976e-01 1.68811326e-01 1.66558790e-03 2.45131303e+02] [-1.68811077e-01 9.85648384e-01 -2.89768197e-04 -2.76208429e+01] [-1.69060017e-03 4.43945982e-06 9.99998571e-01 -6.05989737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:-27.63, Z:-0.61 [[ 9.85781541e-01 1.68023747e-01 1.66553524e-03 2.45163461e+02] [-1.68023497e-01 9.85782948e-01 -2.90070558e-04 -2.76292509e+01] [-1.69059498e-03 6.09714716e-06 9.99998571e-01 -6.05143215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.19, Y:-27.64, Z:-0.61 [[ 9.86113403e-01 1.66064993e-01 1.66548239e-03 2.45193054e+02] [-1.66064740e-01 9.86114810e-01 -2.90373691e-04 -2.76409437e+01] [-1.69057775e-03 9.76348963e-06 9.99998571e-01 -6.12891070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09576923100002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.22, Y:-27.65, Z:-0.62 [[ 9.86253558e-01 1.65230582e-01 1.66543959e-03 2.45223678e+02] [-1.65230327e-01 9.86254964e-01 -2.90618964e-04 -2.76501743e+01] [-1.69056720e-03 1.14428599e-05 9.99998571e-01 -6.17567075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12576923100002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.25, Y:-27.66, Z:-0.62 [[ 9.86467553e-01 1.63948145e-01 1.66539107e-03 2.45252887e+02] [-1.63947887e-01 9.86468958e-01 -2.90896750e-04 -2.76622011e+01] [-1.69054857e-03 1.39228580e-05 9.99998571e-01 -6.21284403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15576923100002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.28, Y:-27.67, Z:-0.62 [[ 9.86357848e-01 1.64606870e-01 1.66534610e-03 2.45284272e+02] [-1.64606613e-01 9.86359254e-01 -2.91153962e-04 -2.76703292e+01] [-1.69055548e-03 1.30550139e-05 9.99998571e-01 -6.16683721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18576923100002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.31, Y:-27.68, Z:-0.61 [[ 9.86029165e-01 1.66564441e-01 1.66529798e-03 2.45314851e+02] [-1.66564186e-01 9.86030571e-01 -2.91428937e-04 -2.76777543e+01] [-1.69057641e-03 9.97842952e-06 9.99998571e-01 -6.13954679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21576923100002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.35, Y:-27.69, Z:-0.61 [[ 9.85151757e-01 1.71677731e-01 1.66525349e-03 2.45345759e+02] [-1.71677483e-01 9.85153164e-01 -2.91682943e-04 -2.76875775e+01] [-1.69060521e-03 1.46543664e-06 9.99998571e-01 -6.08938289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.38, Y:-27.70, Z:-0.61 [[ 9.84619308e-01 1.74705598e-01 1.66520615e-03 2.45377213e+02] [-1.74705354e-01 9.84620716e-01 -2.91952956e-04 -2.76964167e+01] [-1.69060228e-03 -3.45791208e-06 9.99998571e-01 -6.08507085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.41, Y:-27.71, Z:-0.61 [[ 9.83474200e-01 1.81040674e-01 1.66515246e-03 2.45408985e+02] [-1.81040439e-01 9.83475609e-01 -2.92258855e-04 -2.77082665e+01] [-1.69054757e-03 -1.40308868e-05 9.99998571e-01 -6.09852863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.44, Y:-27.72, Z:-0.61 [[ 9.82890737e-01 1.84182048e-01 1.66509814e-03 2.45439763e+02] [-1.84181817e-01 9.82892147e-01 -2.92567999e-04 -2.77157647e+01] [-1.69049766e-03 -1.91184237e-05 9.99998571e-01 -6.10563566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.47, Y:-27.72, Z:-0.61 [[ 9.82382482e-01 1.86873988e-01 1.66504754e-03 2.45471308e+02] [-1.86873760e-01 9.82383892e-01 -2.92855688e-04 -2.77228564e+01] [-1.69044299e-03 -2.34573971e-05 9.99998571e-01 -6.10487189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.50, Y:-27.73, Z:-0.61 [[ 9.81700500e-01 1.90424148e-01 1.66499729e-03 2.45502614e+02] [-1.90423924e-01 9.81701912e-01 -2.93141064e-04 -2.77292966e+01] [-1.69035216e-03 -2.92785891e-05 9.99998571e-01 -6.07859831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.53, Y:-27.74, Z:-0.61 [[ 9.81436114e-01 1.91782120e-01 1.66494755e-03 2.45534282e+02] [-1.91781898e-01 9.81437526e-01 -2.93423315e-04 -2.77356788e+01] [-1.69031535e-03 -3.13305629e-05 9.99998571e-01 -6.06709835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.425769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.57, Y:-27.74, Z:-0.61 [[ 9.81156098e-01 1.93209576e-01 1.66491467e-03 2.45566407e+02] [-1.93209356e-01 9.81157510e-01 -2.93609781e-04 -2.77426135e+01] [-1.69027175e-03 -3.36000637e-05 9.99998571e-01 -6.06568262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.455769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.60, Y:-27.75, Z:-0.61 [[ 9.80535445e-01 1.96335095e-01 1.66486249e-03 2.45597829e+02] [-1.96334879e-01 9.80536857e-01 -2.93905351e-04 -2.77496328e+01] [-1.69016297e-03 -3.86859617e-05 9.99998571e-01 -6.11301078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.485769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.63, Y:-27.76, Z:-0.61 [[ 9.80270182e-01 1.97655252e-01 1.66481680e-03 2.45629433e+02] [-1.97655037e-01 9.80271595e-01 -2.94163900e-04 -2.77558067e+01] [-1.69011566e-03 -4.06993279e-05 9.99998571e-01 -6.12919905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:-27.76, Z:-0.61 [[ 9.79992631e-01 1.99026812e-01 1.66476794e-03 2.45659612e+02] [-1.99026599e-01 9.79994044e-01 -2.94440198e-04 -2.77615576e+01] [-1.69006416e-03 -4.27838759e-05 9.99998571e-01 -6.09523778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:-27.77, Z:-0.61 [[ 9.79822800e-01 1.99861226e-01 1.66472610e-03 2.45692490e+02] [-1.99861013e-01 9.79824213e-01 -2.94676539e-04 -2.77664173e+01] [-1.69003336e-03 -4.39830544e-05 9.99998571e-01 -6.07294191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.575769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.73, Y:-27.77, Z:-0.61 [[ 9.79541331e-01 2.01236202e-01 1.66467469e-03 2.45725253e+02] [-2.01235991e-01 9.79542745e-01 -2.94966709e-04 -2.77701435e+01] [-1.68997799e-03 -4.60603769e-05 9.99998571e-01 -6.05236646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:-27.77, Z:-0.61 [[ 9.78713690e-01 2.05223638e-01 1.66462316e-03 2.45757306e+02] [-2.05223432e-01 9.78715104e-01 -2.95257221e-04 -2.77708620e+01] [-1.68978559e-03 -5.26473936e-05 9.99998571e-01 -6.06738297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:-27.77, Z:-0.61 [[ 9.78397538e-01 2.06725634e-01 1.66457499e-03 2.45790227e+02] [-2.06725430e-01 9.78398952e-01 -2.95528550e-04 -2.77741559e+01] [-1.68971175e-03 -5.49655745e-05 9.99998571e-01 -6.08180234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:-27.78, Z:-0.61 [[ 9.78378091e-01 2.06817648e-01 1.66452433e-03 2.45823387e+02] [-2.06817444e-01 9.78379506e-01 -2.95813581e-04 -2.77762275e+01] [-1.68971596e-03 -5.48351407e-05 9.99998571e-01 -6.09221456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:-27.78, Z:-0.61 [[ 9.78727153e-01 2.05159423e-01 1.66447340e-03 2.45855729e+02] [-2.05159216e-01 9.78728567e-01 -2.96099904e-04 -2.77811449e+01] [-1.68981535e-03 -5.16810407e-05 9.99998571e-01 -6.08766029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:-27.79, Z:-0.61 [[ 9.79256362e-01 2.02618377e-01 1.66441993e-03 2.45887938e+02] [-2.02618166e-01 9.79257776e-01 -2.96400138e-04 -2.77864743e+01] [-1.68995227e-03 -4.69899929e-05 9.99998571e-01 -6.07672096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:-27.79, Z:-0.61 [[ 9.80314477e-01 1.97435450e-01 1.66436445e-03 2.45919029e+02] [-1.97435231e-01 9.80315889e-01 -2.96711352e-04 -2.77921147e+01] [-1.69018425e-03 -3.77337450e-05 9.99998571e-01 -6.08698994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:-27.80, Z:-0.61 [[ 9.80788284e-01 1.95068121e-01 1.66431264e-03 2.45950227e+02] [-1.95067897e-01 9.80789696e-01 -2.97001680e-04 -2.77987797e+01] [-1.69027625e-03 -3.33581992e-05 9.99998571e-01 -6.08433445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:-27.81, Z:-0.61 [[ 9.81294856e-01 1.92503600e-01 1.66426584e-03 2.45982305e+02] [-1.92503372e-01 9.81296267e-01 -2.97263681e-04 -2.78067409e+01] [-1.69036219e-03 -2.86734658e-05 9.99998571e-01 -6.06944411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:-27.81, Z:-0.61 [[ 9.81321308e-01 1.92368710e-01 1.66421529e-03 2.46014459e+02] [-1.92368482e-01 9.81322719e-01 -2.97546433e-04 -2.78136766e+01] [-1.69037090e-03 -2.81539142e-05 9.99998571e-01 -6.06008381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:-27.82, Z:-0.61 [[ 9.81159693e-01 1.93191324e-01 1.66416002e-03 2.46046502e+02] [-1.93191097e-01 9.81161104e-01 -2.97855229e-04 -2.78205560e+01] [-1.69035213e-03 -2.92573548e-05 9.99998571e-01 -6.06027098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:-27.83, Z:-0.61 [[ 9.80468301e-01 1.96670135e-01 1.66410488e-03 2.46077712e+02] [-1.96669912e-01 9.80469712e-01 -2.98162974e-04 -2.78287604e+01] [-1.69024419e-03 -3.49400161e-05 9.99998571e-01 -6.05691193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-27.84, Z:-0.61 [[ 9.79912540e-01 1.99420775e-01 1.66405335e-03 2.46110121e+02] [-1.99420556e-01 9.79913952e-01 -2.98450283e-04 -2.78352135e+01] [-1.69014628e-03 -3.93912699e-05 9.99998571e-01 -6.05583737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:-27.84, Z:-0.61 [[ 9.79285033e-01 2.02479763e-01 1.66399902e-03 2.46142331e+02] [-2.02479548e-01 9.79286446e-01 -2.98752882e-04 -2.78415961e+01] [-1.69002310e-03 -4.43615431e-05 9.99998571e-01 -6.06120964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:-27.85, Z:-0.61 [[ 9.78374230e-01 2.06835918e-01 1.66394457e-03 2.46173625e+02] [-2.06835708e-01 9.78375644e-01 -2.99055831e-04 -2.78467392e+01] [-1.68981833e-03 -5.15746357e-05 9.99998571e-01 -6.07772086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.21, Y:-27.85, Z:-0.61 [[ 9.78222560e-01 2.07552054e-01 1.66389391e-03 2.46205694e+02] [-2.07551844e-01 9.78223973e-01 -2.99337460e-04 -2.78521914e+01] [-1.68978902e-03 -5.25255935e-05 9.99998571e-01 -6.08529488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.24, Y:-27.86, Z:-0.61 [[ 9.78371882e-01 2.06847026e-01 1.66384030e-03 2.46236668e+02] [-2.06846815e-01 9.78373295e-01 -2.99635120e-04 -2.78581639e+01] [-1.68983555e-03 -5.10054923e-05 9.99998571e-01 -6.09596666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.27, Y:-27.86, Z:-0.61 [[ 9.78575236e-01 2.05882831e-01 1.66379027e-03 2.46268926e+02] [-2.05882619e-01 9.78576649e-01 -2.99912663e-04 -2.78636580e+01] [-1.68989318e-03 -4.90583938e-05 9.99998571e-01 -6.11149112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.30, Y:-27.87, Z:-0.61 [[ 9.78755292e-01 2.05025147e-01 1.66373672e-03 2.46300238e+02] [-2.05024932e-01 9.78756705e-01 -3.00209451e-04 -2.78680828e+01] [-1.68994396e-03 -4.72759205e-05 9.99998571e-01 -6.12516811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.33, Y:-27.87, Z:-0.61 [[ 9.78890159e-01 2.04380257e-01 1.66368665e-03 2.46331681e+02] [-2.04380041e-01 9.78891571e-01 -3.00486659e-04 -2.78720816e+01] [-1.68998238e-03 -4.58809131e-05 9.99998571e-01 -6.13069991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.175769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:-27.88, Z:-0.61 [[ 9.79361923e-01 2.02107534e-01 1.66363704e-03 2.46363230e+02] [-2.02107314e-01 9.79363336e-01 -3.00761104e-04 -2.78751131e+01] [-1.69009120e-03 -4.16792400e-05 9.99998571e-01 -6.12556232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:-27.88, Z:-0.61 [[ 9.79644365e-01 2.00734031e-01 1.66358768e-03 2.46395274e+02] [-2.00733809e-01 9.79645776e-01 -3.01033857e-04 -2.78805986e+01] [-1.69015439e-03 -3.90321706e-05 9.99998571e-01 -6.12002979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:-27.88, Z:-0.61 [[ 9.80361181e-01 1.97203414e-01 1.66353497e-03 2.46427677e+02] [-1.97203187e-01 9.80362592e-01 -3.01324842e-04 -2.78849518e+01] [-1.69028975e-03 -3.26472197e-05 9.99998571e-01 -6.11414898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:-27.89, Z:-0.61 [[ 9.80838695e-01 1.94814494e-01 1.66348219e-03 2.46458745e+02] [-1.94814262e-01 9.80840105e-01 -3.01615972e-04 -2.78904977e+01] [-1.69036921e-03 -2.82334391e-05 9.99998571e-01 -6.13101186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.295769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.49, Y:-27.90, Z:-0.62 [[ 9.81894348e-01 1.89422075e-01 1.66344929e-03 2.46490599e+02] [-1.89421836e-01 9.81895757e-01 -3.01797308e-04 -2.78976103e+01] [-1.69050087e-03 -1.87605468e-05 9.99998571e-01 -6.16042014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.325769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.52, Y:-27.90, Z:-0.62 [[ 9.81859063e-01 1.89604887e-01 1.66343182e-03 2.46523514e+02] [-1.89604648e-01 9.81860472e-01 -3.01893571e-04 -2.79037832e+01] [-1.69049845e-03 -1.89774655e-05 9.99998571e-01 -6.16098645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:-27.91, Z:-0.62 [[ 9.82220982e-01 1.87721004e-01 1.66337555e-03 2.46554271e+02] [-1.87720762e-01 9.82222390e-01 -3.02203268e-04 -2.79108891e+01] [-1.69053461e-03 -1.54197341e-05 9.99998571e-01 -6.16729358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.59, Y:-27.92, Z:-0.61 [[ 9.82459550e-01 1.86468406e-01 1.66332302e-03 2.46586177e+02] [-1.86468161e-01 9.82460958e-01 -3.02492140e-04 -2.79179929e+01] [-1.69055515e-03 -1.29704925e-05 9.99998571e-01 -6.13613083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.62, Y:-27.92, Z:-0.61 [[ 9.82893120e-01 1.84169347e-01 1.66326696e-03 2.46616188e+02] [-1.84169099e-01 9.82894527e-01 -3.02800052e-04 -2.79245802e+01] [-1.69058248e-03 -8.70228904e-06 9.99998571e-01 -6.10437156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:-27.93, Z:-0.61 [[ 9.82968073e-01 1.83768880e-01 1.66322163e-03 2.46648682e+02] [-1.83768631e-01 9.82969480e-01 -3.03048841e-04 -2.79311844e+01] [-1.69058705e-03 -7.76062570e-06 9.99998571e-01 -6.10641507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.68, Y:-27.94, Z:-0.62 [[ 9.82740170e-01 1.84983761e-01 1.66316985e-03 2.46679291e+02] [-1.84983513e-01 9.82741577e-01 -3.03332755e-04 -2.79374738e+01] [-1.69057780e-03 -9.56171772e-06 9.99998571e-01 -6.16916243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.71, Y:-27.94, Z:-0.62 [[ 9.82439483e-01 1.86574102e-01 1.66312800e-03 2.46710871e+02] [-1.86573855e-01 9.82440891e-01 -3.03562012e-04 -2.79435058e+01] [-1.69056177e-03 -1.20648968e-05 9.99998571e-01 -6.21532319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:-27.95, Z:-0.62 [[ 9.82209117e-01 1.87783079e-01 1.66308305e-03 2.46742059e+02] [-1.87782833e-01 9.82210525e-01 -3.03808091e-04 -2.79491188e+01] [-1.69054770e-03 -1.38953705e-05 9.99998571e-01 -6.24348424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56576923100002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.77, Y:-27.96, Z:-0.62 [[ 9.82089863e-01 1.88405775e-01 1.66303837e-03 2.46773253e+02] [-1.88405530e-01 9.82091271e-01 -3.04052454e-04 -2.79550765e+01] [-1.69054071e-03 -1.47187941e-05 9.99998571e-01 -6.18194650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:-27.96, Z:-0.62 [[ 9.82103980e-01 1.88332174e-01 1.66298937e-03 2.46804002e+02] [-1.88331929e-01 9.82105387e-01 -3.04320252e-04 -2.79609729e+01] [-1.69054411e-03 -1.43198652e-05 9.99998571e-01 -6.15407983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.84, Y:-27.97, Z:-0.61 [[ 9.82056875e-01 1.88577646e-01 1.66294417e-03 2.46836498e+02] [-1.88577401e-01 9.82058283e-01 -3.04567014e-04 -2.79660890e+01] [-1.69054263e-03 -1.44915604e-05 9.99998571e-01 -6.11010688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.87, Y:-27.97, Z:-0.61 [[ 9.82052620e-01 1.88599804e-01 1.66288540e-03 2.46868000e+02] [-1.88599558e-01 9.82054028e-01 -3.04887554e-04 -2.79719813e+01] [-1.69054504e-03 -1.42038311e-05 9.99998571e-01 -6.10890783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:-27.98, Z:-0.61 [[ 9.82055193e-01 1.88586406e-01 1.66283049e-03 2.46899157e+02] [-1.88586159e-01 9.82056601e-01 -3.05186754e-04 -2.79779678e+01] [-1.69054773e-03 -1.38765785e-05 9.99998571e-01 -6.11748509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:-27.98, Z:-0.61 [[ 9.82151025e-01 1.88086682e-01 1.66277653e-03 2.46931881e+02] [-1.88086434e-01 9.82152432e-01 -3.05480468e-04 -2.79848350e+01] [-1.69055682e-03 -1.27177545e-05 9.99998571e-01 -6.12835948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.96, Y:-27.99, Z:-0.61 [[ 9.82177323e-01 1.87949304e-01 1.66271897e-03 2.46963930e+02] [-1.87949056e-01 9.82178731e-01 -3.05793433e-04 -2.79912194e+01] [-1.69056087e-03 -1.21630856e-05 9.99998571e-01 -6.13249833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.00, Y:-28.00, Z:-0.61 [[ 9.82146479e-01 1.88110419e-01 1.66266122e-03 2.46996732e+02] [-1.88110170e-01 9.82147886e-01 -3.06107130e-04 -2.79966442e+01] [-1.69056114e-03 -1.21214449e-05 9.99998571e-01 -6.11611325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:-28.00, Z:-0.61 [[ 9.82086841e-01 1.88421531e-01 1.66260227e-03 2.47028440e+02] [-1.88421282e-01 9.82088248e-01 -3.06426972e-04 -2.80026103e+01] [-1.69055959e-03 -1.23317539e-05 9.99998571e-01 -6.11333153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:-28.01, Z:-0.61 [[ 9.81979388e-01 1.88980733e-01 1.66254713e-03 2.47060843e+02] [-1.88980485e-01 9.81980795e-01 -3.06725848e-04 -2.80090907e+01] [-1.69055463e-03 -1.29905015e-05 9.99998571e-01 -6.09183221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:-28.02, Z:-0.61 [[ 9.81648899e-01 1.90689999e-01 1.66249133e-03 2.47091581e+02] [-1.90689753e-01 9.81650306e-01 -3.07028007e-04 -2.80164686e+01] [-1.69053229e-03 -1.56263548e-05 9.99998571e-01 -6.05955218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:-28.02, Z:-0.61 [[ 9.81388344e-01 1.92026442e-01 1.66243922e-03 2.47123720e+02] [-1.92026196e-01 9.81389752e-01 -3.07309876e-04 -2.80224779e+01] [-1.69051244e-03 -1.76415506e-05 9.99998571e-01 -6.05755859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.925769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.16, Y:-28.03, Z:-0.61 [[ 9.81091462e-01 1.93537542e-01 1.66238074e-03 2.47156823e+02] [-1.93537299e-01 9.81092870e-01 -3.07625902e-04 -2.80261484e+01] [-1.69048705e-03 -1.99235325e-05 9.99998571e-01 -6.09686841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.955769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:-28.03, Z:-0.61 [[ 9.81070354e-01 1.93644513e-01 1.66232023e-03 2.47187911e+02] [-1.93644269e-01 9.81071762e-01 -3.07952536e-04 -2.80315023e+01] [-1.69048876e-03 -1.97756824e-05 9.99998571e-01 -6.12155647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.985769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:-28.04, Z:-0.61 [[ 9.81178915e-01 1.93093690e-01 1.66226378e-03 2.47220206e+02] [-1.93093445e-01 9.81180323e-01 -3.08256935e-04 -2.80378893e+01] [-1.69050298e-03 -1.85170347e-05 9.99998571e-01 -6.12526691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.015769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:-28.04, Z:-0.61 [[ 9.81712508e-01 1.90362256e-01 1.66220466e-03 2.47251512e+02] [-1.90362006e-01 9.81713915e-01 -3.08575424e-04 -2.80443642e+01] [-1.69055056e-03 -1.34882605e-05 9.99998571e-01 -6.09953288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.045769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:-28.05, Z:-0.61 [[ 9.82041790e-01 1.88656198e-01 1.66214948e-03 2.47283652e+02] [-1.88655945e-01 9.82043196e-01 -3.08872325e-04 -2.80500757e+01] [-1.69057327e-03 -1.02488509e-05 9.99998571e-01 -6.08842684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.075769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.32, Y:-28.06, Z:-0.61 [[ 9.82532082e-01 1.86085854e-01 1.66209195e-03 2.47316599e+02] [-1.86085597e-01 9.82533488e-01 -3.09181610e-04 -2.80553076e+01] [-1.69059533e-03 -5.51052310e-06 9.99998571e-01 -6.08620341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.105769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:-28.06, Z:-0.61 [[ 9.82541143e-01 1.86038009e-01 1.66203202e-03 2.47347874e+02] [-1.86037752e-01 9.82542548e-01 -3.09503466e-04 -2.80613182e+01] [-1.69059658e-03 -5.10080996e-06 9.99998571e-01 -6.10640866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.135769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.38, Y:-28.07, Z:-0.61 [[ 9.82393188e-01 1.86817726e-01 1.66199478e-03 2.47379562e+02] [-1.86817469e-01 9.82394594e-01 -3.09703283e-04 -2.80680672e+01] [-1.69059275e-03 -6.23926318e-06 9.99998571e-01 -6.14865361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.165769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:-28.08, Z:-0.62 [[ 9.82280411e-01 1.87409798e-01 1.66194230e-03 2.47410861e+02] [-1.87409542e-01 9.82281817e-01 -3.09984633e-04 -2.80751347e+01] [-1.69058986e-03 -6.97201230e-06 9.99998571e-01 -6.16670512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.195769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.44, Y:-28.08, Z:-0.62 [[ 9.82167424e-01 1.88001034e-01 1.66190480e-03 2.47441537e+02] [-1.88000778e-01 9.82168830e-01 -3.10185546e-04 -2.80825242e+01] [-1.69058630e-03 -7.78525759e-06 9.99998571e-01 -6.17799863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.47, Y:-28.09, Z:-0.62 [[ 9.82085914e-01 1.88426367e-01 1.66184969e-03 2.47473352e+02] [-1.88426112e-01 9.82087320e-01 -3.10480562e-04 -2.80906575e+01] [-1.69058423e-03 -8.21728781e-06 9.99998571e-01 -6.17401202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.50, Y:-28.10, Z:-0.61 [[ 9.81885396e-01 1.89468488e-01 1.66179046e-03 2.47503614e+02] [-1.89468233e-01 9.81886802e-01 -3.10797233e-04 -2.81007595e+01] [-1.69057640e-03 -9.68923883e-06 9.99998571e-01 -6.12596008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:-28.11, Z:-0.61 [[ 9.81759099e-01 1.90121831e-01 1.66174254e-03 2.47535224e+02] [-1.90121577e-01 9.81760505e-01 -3.11053227e-04 -2.81084792e+01] [-1.69057121e-03 -1.05537772e-05 9.99998571e-01 -6.09607924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:-28.12, Z:-0.61 [[ 9.81415718e-01 1.91886496e-01 1.66168737e-03 2.47566877e+02] [-1.91886244e-01 9.81417125e-01 -3.11347682e-04 -2.81197145e+01] [-1.69055186e-03 -1.32934392e-05 9.99998571e-01 -6.07801643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:-28.13, Z:-0.61 [[ 9.81145329e-01 1.93264283e-01 1.66162840e-03 2.47597766e+02] [-1.93264033e-01 9.81146735e-01 -3.11662086e-04 -2.81283143e+01] [-1.69053443e-03 -1.53472062e-05 9.99998571e-01 -6.08693304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:-28.14, Z:-0.61 [[ 9.80792534e-01 1.95046774e-01 1.66157353e-03 2.47629607e+02] [-1.95046525e-01 9.80793942e-01 -3.11954318e-04 -2.81369529e+01] [-1.69050694e-03 -1.81216782e-05 9.99998571e-01 -6.10308004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.66, Y:-28.15, Z:-0.62 [[ 9.80061605e-01 1.98686914e-01 1.66151501e-03 2.47660426e+02] [-1.98686670e-01 9.80063013e-01 -3.12265709e-04 -2.81464712e+01] [-1.69043252e-03 -2.40812527e-05 9.99998571e-01 -6.15765334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:-28.15, Z:-0.62 [[ 9.79599188e-01 2.00954401e-01 1.66146325e-03 2.47692914e+02] [-2.00954160e-01 9.79600596e-01 -3.12540877e-04 -2.81547020e+01] [-1.69037685e-03 -2.77131618e-05 9.99998571e-01 -6.17020264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:-28.16, Z:-0.62 [[ 9.79137577e-01 2.03191645e-01 1.66140414e-03 2.47723603e+02] [-2.03191407e-01 9.79138986e-01 -3.12854775e-04 -2.81635837e+01] [-1.69031504e-03 -3.12551779e-05 9.99998571e-01 -6.16275366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:-28.17, Z:-0.61 [[ 9.78413795e-01 2.06648702e-01 1.66134915e-03 2.47754768e+02] [-2.06648468e-01 9.78415205e-01 -3.13146537e-04 -2.81737612e+01] [-1.69020059e-03 -3.69283646e-05 9.99998571e-01 -6.14086220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:-28.18, Z:-0.61 [[ 9.77910374e-01 2.09018041e-01 1.66129109e-03 2.47786396e+02] [-2.09017810e-01 9.77911784e-01 -3.13454255e-04 -2.81802900e+01] [-1.69011372e-03 -4.07092569e-05 9.99998571e-01 -6.14144860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-28.19, Z:-0.61 [[ 9.76887119e-01 2.13749377e-01 1.66123697e-03 2.47817839e+02] [-2.13749152e-01 9.76888531e-01 -3.13740781e-04 -2.81872958e+01] [-1.68990524e-03 -4.85986661e-05 9.99998571e-01 -6.13941981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.85, Y:-28.19, Z:-0.61 [[ 9.76382047e-01 2.16044759e-01 1.66120098e-03 2.47850036e+02] [-2.16044537e-01 9.76383459e-01 -3.13931231e-04 -2.81944249e+01] [-1.68979236e-03 -5.23765796e-05 9.99998571e-01 -6.13788051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:-28.20, Z:-0.61 [[ 9.76071874e-01 2.17441801e-01 1.66114400e-03 2.47882005e+02] [-2.17441581e-01 9.76073286e-01 -3.14232431e-04 -2.82001792e+01] [-1.68972555e-03 -5.44883409e-05 9.99998571e-01 -6.13487820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:-28.20, Z:-0.61 [[ 9.75770563e-01 2.18789965e-01 1.66109092e-03 2.47914170e+02] [-2.18789747e-01 9.75771975e-01 -3.14512775e-04 -2.82048481e+01] [-1.68965821e-03 -5.65373547e-05 9.99998571e-01 -6.14087039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.95, Y:-28.21, Z:-0.61 [[ 9.75837633e-01 2.18490628e-01 1.66103807e-03 2.47945316e+02] [-2.18490409e-01 9.75839045e-01 -3.14791672e-04 -2.82113478e+01] [-1.68968483e-03 -5.57353264e-05 9.99998571e-01 -6.14382413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.705769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.98, Y:-28.22, Z:-0.62 [[ 9.76105862e-01 2.17289181e-01 1.66100303e-03 2.47977907e+02] [-2.17288959e-01 9.76107273e-01 -3.14976435e-04 -2.82184531e+01] [-1.68975811e-03 -5.34672753e-05 9.99998571e-01 -6.15440898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.735769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:-28.23, Z:-0.62 [[ 9.76418517e-01 2.15879877e-01 1.66094735e-03 2.48009195e+02] [-2.15879652e-01 9.76419928e-01 -3.15269772e-04 -2.82254975e+01] [-1.68984249e-03 -5.07294937e-05 9.99998571e-01 -6.15616190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.765769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:-28.23, Z:-0.61 [[ 9.76846718e-01 2.13933943e-01 1.66089526e-03 2.48040685e+02] [-2.13933715e-01 9.76848128e-01 -3.15543956e-04 -2.82321646e+01] [-1.68994799e-03 -4.70834164e-05 9.99998571e-01 -6.11897437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.795769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:-28.24, Z:-0.61 [[ 9.76890729e-01 2.13732884e-01 1.66084351e-03 2.48073451e+02] [-2.13732656e-01 9.76892139e-01 -3.15816111e-04 -2.82384871e+01] [-1.68996526e-03 -4.64586640e-05 9.99998571e-01 -6.09074168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.825769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:-28.24, Z:-0.61 [[ 9.76445329e-01 2.15758572e-01 1.66078834e-03 2.48105511e+02] [-2.15758347e-01 9.76446740e-01 -3.16105954e-04 -2.82435633e+01] [-1.68987393e-03 -4.96687650e-05 9.99998571e-01 -6.06132988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.855769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:-28.25, Z:-0.61 [[ 9.75869899e-01 2.18346474e-01 1.66073699e-03 2.48138274e+02] [-2.18346252e-01 9.75871310e-01 -3.16375538e-04 -2.82492580e+01] [-1.68974506e-03 -5.38743322e-05 9.99998571e-01 -6.06359488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.885769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:-28.25, Z:-0.61 [[ 9.75313038e-01 2.20820563e-01 1.66068233e-03 2.48170684e+02] [-2.20820343e-01 9.75314450e-01 -3.16662193e-04 -2.82545167e+01] [-1.68961299e-03 -5.78676760e-05 9.99998571e-01 -6.07536203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.915769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:-28.26, Z:-0.61 [[ 9.74948664e-01 2.22423796e-01 1.66062766e-03 2.48202913e+02] [-2.22423578e-01 9.74950076e-01 -3.16948603e-04 -2.82606279e+01] [-1.68952598e-03 -6.03541293e-05 9.99998571e-01 -6.08078535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.945769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:-28.27, Z:-0.61 [[ 9.75147963e-01 2.21548398e-01 1.66057317e-03 2.48235610e+02] [-2.21548179e-01 9.75149375e-01 -3.17233829e-04 -2.82675186e+01] [-1.68958954e-03 -5.85470406e-05 9.99998571e-01 -6.07375900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.27, Y:-28.27, Z:-0.61 [[ 9.75571747e-01 2.19674781e-01 1.66051457e-03 2.48267243e+02] [-2.19674559e-01 9.75573158e-01 -3.17540269e-04 -2.82734770e+01] [-1.68970904e-03 -5.49894905e-05 9.99998571e-01 -6.06279632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.30, Y:-28.28, Z:-0.61 [[ 9.76286664e-01 2.16475385e-01 1.66046010e-03 2.48300130e+02] [-2.16475157e-01 9.76288075e-01 -3.17824868e-04 -2.82785271e+01] [-1.68988865e-03 -4.91601808e-05 9.99998571e-01 -6.08885692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.33, Y:-28.28, Z:-0.61 [[ 9.76415673e-01 2.15892741e-01 1.66039965e-03 2.48331113e+02] [-2.15892512e-01 9.76417084e-01 -3.18140336e-04 -2.82842838e+01] [-1.68992678e-03 -4.78306417e-05 9.99998571e-01 -6.11661306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.36, Y:-28.29, Z:-0.61 [[ 9.76310400e-01 2.16368311e-01 1.66034314e-03 2.48362787e+02] [-2.16368082e-01 9.76311811e-01 -3.18434991e-04 -2.82903106e+01] [-1.68991186e-03 -4.83538677e-05 9.99998571e-01 -6.14252320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.39, Y:-28.29, Z:-0.62 [[ 9.75902548e-01 2.18200506e-01 1.66028866e-03 2.48393820e+02] [-2.18200279e-01 9.75903959e-01 -3.18718817e-04 -2.82932259e+01] [-1.68982688e-03 -5.12369427e-05 9.99998571e-01 -6.17875662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.43, Y:-28.30, Z:-0.62 [[ 9.75678962e-01 2.19198097e-01 1.66026244e-03 2.48426404e+02] [-2.19197872e-01 9.75680374e-01 -3.18855343e-04 -2.82972017e+01] [-1.68977796e-03 -5.28255425e-05 9.99998571e-01 -6.15745079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:-28.30, Z:-0.61 [[ 9.75216851e-01 2.21244970e-01 1.66020162e-03 2.48458626e+02] [-2.21244747e-01 9.75218263e-01 -3.19171711e-04 -2.83000758e+01] [-1.68967407e-03 -5.60492551e-05 9.99998571e-01 -6.09911380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.49, Y:-28.31, Z:-0.61 [[ 9.74957575e-01 2.22384737e-01 1.66014471e-03 2.48491666e+02] [-2.22384515e-01 9.74958987e-01 -3.19467447e-04 -2.83053721e+01] [-1.68961768e-03 -5.77232683e-05 9.99998571e-01 -6.08532034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:-28.31, Z:-0.62 [[ 9.74769611e-01 2.23207190e-01 1.66008477e-03 2.48523529e+02] [-2.23206969e-01 9.74771023e-01 -3.19778621e-04 -2.83082058e+01] [-1.68957941e-03 -5.88320070e-05 9.99998571e-01 -6.15101226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:-28.31, Z:-0.62 [[ 9.74727969e-01 2.23388969e-01 1.66002881e-03 2.48556374e+02] [-2.23388747e-01 9.74729380e-01 -3.20068807e-04 -2.83147224e+01] [-1.68957870e-03 -5.88517392e-05 9.99998571e-01 -6.15157888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:-28.32, Z:-0.62 [[ 9.74728180e-01 2.23388047e-01 1.65996907e-03 2.48587482e+02] [-2.23387825e-01 9.74729592e-01 -3.20378370e-04 -2.83180744e+01] [-1.68958967e-03 -5.85350534e-05 9.99998571e-01 -6.20953991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.62, Y:-28.32, Z:-0.62 [[ 9.74743909e-01 2.23319403e-01 1.65993945e-03 2.48619748e+02] [-2.23319181e-01 9.74745321e-01 -3.20531762e-04 -2.83216197e+01] [-1.68959917e-03 -5.82599348e-05 9.99998571e-01 -6.24894754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.65, Y:-28.33, Z:-0.63 [[ 9.74785645e-01 2.23137159e-01 1.65988734e-03 2.48652096e+02] [-2.23136936e-01 9.74787056e-01 -3.20801390e-04 -2.83258130e+01] [-1.68961940e-03 -5.76695842e-05 9.99998571e-01 -6.25397349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.68, Y:-28.33, Z:-0.62 [[ 9.75024711e-01 2.22090202e-01 1.65982784e-03 2.48683232e+02] [-2.22089977e-01 9.75026122e-01 -3.21108937e-04 -2.83297521e+01] [-1.68969065e-03 -5.55419782e-05 9.99998571e-01 -6.17284859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.71, Y:-28.33, Z:-0.61 [[ 9.75094836e-01 2.21782114e-01 1.65979990e-03 2.48714993e+02] [-2.21781889e-01 9.75096247e-01 -3.21253320e-04 -2.83348622e+01] [-1.68971289e-03 -5.48611020e-05 9.99998571e-01 -6.13225151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:-28.34, Z:-0.61 [[ 9.75208568e-01 2.21281482e-01 1.65974439e-03 2.48747192e+02] [-2.21281255e-01 9.75209979e-01 -3.21539841e-04 -2.83389273e+01] [-1.68975010e-03 -5.37019138e-05 9.99998571e-01 -6.09114055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.455769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.78, Y:-28.34, Z:-0.61 [[ 9.75191119e-01 2.21358368e-01 1.65968936e-03 2.48778106e+02] [-2.21358140e-01 9.75192530e-01 -3.21823651e-04 -2.83449779e+01] [-1.68975502e-03 -5.35461834e-05 9.99998571e-01 -6.09798514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.485769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:-28.35, Z:-0.61 [[ 9.75211133e-01 2.21270177e-01 1.65963481e-03 2.48811009e+02] [-2.21269949e-01 9.75212544e-01 -3.22104673e-04 -2.83510925e+01] [-1.68976885e-03 -5.31072474e-05 9.99998571e-01 -6.10711516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.515769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:-28.35, Z:-0.61 [[ 9.75357416e-01 2.20624471e-01 1.65957653e-03 2.48843278e+02] [-2.20624241e-01 9.75358826e-01 -3.22404693e-04 -2.83542433e+01] [-1.68981298e-03 -5.16830045e-05 9.99998571e-01 -6.13816492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.545769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.88, Y:-28.36, Z:-0.62 [[ 9.75380232e-01 2.20523579e-01 1.65952198e-03 2.48875241e+02] [-2.20523349e-01 9.75381642e-01 -3.22685212e-04 -2.83588754e+01] [-1.68982698e-03 -5.12225681e-05 9.99998571e-01 -6.15529317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.575769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.91, Y:-28.37, Z:-0.62 [[ 9.75545955e-01 2.19789300e-01 1.65947121e-03 2.48907890e+02] [-2.19789068e-01 9.75547365e-01 -3.22946100e-04 -2.83650790e+01] [-1.68987287e-03 -4.96848703e-05 9.99998571e-01 -6.17029803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.605769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.94, Y:-28.37, Z:-0.62 [[ 9.75651304e-01 2.19321179e-01 1.65941216e-03 2.48939349e+02] [-2.19320946e-01 9.75652714e-01 -3.23249230e-04 -2.83710583e+01] [-1.68990538e-03 -4.85653134e-05 9.99998571e-01 -6.16290604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.635769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.97, Y:-28.38, Z:-0.61 [[ 9.75787209e-01 2.18715727e-01 1.65935709e-03 2.48970467e+02] [-2.18715492e-01 9.75788619e-01 -3.23531710e-04 -2.83753761e+01] [-1.68994323e-03 -4.72289986e-05 9.99998571e-01 -6.14612604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.665769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.00, Y:-28.38, Z:-0.61 [[ 9.76057011e-01 2.17508524e-01 1.65934994e-03 2.49002698e+02] [-2.17508288e-01 9.76058420e-01 -3.23568346e-04 -2.83784443e+01] [-1.69000136e-03 -4.51012124e-05 9.99998571e-01 -6.13390877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.695769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.03, Y:-28.38, Z:-0.61 [[ 9.76395078e-01 2.15985874e-01 1.65929901e-03 2.49033495e+02] [-2.15985636e-01 9.76396487e-01 -3.23829320e-04 -2.83841241e+01] [-1.69007629e-03 -4.21993984e-05 9.99998571e-01 -6.12920875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:-28.39, Z:-0.61 [[ 9.76925937e-01 2.13571907e-01 1.65926999e-03 2.49064529e+02] [-2.13571665e-01 9.76927346e-01 -3.23977971e-04 -2.83898459e+01] [-1.69017882e-03 -3.78705707e-05 9.99998571e-01 -6.11906570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:-28.40, Z:-0.61 [[ 9.78081940e-01 2.08213751e-01 1.65926289e-03 2.49096815e+02] [-2.08213501e-01 9.78083347e-01 -3.24014318e-04 -2.83952247e+01] [-1.69036164e-03 -2.85683825e-05 9.99998571e-01 -6.11465256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.13, Y:-28.40, Z:-0.61 [[ 9.78526327e-01 2.06115199e-01 1.65920364e-03 2.49129579e+02] [-2.06114946e-01 9.78527733e-01 -3.24317459e-04 -2.84020735e+01] [-1.69042353e-03 -2.46334958e-05 9.99998571e-01 -6.13560398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.16, Y:-28.41, Z:-0.62 [[ 9.78960686e-01 2.04042206e-01 1.65914411e-03 2.49160795e+02] [-2.04041949e-01 9.78962092e-01 -3.24621720e-04 -2.84099583e+01] [-1.69047572e-03 -2.07430953e-05 9.99998571e-01 -6.17862260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.19, Y:-28.42, Z:-0.62 [[ 9.78854171e-01 2.04552584e-01 1.65908943e-03 2.49191998e+02] [-2.04552327e-01 9.78855577e-01 -3.24900912e-04 -2.84159241e+01] [-1.69046826e-03 -2.13399916e-05 9.99998571e-01 -6.19291994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:-28.42, Z:-0.62 [[ 9.78468859e-01 2.06387840e-01 1.65903109e-03 2.49224736e+02] [-2.06387585e-01 9.78470265e-01 -3.25198563e-04 -2.84212317e+01] [-1.69042962e-03 -2.42067526e-05 9.99998571e-01 -6.17359783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.26, Y:-28.42, Z:-0.61 [[ 9.77380029e-01 2.11484107e-01 1.65897089e-03 2.49255674e+02] [-2.11483859e-01 9.77381436e-01 -3.25505359e-04 -2.84245553e+01] [-1.69028656e-03 -3.27031301e-05 9.99998571e-01 -6.12024020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.29, Y:-28.43, Z:-0.61 [[ 9.76804151e-01 2.14128228e-01 1.65892219e-03 2.49286694e+02] [-2.14127983e-01 9.76805559e-01 -3.25753354e-04 -2.84293713e+01] [-1.69019741e-03 -3.70244347e-05 9.99998571e-01 -6.11100336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.32, Y:-28.43, Z:-0.61 [[ 9.75793939e-01 2.18685705e-01 1.65891481e-03 2.49317658e+02] [-2.18685467e-01 9.75795348e-01 -3.25790962e-04 -2.84319697e+01] [-1.69000718e-03 -4.48757126e-05 9.99998571e-01 -6.13602140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.35, Y:-28.44, Z:-0.61 [[ 9.75434559e-01 2.20283158e-01 1.65890714e-03 2.49348342e+02] [-2.20282922e-01 9.75435968e-01 -3.25830025e-04 -2.84353092e+01] [-1.68993255e-03 -4.76030451e-05 9.99998571e-01 -6.14950344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.38, Y:-28.44, Z:-0.62 [[ 9.75274669e-01 2.20989973e-01 1.65890332e-03 2.49378523e+02] [-2.20989738e-01 9.75276079e-01 -3.25849472e-04 -2.84382865e+01] [-1.68989819e-03 -4.88078732e-05 9.99998571e-01 -6.15174837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.41, Y:-28.44, Z:-0.61 [[ 9.75613394e-01 2.19489757e-01 1.65890332e-03 2.49408002e+02] [-2.19489520e-01 9.75614803e-01 -3.25849472e-04 -2.84387791e+01] [-1.68997125e-03 -4.62087826e-05 9.99998571e-01 -6.14391158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:-28.44, Z:-0.61 [[ 9.75944869e-01 2.18011150e-01 1.65890704e-03 2.49438867e+02] [-2.18010911e-01 9.75946278e-01 -3.25830525e-04 -2.84424173e+01] [-1.69003883e-03 -4.36672044e-05 9.99998571e-01 -6.12995942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.47, Y:-28.44, Z:-0.61 [[ 9.76576097e-01 2.15165924e-01 1.65889939e-03 2.49470755e+02] [-2.15165680e-01 9.76577505e-01 -3.25869437e-04 -2.84429594e+01] [-1.69015983e-03 -3.87019138e-05 9.99998571e-01 -6.13489541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.50, Y:-28.45, Z:-0.62 [[ 9.76848951e-01 2.13923761e-01 1.65889169e-03 2.49501339e+02] [-2.13923515e-01 9.76850359e-01 -3.25908665e-04 -2.84469646e+01] [-1.69020855e-03 -3.65124042e-05 9.99998571e-01 -6.15430447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:-28.45, Z:-0.62 [[ 9.77158951e-01 2.12503252e-01 1.65887368e-03 2.49531883e+02] [-2.12503005e-01 9.77160359e-01 -3.26000283e-04 -2.84520421e+01] [-1.69026172e-03 -3.39615472e-05 9.99998571e-01 -6.16835299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.205769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:-28.46, Z:-0.62 [[ 9.78279104e-01 2.07285414e-01 1.65886594e-03 2.49561426e+02] [-2.07285159e-01 9.78280510e-01 -3.26039666e-04 -2.84571339e+01] [-1.69041949e-03 -2.49004980e-05 9.99998571e-01 -6.16425353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.235769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:-28.46, Z:-0.62 [[ 9.79034448e-01 2.03687991e-01 1.65886207e-03 2.49591825e+02] [-2.03687731e-01 9.79035853e-01 -3.26059348e-04 -2.84623910e+01] [-1.69049982e-03 -1.86665182e-05 9.99998571e-01 -6.15957076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.265769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:-28.47, Z:-0.62 [[ 9.80313784e-01 1.97438936e-01 1.65885447e-03 2.49622687e+02] [-1.97438667e-01 9.80315187e-01 -3.26098037e-04 -2.84692657e+01] [-1.69058468e-03 -7.84361476e-06 9.99998571e-01 -6.15876193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.295769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.65, Y:-28.48, Z:-0.62 [[ 9.80819376e-01 1.94911776e-01 1.65884060e-03 2.49652573e+02] [-1.94911503e-01 9.80820779e-01 -3.26168584e-04 -2.84768619e+01] [-1.69059942e-03 -3.41464650e-06 9.99998571e-01 -6.15858579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.325769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:-28.49, Z:-0.62 [[ 9.81794381e-01 1.89939574e-01 1.65882281e-03 2.49683869e+02] [-1.89939294e-01 9.81795782e-01 -3.26259033e-04 -2.84860156e+01] [-1.69059474e-03 5.24365329e-06 9.99998571e-01 -6.18419082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.355769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.71, Y:-28.49, Z:-0.62 [[ 9.82301636e-01 1.87298543e-01 1.65876959e-03 2.49714670e+02] [-1.87298258e-01 9.82303037e-01 -3.26529357e-04 -2.84946029e+01] [-1.69057288e-03 1.00656662e-05 9.99998571e-01 -6.20041783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.385769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:-28.51, Z:-0.62 [[ 9.82674522e-01 1.85332224e-01 1.65871619e-03 2.49745512e+02] [-1.85331937e-01 9.82675921e-01 -3.26800396e-04 -2.85052048e+01] [-1.69054711e-03 1.37253390e-05 9.99998571e-01 -6.20219173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.415769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:-28.52, Z:-0.62 [[ 9.82996865e-01 1.83614846e-01 1.65867820e-03 2.49775667e+02] [-1.83614556e-01 9.82998264e-01 -3.26993088e-04 -2.85205530e+01] [-1.69051858e-03 1.68757189e-05 9.99998571e-01 -6.17511205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.445769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:-28.53, Z:-0.62 [[ 9.82861561e-01 1.84337737e-01 1.65861751e-03 2.49807882e+02] [-1.84337447e-01 9.82862960e-01 -3.27300683e-04 -2.85296029e+01] [-1.69052758e-03 1.59459432e-05 9.99998571e-01 -6.16568479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.84, Y:-28.54, Z:-0.62 [[ 9.82067315e-01 1.88523307e-01 1.65855312e-03 2.49839326e+02] [-1.88523022e-01 9.82068716e-01 -3.27626633e-04 -2.85374784e+01] [-1.69057839e-03 9.07596122e-06 9.99998571e-01 -6.17549460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:-28.55, Z:-0.62 [[ 9.81528585e-01 1.91308352e-01 1.65849311e-03 2.49871443e+02] [-1.91308071e-01 9.81529987e-01 -3.27930109e-04 -2.85458035e+01] [-1.69059649e-03 4.58965788e-06 9.99998571e-01 -6.17691888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:-28.55, Z:-0.62 [[ 9.81041842e-01 1.93788943e-01 1.65843292e-03 2.49903181e+02] [-1.93788665e-01 9.81043244e-01 -3.28234240e-04 -2.85546777e+01] [-1.69060258e-03 6.26021910e-07 9.99998571e-01 -6.16661099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:-28.56, Z:-0.61 [[ 9.80223555e-01 1.97886413e-01 1.65837302e-03 2.49934679e+02] [-1.97886140e-01 9.80224958e-01 -3.28536604e-04 -2.85618785e+01] [-1.69059155e-03 -6.12971818e-06 9.99998571e-01 -6.14523356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.97, Y:-28.57, Z:-0.61 [[ 9.79640629e-01 2.00752306e-01 1.65832084e-03 2.49966485e+02] [-2.00752037e-01 9.79642032e-01 -3.28799757e-04 -2.85657296e+01] [-1.69056811e-03 -1.08056865e-05 9.99998571e-01 -6.13859746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.00, Y:-28.57, Z:-0.61 [[ 9.78302884e-01 2.07173159e-01 1.65826890e-03 2.49997787e+02] [-2.07172899e-01 9.78304289e-01 -3.29061504e-04 -2.85670426e+01] [-1.69046429e-03 -2.16265572e-05 9.99998571e-01 -6.12504271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:-28.57, Z:-0.61 [[ 9.77823240e-01 2.09425311e-01 1.65826121e-03 2.50028157e+02] [-2.09425054e-01 9.77824646e-01 -3.29100248e-04 -2.85718395e+01] [-1.69041061e-03 -2.54795739e-05 9.99998571e-01 -6.11484633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.06, Y:-28.58, Z:-0.61 [[ 9.77604288e-01 2.10445020e-01 1.65821151e-03 2.50058874e+02] [-2.10444764e-01 9.77605694e-01 -3.29350488e-04 -2.85765196e+01] [-1.69038719e-03 -2.69874807e-05 9.99998571e-01 -6.10788306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71576923100002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:-28.58, Z:-0.61 [[ 9.77498494e-01 2.10935876e-01 1.65820392e-03 2.50089812e+02] [-2.10935620e-01 9.77499901e-01 -3.29388711e-04 -2.85804110e+01] [-1.69037406e-03 -2.77973034e-05 9.99998571e-01 -6.12428190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.12, Y:-28.58, Z:-0.62 [[ 9.77497702e-01 2.10939547e-01 1.65819627e-03 2.50121246e+02] [-2.10939291e-01 9.77499108e-01 -3.29427237e-04 -2.85817057e+01] [-1.69037460e-03 -2.77643777e-05 9.99998571e-01 -6.19338616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.15, Y:-28.59, Z:-0.62 [[ 9.77947685e-01 2.08843423e-01 1.65818868e-03 2.50151317e+02] [-2.08843164e-01 9.77949091e-01 -3.29465427e-04 -2.85868706e+01] [-1.69043080e-03 -2.41014193e-05 9.99998571e-01 -6.19076233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.18, Y:-28.59, Z:-0.62 [[ 9.78267520e-01 2.07340081e-01 1.65817109e-03 2.50181027e+02] [-2.07339820e-01 9.78268925e-01 -3.29553921e-04 -2.85914926e+01] [-1.69046699e-03 -2.14129982e-05 9.99998571e-01 -6.16687519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.21, Y:-28.60, Z:-0.61 [[ 9.78668047e-01 2.05441241e-01 1.65817109e-03 2.50210018e+02] [-2.05440978e-01 9.78669452e-01 -3.29553921e-04 -2.85955962e+01] [-1.69050536e-03 -1.81323974e-05 9.99998571e-01 -6.14804071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.24, Y:-28.60, Z:-0.61 [[ 9.78948529e-01 2.04100535e-01 1.65817482e-03 2.50240409e+02] [-2.04100270e-01 9.78949933e-01 -3.29535141e-04 -2.86015440e+01] [-1.69052843e-03 -1.58359867e-05 9.99998571e-01 -6.14775433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:250.27, Y:-28.61, Z:-0.62 [[ 9.79389795e-01 2.01972472e-01 1.65817482e-03 2.50269884e+02] [-2.01972204e-01 9.79391199e-01 -3.29535141e-04 -2.86127414e+01] [-1.69055885e-03 -1.21618687e-05 9.99998571e-01 -6.15682207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:250.30, Y:-28.62, Z:-0.61 [[ 9.79143425e-01 2.03163489e-01 1.65816730e-03 2.50299915e+02] [-2.03163222e-01 9.79144829e-01 -3.29572995e-04 -2.86173089e+01] [-1.69054314e-03 -1.41793797e-05 9.99998571e-01 -6.13066598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.955769231 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:250.33, Y:-28.62, Z:-0.61 [[ 9.78603326e-01 2.05749317e-01 1.65816356e-03 2.50329663e+02] [-2.05749054e-01 9.78604730e-01 -3.29591821e-04 -2.86203444e+01] [-1.69049999e-03 -1.86259309e-05 9.99998571e-01 -6.12171175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.985769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:250.36, Y:-28.62, Z:-0.61 [[ 9.77922894e-01 2.08959479e-01 1.65817103e-03 2.50360010e+02] [-2.08959221e-01 9.77924299e-01 -3.29554219e-04 -2.86249689e+01] [-1.69042922e-03 -2.42115111e-05 9.99998571e-01 -6.11952111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:250.39, Y:-28.63, Z:-0.61 [[ 9.77342050e-01 2.11659558e-01 1.65817103e-03 2.50387818e+02] [-2.11659304e-01 9.77343456e-01 -3.29554219e-04 -2.86303138e+01] [-1.69035590e-03 -2.88801301e-05 9.99998571e-01 -6.12358270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:250.42, Y:-28.64, Z:-0.61 [[ 9.76423600e-01 2.15856906e-01 1.65818214e-03 2.50416830e+02] [-2.15856658e-01 9.76425007e-01 -3.29498300e-04 -2.86350932e+01] [-1.69021499e-03 -3.61997391e-05 9.99998571e-01 -6.11125113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07576923100004 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:250.45, Y:-28.64, Z:-0.61 [[ 9.76228619e-01 2.16737015e-01 1.65818959e-03 2.50445119e+02] [-2.16736768e-01 9.76230027e-01 -3.29460807e-04 -2.86387184e+01] [-1.69018082e-03 -3.77615842e-05 9.99998571e-01 -6.10760657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10576923100007 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.48, Y:-28.64, Z:-0.61 [[ 9.76343575e-01 2.16218577e-01 1.65819792e-03 2.50475591e+02] [-2.16218330e-01 9.76344983e-01 -3.29418877e-04 -2.86412793e+01] [-1.69019970e-03 -3.69067806e-05 9.99998571e-01 -6.14941950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.51, Y:-28.65, Z:-0.61 [[ 9.76348609e-01 2.16195846e-01 1.65819792e-03 2.50505189e+02] [-2.16195598e-01 9.76350017e-01 -3.29418877e-04 -2.86471141e+01] [-1.69020056e-03 -3.68674295e-05 9.99998571e-01 -6.14992951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16576923100007 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.53, Y:-28.65, Z:-0.62 [[ 9.76750070e-01 2.14374792e-01 1.65820559e-03 2.50534386e+02] [-2.14374542e-01 9.76751477e-01 -3.29380270e-04 -2.86517060e+01] [-1.69026558e-03 -3.37548616e-05 9.99998571e-01 -6.18346149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:250.56, Y:-28.66, Z:-0.62 [[ 9.77786152e-01 2.09598406e-01 1.65820123e-03 2.50563751e+02] [-2.09598149e-01 9.77787557e-01 -3.29402232e-04 -2.86569742e+01] [-1.69041071e-03 -2.54709660e-05 9.99998571e-01 -6.19371403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2257692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:250.59, Y:-28.66, Z:-0.62 [[ 9.78336097e-01 2.07016261e-01 1.65820504e-03 2.50592247e+02] [-2.07016000e-01 9.78337502e-01 -3.29383044e-04 -2.86629290e+01] [-1.69047182e-03 -2.10276522e-05 9.99998571e-01 -6.17857153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.62, Y:-28.67, Z:-0.62 [[ 9.78815061e-01 2.04739656e-01 1.65820881e-03 2.50622656e+02] [-2.04739392e-01 9.78816465e-01 -3.29364033e-04 -2.86692641e+01] [-1.69051597e-03 -1.71141877e-05 9.99998571e-01 -6.16425504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2857692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:250.65, Y:-28.67, Z:-0.62 [[ 9.79089988e-01 2.03420857e-01 1.65820109e-03 2.50652317e+02] [-2.03420591e-01 9.79091392e-01 -3.29402939e-04 -2.86749305e+01] [-1.69053784e-03 -1.47971244e-05 9.99998571e-01 -6.15165300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:250.68, Y:-28.68, Z:-0.62 [[ 9.78997092e-01 2.03867468e-01 1.65820109e-03 2.50681564e+02] [-2.03867203e-01 9.78998496e-01 -3.29402939e-04 -2.86793863e+01] [-1.69053091e-03 -1.55682971e-05 9.99998571e-01 -6.16655802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.345769231 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:250.71, Y:-28.68, Z:-0.62 [[ 9.78742218e-01 2.05087594e-01 1.65819675e-03 2.50711698e+02] [-2.05087330e-01 9.78743622e-01 -3.29424776e-04 -2.86820449e+01] [-1.69051043e-03 -1.76532077e-05 9.99998571e-01 -6.19324857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:250.74, Y:-28.69, Z:-0.62 [[ 9.78714778e-01 2.05218502e-01 1.65820439e-03 2.50740036e+02] [-2.05218238e-01 9.78716183e-01 -3.29386307e-04 -2.86860621e+01] [-1.69050763e-03 -1.79185373e-05 9.99998571e-01 -6.18765226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.405769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:250.77, Y:-28.69, Z:-0.62 [[ 9.78844580e-01 2.04598479e-01 1.65821580e-03 2.50769701e+02] [-2.04598215e-01 9.78845985e-01 -3.29328842e-04 -2.86903263e+01] [-1.69051806e-03 -1.69062409e-05 9.99998571e-01 -6.16404177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43576923100005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:250.80, Y:-28.70, Z:-0.61 [[ 9.79058120e-01 2.03574182e-01 1.65822339e-03 2.50797872e+02] [-2.03573916e-01 9.79059524e-01 -3.29290622e-04 -2.86960195e+01] [-1.69053447e-03 -1.51763725e-05 9.99998571e-01 -6.14806267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.465769231 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:250.83, Y:-28.70, Z:-0.62 [[ 9.79176516e-01 2.03003945e-01 1.65823472e-03 2.50825822e+02] [-2.03003678e-01 9.79177920e-01 -3.29233556e-04 -2.87032059e+01] [-1.69054253e-03 -1.42499818e-05 9.99998571e-01 -6.16906526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:250.85, Y:-28.71, Z:-0.62 [[ 9.79424433e-01 2.01804436e-01 1.65824593e-03 2.50854736e+02] [-2.01804168e-01 9.79425837e-01 -3.29177068e-04 -2.87118764e+01] [-1.69055830e-03 -1.22368782e-05 9.99998571e-01 -6.22595275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.525769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:250.88, Y:-28.72, Z:-0.62 [[ 9.79479545e-01 2.01536773e-01 1.65825339e-03 2.50883889e+02] [-2.01536504e-01 9.79480949e-01 -3.29139496e-04 -2.87184360e+01] [-1.69056132e-03 -1.18131882e-05 9.99998571e-01 -6.24543877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:250.91, Y:-28.72, Z:-0.62 [[ 9.79446348e-01 2.01698044e-01 1.65826094e-03 2.50912446e+02] [-2.01697776e-01 9.79447752e-01 -3.29101456e-04 -2.87248304e+01] [-1.69055907e-03 -1.21303247e-05 9.99998571e-01 -6.24267130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58576923100003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:250.94, Y:-28.73, Z:-0.62 [[ 9.79259654e-01 2.02602520e-01 1.65826469e-03 2.50941976e+02] [-2.02602253e-01 9.79261058e-01 -3.29082549e-04 -2.87323709e+01] [-1.69054699e-03 -1.37108996e-05 9.99998571e-01 -6.20308414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61576923100006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:250.97, Y:-28.74, Z:-0.62 [[ 9.79207165e-01 2.02856054e-01 1.65826469e-03 2.50971315e+02] [-2.02855787e-01 9.79208569e-01 -3.29082549e-04 -2.87387378e+01] [-1.69054338e-03 -1.41486002e-05 9.99998571e-01 -6.18520565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:251.00, Y:-28.75, Z:-0.62 [[ 9.78993113e-01 2.03886571e-01 1.65827223e-03 2.51001070e+02] [-2.03886306e-01 9.78994518e-01 -3.29044573e-04 -2.87455298e+01] [-1.69052719e-03 -1.59666289e-05 9.99998571e-01 -6.17346888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67576923100006 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:251.03, Y:-28.75, Z:-0.62 [[ 9.78948864e-01 2.04098927e-01 1.65827223e-03 2.51031177e+02] [-2.04098663e-01 9.78950268e-01 -3.29044573e-04 -2.87520690e+01] [-1.69052369e-03 -1.63333338e-05 9.99998571e-01 -6.16947530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70576923100003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:251.06, Y:-28.76, Z:-0.62 [[ 9.78933481e-01 2.04172698e-01 1.65827223e-03 2.51060577e+02] [-2.04172433e-01 9.78934885e-01 -3.29044573e-04 -2.87593963e+01] [-1.69052245e-03 -1.64607268e-05 9.99998571e-01 -6.17112941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:251.09, Y:-28.77, Z:-0.62 [[ 9.79239303e-01 2.02700858e-01 1.65827223e-03 2.51089560e+02] [-2.02700592e-01 9.79240707e-01 -3.29044573e-04 -2.87697322e+01] [-1.69054529e-03 -1.39193838e-05 9.99998571e-01 -6.19531458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76576923100004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:251.12, Y:-28.78, Z:-0.62 [[ 9.79569458e-01 2.01099298e-01 1.65827223e-03 2.51119073e+02] [-2.01099029e-01 9.79570861e-01 -3.29044573e-04 -2.87768159e+01] [-1.69056579e-03 -1.11549213e-05 9.99998571e-01 -6.20517517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79576923100007 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:251.15, Y:-28.79, Z:-0.62 [[ 9.80066714e-01 1.98661740e-01 1.65826855e-03 2.51148602e+02] [-1.98661467e-01 9.80068117e-01 -3.29063121e-04 -2.87850197e+01] [-1.69058839e-03 -6.93025193e-06 9.99998571e-01 -6.19727539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82576923100004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:251.18, Y:-28.79, Z:-0.62 [[ 9.80082945e-01 1.98581648e-01 1.65826493e-03 2.51178863e+02] [-1.98581376e-01 9.80084348e-01 -3.29081337e-04 -2.87911728e+01] [-1.69058902e-03 -6.77352650e-06 9.99998571e-01 -6.18923151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85576923100007 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:251.21, Y:-28.80, Z:-0.62 [[ 9.79953595e-01 1.99218979e-01 1.65826493e-03 2.51208669e+02] [-1.99218707e-01 9.79954998e-01 -3.29081337e-04 -2.87968044e+01] [-1.69058426e-03 -7.87295754e-06 9.99998571e-01 -6.19761804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88576923100004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:251.24, Y:-28.80, Z:-0.63 [[ 9.79114821e-01 2.03301295e-01 1.65826493e-03 2.51237722e+02] [-2.03301030e-01 9.79116226e-01 -3.29081337e-04 -2.88021166e+01] [-1.69053676e-03 -1.49185540e-05 9.99998571e-01 -6.25851158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.27, Y:-28.81, Z:-0.63 [[ 9.78462442e-01 2.06418264e-01 1.65827214e-03 2.51268772e+02] [-2.06418003e-01 9.78463847e-01 -3.29045043e-04 -2.88079345e+01] [-1.69048024e-03 -2.03390062e-05 9.99998571e-01 -6.27061699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:251.30, Y:-28.81, Z:-0.62 [[ 9.77179677e-01 2.12407932e-01 1.65826453e-03 2.51297886e+02] [-2.12407679e-01 9.77181083e-01 -3.29083379e-04 -2.88134954e+01] [-1.69032465e-03 -3.06545291e-05 9.99998571e-01 -6.23948240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.9757692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:251.33, Y:-28.82, Z:-0.62 [[ 9.76932927e-01 2.13539942e-01 1.65826831e-03 2.51326057e+02] [-2.13539691e-01 9.76934334e-01 -3.29064307e-04 -2.88187928e+01] [-1.69028762e-03 -3.26323466e-05 9.99998571e-01 -6.21291512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:251.35, Y:-28.82, Z:-0.62 [[ 9.76876413e-01 2.13798323e-01 1.65828248e-03 2.51353559e+02] [-2.13798072e-01 9.76877820e-01 -3.28992893e-04 -2.88232265e+01] [-1.69027750e-03 -3.31522007e-05 9.99998571e-01 -6.20149873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0357692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:251.38, Y:-28.83, Z:-0.62 [[ 9.77128945e-01 2.12641186e-01 1.65830010e-03 2.51382555e+02] [-2.12640934e-01 9.77130352e-01 -3.28904058e-04 -2.88270100e+01] [-1.69031391e-03 -3.12408068e-05 9.99998571e-01 -6.21538656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:251.41, Y:-28.83, Z:-0.62 [[ 9.77418627e-01 2.11305651e-01 1.65831410e-03 2.51411646e+02] [-2.11305398e-01 9.77420033e-01 -3.28833434e-04 -2.88327255e+01] [-1.69035379e-03 -2.90027974e-05 9.99998571e-01 -6.20966839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.095769231 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:251.44, Y:-28.84, Z:-0.62 [[ 9.77978132e-01 2.08700797e-01 1.65832143e-03 2.51441052e+02] [-2.08700539e-01 9.77979538e-01 -3.28796471e-04 -2.88375457e+01] [-1.69042451e-03 -2.45368181e-05 9.99998571e-01 -6.18468612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12576923100005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:251.47, Y:-28.84, Z:-0.62 [[ 9.78140213e-01 2.07939831e-01 1.65831723e-03 2.51471558e+02] [-2.07939572e-01 9.78141619e-01 -3.28817677e-04 -2.88422050e+01] [-1.69044339e-03 -2.31999821e-05 9.99998571e-01 -6.19943498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.155769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:251.50, Y:-28.85, Z:-0.62 [[ 9.78218807e-01 2.07569783e-01 1.65831342e-03 2.51500599e+02] [-2.07569524e-01 9.78220213e-01 -3.28836872e-04 -2.88464224e+01] [-1.69045231e-03 -2.25409142e-05 9.99998571e-01 -6.22020961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:251.53, Y:-28.85, Z:-0.62 [[ 9.78388408e-01 2.06768887e-01 1.65831721e-03 2.51529824e+02] [-2.06768627e-01 9.78389813e-01 -3.28817782e-04 -2.88493918e+01] [-1.69046995e-03 -2.11764657e-05 9.99998571e-01 -6.24511645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.215769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:251.56, Y:-28.85, Z:-0.62 [[ 9.78579479e-01 2.05862706e-01 1.65832457e-03 2.51558581e+02] [-2.05862445e-01 9.78580884e-01 -3.28780629e-04 -2.88537523e+01] [-1.69048840e-03 -1.96487739e-05 9.99998571e-01 -6.24345687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24576923100005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:251.59, Y:-28.86, Z:-0.62 [[ 9.78986162e-01 2.03919945e-01 1.65833554e-03 2.51586852e+02] [-2.03919680e-01 9.78987567e-01 -3.28725290e-04 -2.88585730e+01] [-1.69052352e-03 -1.63497436e-05 9.99998571e-01 -6.19513048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.275769231 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:251.62, Y:-28.86, Z:-0.62 [[ 9.79342827e-01 2.02200094e-01 1.65834913e-03 2.51615843e+02] [-2.02199827e-01 9.79344231e-01 -3.28656715e-04 -2.88643778e+01] [-1.69054907e-03 -1.34503115e-05 9.99998571e-01 -6.19113804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30576923100006 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:251.65, Y:-28.87, Z:-0.62 [[ 9.79645591e-01 2.00728090e-01 1.65835623e-03 2.51645047e+02] [-2.00727821e-01 9.79646994e-01 -3.28620880e-04 -2.88695672e+01] [-1.69056714e-03 -1.09462369e-05 9.99998571e-01 -6.20362891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:251.68, Y:-28.87, Z:-0.62 [[ 9.79691573e-01 2.00503543e-01 1.65836330e-03 2.51675034e+02] [-2.00503274e-01 9.79692977e-01 -3.28585202e-04 -2.88746598e+01] [-1.69056938e-03 -1.05951187e-05 9.99998571e-01 -6.23970039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36576923100006 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:251.70, Y:-28.88, Z:-0.62 [[ 9.79546838e-01 2.01209447e-01 1.65836330e-03 2.51704397e+02] [-2.01209179e-01 9.79548242e-01 -3.28585202e-04 -2.88818591e+01] [-1.69056130e-03 -1.18133238e-05 9.99998571e-01 -6.23907590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:251.73, Y:-28.89, Z:-0.62 [[ 9.79151604e-01 2.03124065e-01 1.65836330e-03 2.51732799e+02] [-2.03123800e-01 9.79153008e-01 -3.28585202e-04 -2.88902116e+01] [-1.69053498e-03 -1.51183277e-05 9.99998571e-01 -6.24912789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42576923100006 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:251.76, Y:-28.90, Z:-0.63 [[ 9.78830539e-01 2.04665643e-01 1.65836707e-03 2.51759794e+02] [-2.04665380e-01 9.78831944e-01 -3.28566173e-04 -2.88950446e+01] [-1.69050887e-03 -1.77997237e-05 9.99998571e-01 -6.28011660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45576923100003 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:251.79, Y:-28.90, Z:-0.63 [[ 9.78419941e-01 2.06619624e-01 1.65838477e-03 2.51788809e+02] [-2.06619364e-01 9.78421346e-01 -3.28476850e-04 -2.88997466e+01] [-1.69046882e-03 -2.12661041e-05 9.99998571e-01 -6.29458760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48576923100006 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:251.82, Y:-28.90, Z:-0.63 [[ 9.77347664e-01 2.11633628e-01 1.65839223e-03 2.51816983e+02] [-2.11633375e-01 9.77349071e-01 -3.28439138e-04 -2.89047743e+01] [-1.69033688e-03 -2.99719220e-05 9.99998571e-01 -6.25781020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:251.84, Y:-28.91, Z:-0.62 [[ 9.76783136e-01 2.14224075e-01 1.65840337e-03 2.51844964e+02] [-2.14223826e-01 9.76784544e-01 -3.28382888e-04 -2.89100096e+01] [-1.69025030e-03 -3.45106484e-05 9.99998571e-01 -6.23232105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.87, Y:-28.91, Z:-0.62 [[ 9.75629328e-01 2.19418925e-01 1.65841438e-03 2.51873986e+02] [-2.19418684e-01 9.75630736e-01 -3.28327310e-04 -2.89115672e+01] [-1.69004126e-03 -4.35613459e-05 9.99998571e-01 -6.23058462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:251.90, Y:-28.91, Z:-0.62 [[ 9.74954039e-01 2.22400252e-01 1.65842960e-03 2.51901820e+02] [-2.22400015e-01 9.74955448e-01 -3.28250406e-04 -2.89131597e+01] [-1.68989794e-03 -4.88057076e-05 9.99998571e-01 -6.24097195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60576923100007 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:251.93, Y:-28.91, Z:-0.62 [[ 9.73694841e-01 2.27849965e-01 1.65844845e-03 2.51931888e+02] [-2.27849736e-01 9.73696251e-01 -3.28155146e-04 -2.89100616e+01] [-1.68959517e-03 -5.83540680e-05 9.99998571e-01 -6.24199548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:251.96, Y:-28.91, Z:-0.62 [[ 9.73305006e-01 2.29509508e-01 1.65846375e-03 2.51960731e+02] [-2.29509282e-01 9.73306417e-01 -3.28077782e-04 -2.89115763e+01] [-1.68949038e-03 -6.13130766e-05 9.99998571e-01 -6.24020935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66576923100007 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:251.99, Y:-28.91, Z:-0.62 [[ 9.73120947e-01 2.30288673e-01 1.65847898e-03 2.51990046e+02] [-2.30288448e-01 9.73122358e-01 -3.28000760e-04 -2.89127291e+01] [-1.68943784e-03 -6.27441406e-05 9.99998571e-01 -6.23681353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69576923100004 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:252.02, Y:-28.91, Z:-0.62 [[ 9.73424592e-01 2.29001776e-01 1.65849416e-03 2.52019534e+02] [-2.29001549e-01 9.73426003e-01 -3.27924015e-04 -2.89081439e+01] [-1.68951652e-03 -6.05884304e-05 9.99998571e-01 -6.22950948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7257692310001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:252.05, Y:-28.91, Z:-0.62 [[ 9.73877718e-01 2.27067036e-01 1.65851304e-03 2.52047745e+02] [-2.27066807e-01 9.73879129e-01 -3.27828499e-04 -2.89085651e+01] [-1.68963028e-03 -5.73283886e-05 9.99998571e-01 -6.22907626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75576923100004 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:252.08, Y:-28.91, Z:-0.62 [[ 9.75245571e-01 2.21118352e-01 1.65853557e-03 2.52076091e+02] [-2.21118114e-01 9.75246980e-01 -3.27714446e-04 -2.89066286e+01] [-1.68994549e-03 -4.71301958e-05 9.99998571e-01 -6.22158371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7857692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:252.10, Y:-28.91, Z:-0.62 [[ 9.76102060e-01 2.17306276e-01 1.65855772e-03 2.52103883e+02] [-2.17306032e-01 9.76103468e-01 -3.27602305e-04 -2.89085887e+01] [-1.69011398e-03 -4.06413131e-05 9.99998571e-01 -6.20620964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.13, Y:-28.91, Z:-0.62 [[ 9.76910353e-01 2.13643186e-01 1.65857633e-03 2.52132844e+02] [-2.13642937e-01 9.76911761e-01 -3.27508090e-04 -2.89102643e+01] [-1.69025259e-03 -3.43970748e-05 9.99998571e-01 -6.18504896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.845769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:252.16, Y:-28.91, Z:-0.62 [[ 9.77957729e-01 2.08796382e-01 1.65859122e-03 2.52161064e+02] [-2.08796127e-01 9.77959135e-01 -3.27432648e-04 -2.89065920e+01] [-1.69040119e-03 -2.60921338e-05 9.99998571e-01 -6.17259553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:252.19, Y:-28.91, Z:-0.62 [[ 9.78273330e-01 2.07312662e-01 1.65861712e-03 2.52188420e+02] [-2.07312405e-01 9.78274736e-01 -3.27301411e-04 -2.89074369e+01] [-1.69043695e-03 -2.36616621e-05 9.99998571e-01 -6.17327646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.905769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.22, Y:-28.91, Z:-0.62 [[ 9.78590300e-01 2.05811257e-01 1.65865009e-03 2.52218243e+02] [-2.05810998e-01 9.78591705e-01 -3.27134249e-04 -2.89056944e+01] [-1.69046913e-03 -2.12380282e-05 9.99998571e-01 -6.20662957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:252.25, Y:-28.91, Z:-0.62 [[ 9.78830228e-01 2.04667129e-01 1.65866476e-03 2.52246953e+02] [-2.04666869e-01 9.78831633e-01 -3.27059838e-04 -2.89071637e+01] [-1.69049193e-03 -1.93376670e-05 9.99998571e-01 -6.22380841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.965769231 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.27, Y:-28.91, Z:-0.62 [[ 9.79229714e-01 2.02747171e-01 1.65868681e-03 2.52274691e+02] [-2.02746908e-01 9.79231119e-01 -3.26947967e-04 -2.89078370e+01] [-1.69052552e-03 -1.61364588e-05 9.99998571e-01 -6.23801400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:252.30, Y:-28.91, Z:-0.63 [[ 9.80220868e-01 1.97899721e-01 1.65872227e-03 2.52303291e+02] [-1.97899451e-01 9.80222271e-01 -3.26767995e-04 -2.89054839e+01] [-1.69058380e-03 -7.95541785e-06 9.99998571e-01 -6.26074733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.025769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.33, Y:-28.91, Z:-0.63 [[ 9.80726324e-01 1.95379442e-01 1.65874415e-03 2.52330449e+02] [-1.95379169e-01 9.80727727e-01 -3.26656854e-04 -2.89081553e+01] [-1.69059842e-03 -3.72307781e-06 9.99998571e-01 -6.25184204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.36, Y:-28.91, Z:-0.63 [[ 9.80739335e-01 1.95314120e-01 1.65876959e-03 2.52358436e+02] [-1.95313847e-01 9.80740738e-01 -3.26527657e-04 -2.89135183e+01] [-1.69059837e-03 -3.74215147e-06 9.99998571e-01 -6.25232377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08576923100003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:252.39, Y:-28.92, Z:-0.62 [[ 9.81828790e-01 1.89761627e-01 1.65879133e-03 2.52385162e+02] [-1.89761347e-01 9.81830191e-01 -3.26417172e-04 -2.89152289e+01] [-1.69059286e-03 5.71130102e-06 9.99998571e-01 -6.23153138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11576923100006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:252.41, Y:-28.92, Z:-0.62 [[ 9.82446109e-01 1.86539251e-01 1.65881655e-03 2.52413020e+02] [-1.86538966e-01 9.82447509e-01 -3.26288918e-04 -2.89192067e+01] [-1.69056588e-03 1.11273540e-05 9.99998571e-01 -6.23501149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.44, Y:-28.92, Z:-0.63 [[ 9.83127445e-01 1.82914395e-01 1.65883808e-03 2.52440976e+02] [-1.82914105e-01 9.83128844e-01 -3.26179445e-04 -2.89237799e+01] [-1.69051448e-03 1.72510816e-05 9.99998571e-01 -6.25430593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:252.47, Y:-28.93, Z:-0.63 [[ 9.84181423e-01 1.77155791e-01 1.65886068e-03 2.52467435e+02] [-1.77155493e-01 9.84182821e-01 -3.26064471e-04 -2.89299711e+01] [-1.69038639e-03 2.70303139e-05 9.99998571e-01 -6.30271344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:252.49, Y:-28.94, Z:-0.63 [[ 9.84655777e-01 1.74499995e-01 1.65888686e-03 2.52494350e+02] [-1.74499694e-01 9.84657174e-01 -3.25931221e-04 -2.89370126e+01] [-1.69030984e-03 3.14548111e-05 9.99998571e-01 -6.31092061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:252.52, Y:-28.95, Z:-0.63 [[ 9.85634832e-01 1.68882285e-01 1.65890799e-03 2.52522069e+02] [-1.68881976e-01 9.85636227e-01 -3.25823648e-04 -2.89474204e+01] [-1.69010565e-03 4.09834777e-05 9.99998571e-01 -6.26512622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26576923100004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.55, Y:-28.96, Z:-0.63 [[ 9.86051131e-01 1.66434419e-01 1.65892319e-03 2.52548998e+02] [-1.66434107e-01 9.86052525e-01 -3.25746246e-04 -2.89563430e+01] [-1.69000078e-03 4.51010559e-05 9.99998571e-01 -6.26087959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29576923100007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:252.58, Y:-28.97, Z:-0.63 [[ 9.86365508e-01 1.64561032e-01 1.65894198e-03 2.52576506e+02] [-1.64560717e-01 9.86366901e-01 -3.25650506e-04 -2.89667920e+01] [-1.68991484e-03 4.82137443e-05 9.99998571e-01 -6.28345726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:252.60, Y:-28.98, Z:-0.64 [[ 9.86597813e-01 1.63162504e-01 1.65890098e-03 2.52601199e+02] [-1.63162186e-01 9.86599207e-01 -3.25859429e-04 -2.89842490e+01] [-1.68983843e-03 5.08222895e-05 9.99998571e-01 -6.35103010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35576923100007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.63, Y:-29.00, Z:-0.63 [[ 9.86592128e-01 1.63196877e-01 1.65897420e-03 2.52627929e+02] [-1.63196560e-01 9.86593522e-01 -3.25486217e-04 -2.89955302e+01] [-1.68985154e-03 5.03832560e-05 9.99998571e-01 -6.34910563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:252.65, Y:-29.01, Z:-0.63 [[ 9.86335685e-01 1.64739686e-01 1.65898943e-03 2.52653950e+02] [-1.64739372e-01 9.86337079e-01 -3.25408599e-04 -2.90121960e+01] [-1.68993050e-03 4.76612375e-05 9.99998571e-01 -6.29182239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.68, Y:-29.02, Z:-0.63 [[ 9.86039813e-01 1.66501458e-01 1.65899773e-03 2.52682386e+02] [-1.66501146e-01 9.86041207e-01 -3.25366257e-04 -2.90235060e+01] [-1.69001408e-03 4.45990590e-05 9.99998571e-01 -6.27361845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.71, Y:-29.04, Z:-0.63 [[ 9.85550110e-01 1.69375999e-01 1.65900529e-03 2.52709119e+02] [-1.69375691e-01 9.85551505e-01 -3.25327714e-04 -2.90353040e+01] [-1.69013787e-03 3.96315960e-05 9.99998571e-01 -6.29503282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.4757692310001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.74, Y:-29.05, Z:-0.64 [[ 9.84371925e-01 1.76094183e-01 1.65901661e-03 2.52735385e+02] [-1.76093885e-01 9.84373322e-01 -3.25269982e-04 -2.90537132e+01] [-1.69036984e-03 2.80439587e-05 9.99998571e-01 -6.35962286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:252.76, Y:-29.07, Z:-0.64 [[ 9.83849383e-01 1.78990613e-01 1.65902437e-03 2.52763571e+02] [-1.78990319e-01 9.83850781e-01 -3.25230370e-04 -2.90654944e+01] [-1.69044561e-03 2.30283961e-05 9.99998571e-01 -6.36205417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.79, Y:-29.08, Z:-0.63 [[ 9.82671119e-01 1.85350262e-01 1.65902825e-03 2.52789689e+02] [-1.85349977e-01 9.82672519e-01 -3.25210624e-04 -2.90809358e+01] [-1.69055934e-03 1.20742408e-05 9.99998571e-01 -6.28503778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.82, Y:-29.09, Z:-0.63 [[ 9.81982075e-01 1.88966800e-01 1.65904181e-03 2.52818373e+02] [-1.88966521e-01 9.81983477e-01 -3.25141419e-04 -2.90917104e+01] [-1.69059258e-03 5.77968734e-06 9.99998571e-01 -6.27638872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.595769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:252.85, Y:-29.11, Z:-0.63 [[ 9.80635448e-01 1.95835047e-01 1.65904181e-03 2.52846378e+02] [-1.95834778e-01 9.80636851e-01 -3.25141419e-04 -2.91060772e+01] [-1.69059162e-03 -6.05288246e-06 9.99998571e-01 -6.31691303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62576923100005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.88, Y:-29.11, Z:-0.63 [[ 9.80063037e-01 1.98679869e-01 1.65903787e-03 2.52876523e+02] [-1.98679604e-01 9.80064441e-01 -3.25161510e-04 -2.91147166e+01] [-1.69056707e-03 -1.09382094e-05 9.99998571e-01 -6.34454616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.655769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:252.91, Y:-29.12, Z:-0.64 [[ 9.79461776e-01 2.01623106e-01 1.65903022e-03 2.52905365e+02] [-2.01622844e-01 9.79463181e-01 -3.25200530e-04 -2.91229109e+01] [-1.69052696e-03 -1.59769037e-05 9.99998571e-01 -6.38274280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:252.93, Y:-29.14, Z:-0.64 [[ 9.78303106e-01 2.07172103e-01 1.65902642e-03 2.52934296e+02] [-2.07171849e-01 9.78304513e-01 -3.25219926e-04 -2.91352531e+01] [-1.69040953e-03 -2.55399067e-05 9.99998571e-01 -6.43184168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.715769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:252.96, Y:-29.14, Z:-0.64 [[ 9.77878605e-01 2.09166636e-01 1.65902642e-03 2.52964346e+02] [-2.09166385e-01 9.77880012e-01 -3.25219926e-04 -2.91449408e+01] [-1.69035393e-03 -2.89869511e-05 9.99998571e-01 -6.41839436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:252.99, Y:-29.15, Z:-0.64 [[ 9.77135886e-01 2.12609284e-01 1.65901876e-03 2.52993424e+02] [-2.12609038e-01 9.77137294e-01 -3.25258981e-04 -2.91536841e+01] [-1.69024218e-03 -3.49001605e-05 9.99998571e-01 -6.36395820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.775769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.02, Y:-29.16, Z:-0.63 [[ 9.76904414e-01 2.13670337e-01 1.65901497e-03 2.53024194e+02] [-2.13670093e-01 9.76905822e-01 -3.25278332e-04 -2.91595990e+01] [-1.69020371e-03 -3.67160439e-05 9.99998571e-01 -6.33809425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:253.06, Y:-29.17, Z:-0.63 [[ 9.76806673e-01 2.14116721e-01 1.65900751e-03 2.53055445e+02] [-2.14116477e-01 9.76808082e-01 -3.25316350e-04 -2.91658329e+01] [-1.69018762e-03 -3.74496635e-05 9.99998571e-01 -6.33996070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:253.09, Y:-29.18, Z:-0.64 [[ 9.76803113e-01 2.14132964e-01 1.65895310e-03 2.53085767e+02] [-2.14132720e-01 9.76804521e-01 -3.25593608e-04 -2.91754735e+01] [-1.69019321e-03 -3.71952888e-05 9.99998571e-01 -6.35709999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:253.12, Y:-29.18, Z:-0.64 [[ 9.76858843e-01 2.13878584e-01 1.65891439e-03 2.53116447e+02] [-2.13878339e-01 9.76860251e-01 -3.25790701e-04 -2.91828327e+01] [-1.69020718e-03 -3.65543281e-05 9.99998571e-01 -6.36338808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89576923100003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:253.15, Y:-29.19, Z:-0.63 [[ 9.76612901e-01 2.14998812e-01 1.65887628e-03 2.53148362e+02] [-2.14998568e-01 9.76614309e-01 -3.25984620e-04 -2.91876090e+01] [-1.69016862e-03 -3.82952395e-05 9.99998571e-01 -6.33687059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:253.18, Y:-29.19, Z:-0.63 [[ 9.76276606e-01 2.16520755e-01 1.65882349e-03 2.53179516e+02] [-2.16520513e-01 9.76278014e-01 -3.26253044e-04 -2.91933684e+01] [-1.69011346e-03 -4.06560989e-05 9.99998571e-01 -6.32227912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:253.21, Y:-29.20, Z:-0.63 [[ 9.75913554e-01 2.18151284e-01 1.65877009e-03 2.53210376e+02] [-2.18151044e-01 9.75914963e-01 -3.26524334e-04 -2.92000948e+01] [-1.69005025e-03 -4.32029036e-05 9.99998571e-01 -6.31958158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.24, Y:-29.21, Z:-0.64 [[ 9.75664624e-01 2.19261919e-01 1.65872076e-03 2.53241315e+02] [-2.19261680e-01 9.75666033e-01 -3.26774719e-04 -2.92056390e+01] [-1.69000676e-03 -4.48713682e-05 9.99998571e-01 -6.38834864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:253.27, Y:-29.21, Z:-0.64 [[ 9.75611871e-01 2.19496528e-01 1.65871313e-03 2.53272621e+02] [-2.19496289e-01 9.75613280e-01 -3.26813466e-04 -2.92087263e+01] [-1.68999698e-03 -4.52382796e-05 9.99998571e-01 -6.41827945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:253.30, Y:-29.21, Z:-0.64 [[ 9.75208812e-01 2.21280416e-01 1.65870552e-03 2.53302882e+02] [-2.21280180e-01 9.75210221e-01 -3.26852096e-04 -2.92068266e+01] [-1.68991254e-03 -4.82896109e-05 9.99998571e-01 -6.41511496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.33, Y:-29.21, Z:-0.64 [[ 9.74838443e-01 2.22906389e-01 1.65870929e-03 2.53333641e+02] [-2.22906155e-01 9.74839853e-01 -3.26832923e-04 -2.92092463e+01] [-1.68982907e-03 -5.11272131e-05 9.99998571e-01 -6.39592980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:253.36, Y:-29.21, Z:-0.64 [[ 9.74428851e-01 2.24690149e-01 1.65870929e-03 2.53362684e+02] [-2.24689917e-01 9.74430261e-01 -3.26832923e-04 -2.92105474e+01] [-1.68973267e-03 -5.42198239e-05 9.99998571e-01 -6.40942071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.39, Y:-29.20, Z:-0.64 [[ 9.73857364e-01 2.27154317e-01 1.65872065e-03 2.53392871e+02] [-2.27154089e-01 9.73858775e-01 -3.26775288e-04 -2.92041891e+01] [-1.68958807e-03 -5.85526572e-05 9.99998571e-01 -6.38070756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:253.42, Y:-29.20, Z:-0.64 [[ 9.73895672e-01 2.26990017e-01 1.65873555e-03 2.53422671e+02] [-2.26989790e-01 9.73897083e-01 -3.26699643e-04 -2.92041428e+01] [-1.68959527e-03 -5.83446642e-05 9.99998571e-01 -6.36379433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:253.45, Y:-29.20, Z:-0.63 [[ 9.74594619e-01 2.23970034e-01 1.65875098e-03 2.53452323e+02] [-2.23969803e-01 9.74596030e-01 -3.26621288e-04 -2.91987110e+01] [-1.68976550e-03 -5.31867786e-05 9.99998571e-01 -6.34554775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2257692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:253.48, Y:-29.20, Z:-0.63 [[ 9.75134084e-01 2.21609493e-01 1.65877019e-03 2.53482298e+02] [-2.21609257e-01 9.75135493e-01 -3.26523697e-04 -2.91977271e+01] [-1.68988643e-03 -4.91944433e-05 9.99998571e-01 -6.33846438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:253.51, Y:-29.20, Z:-0.63 [[ 9.75597768e-01 2.19559201e-01 1.65879582e-03 2.53511367e+02] [-2.19558963e-01 9.75599178e-01 -3.26393411e-04 -2.91954153e+01] [-1.68998252e-03 -4.57748064e-05 9.99998571e-01 -6.34788720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2857692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:253.54, Y:-29.19, Z:-0.64 [[ 9.76388583e-01 2.16015239e-01 1.65881648e-03 2.53541099e+02] [-2.16014996e-01 9.76389991e-01 -3.26288384e-04 -2.91873477e+01] [-1.69013507e-03 -3.97449829e-05 9.99998571e-01 -6.37090821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:253.57, Y:-29.19, Z:-0.64 [[ 9.76997901e-01 2.13242467e-01 1.65883953e-03 2.53569048e+02] [-2.13242221e-01 9.76999309e-01 -3.26171159e-04 -2.91880753e+01] [-1.69023862e-03 -3.50660872e-05 9.99998571e-01 -6.38016461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.345769231 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:253.60, Y:-29.19, Z:-0.64 [[ 9.78838537e-01 2.04627384e-01 1.65885866e-03 2.53597694e+02] [-2.04627126e-01 9.78839943e-01 -3.26073852e-04 -2.91854597e+01] [-1.69048075e-03 -2.02738262e-05 9.99998571e-01 -6.37804826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:253.63, Y:-29.19, Z:-0.64 [[ 9.79913316e-01 1.99417005e-01 1.65887771e-03 2.53625612e+02] [-1.99416739e-01 9.79914720e-01 -3.25976867e-04 -2.91863636e+01] [-1.69056402e-03 -1.13789106e-05 9.99998571e-01 -6.37424849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.405769231 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:253.65, Y:-29.19, Z:-0.64 [[ 9.81010271e-01 1.93948696e-01 1.65890078e-03 2.53653819e+02] [-1.93948422e-01 9.81011673e-01 -3.25859427e-04 -2.91871668e+01] [-1.69060104e-03 -2.06974452e-06 9.99998571e-01 -6.36321850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43576923100005 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:253.68, Y:-29.19, Z:-0.63 [[ 9.82683694e-01 1.85283584e-01 1.65891994e-03 2.53682728e+02] [-1.85283298e-01 9.82685094e-01 -3.25761854e-04 -2.91877798e+01] [-1.69055422e-03 1.27507034e-05 9.99998571e-01 -6.29218727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.465769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:253.71, Y:-29.19, Z:-0.64 [[ 9.83005340e-01 1.83569467e-01 1.65893579e-03 2.53710064e+02] [-1.83569178e-01 9.83006740e-01 -3.25681143e-04 -2.91906904e+01] [-1.69053018e-03 1.56168229e-05 9.99998571e-01 -6.38146424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49576923100005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:253.74, Y:-29.19, Z:-0.65 [[ 9.83091804e-01 1.83105850e-01 1.65895705e-03 2.53737833e+02] [-1.83105562e-01 9.83093204e-01 -3.25572800e-04 -2.91915686e+01] [-1.69052369e-03 1.63036891e-05 9.99998571e-01 -6.45268106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.525769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.77, Y:-29.19, Z:-0.64 [[ 9.82926510e-01 1.83991096e-01 1.65897652e-03 2.53766704e+02] [-1.83990808e-01 9.82927910e-01 -3.25473564e-04 -2.91947736e+01] [-1.69053856e-03 1.46801631e-05 9.99998571e-01 -6.44392208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:253.79, Y:-29.20, Z:-0.64 [[ 9.82473336e-01 1.86395791e-01 1.65899201e-03 2.53793881e+02] [-1.86395507e-01 9.82474737e-01 -3.25394583e-04 -2.91988844e+01] [-1.69056992e-03 1.04628442e-05 9.99998571e-01 -6.39544929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:253.82, Y:-29.20, Z:-0.64 [[ 9.82395220e-01 1.86807062e-01 1.65901118e-03 2.53821659e+02] [-1.86806779e-01 9.82396621e-01 -3.25296802e-04 -2.92046645e+01] [-1.69057472e-03 9.65548691e-06 9.99998571e-01 -6.38187571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61576923100006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.85, Y:-29.21, Z:-0.64 [[ 9.82460513e-01 1.86463370e-01 1.65902652e-03 2.53849558e+02] [-1.86463087e-01 9.82461914e-01 -3.25218575e-04 -2.92098475e+01] [-1.69057172e-03 1.01672023e-05 9.99998571e-01 -6.37601367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.88, Y:-29.21, Z:-0.64 [[ 9.82394239e-01 1.86812225e-01 1.65904984e-03 2.53876727e+02] [-1.86811943e-01 9.82395639e-01 -3.25099556e-04 -2.92146651e+01] [-1.69057590e-03 9.44560649e-06 9.99998571e-01 -6.37742029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.90, Y:-29.22, Z:-0.63 [[ 9.82001274e-01 1.88867004e-01 1.65906915e-03 2.53904692e+02] [-1.88866724e-01 9.82002676e-01 -3.25000972e-04 -2.92196115e+01] [-1.69059231e-03 5.80841245e-06 9.99998571e-01 -6.33216985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.93, Y:-29.23, Z:-0.63 [[ 9.81825245e-01 1.89779968e-01 1.65908431e-03 2.53932401e+02] [-1.89779690e-01 9.81826646e-01 -3.24923605e-04 -2.92261215e+01] [-1.69059717e-03 4.15769305e-06 9.99998571e-01 -6.31874743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.96, Y:-29.23, Z:-0.63 [[ 9.81770305e-01 1.90063978e-01 1.65910743e-03 2.53958403e+02] [-1.90063700e-01 9.81771707e-01 -3.24805486e-04 -2.92316225e+01] [-1.69059856e-03 3.54828376e-06 9.99998571e-01 -6.34000880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.99, Y:-29.24, Z:-0.64 [[ 9.81823913e-01 1.89786855e-01 1.65913425e-03 2.53987311e+02] [-1.89786577e-01 9.81825315e-01 -3.24668455e-04 -2.92361047e+01] [-1.69059781e-03 3.88584358e-06 9.99998571e-01 -6.35799262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.01, Y:-29.24, Z:-0.64 [[ 9.81871671e-01 1.89539625e-01 1.65914961e-03 2.54014813e+02] [-1.89539347e-01 9.81873073e-01 -3.24589923e-04 -2.92410137e+01] [-1.69059698e-03 4.23151712e-06 9.99998571e-01 -6.35917421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:-29.25, Z:-0.64 [[ 9.82178253e-01 1.87944477e-01 1.65917326e-03 2.54040333e+02] [-1.87944197e-01 9.82179654e-01 -3.24468983e-04 -2.92495743e+01] [-1.69058837e-03 6.85439252e-06 9.99998571e-01 -6.36394031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:254.07, Y:-29.26, Z:-0.64 [[ 9.82311928e-01 1.87244555e-01 1.65920072e-03 2.54066722e+02] [-1.87244274e-01 9.82313329e-01 -3.24328488e-04 -2.92581745e+01] [-1.69058373e-03 7.91590711e-06 9.99998571e-01 -6.39076594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.09, Y:-29.27, Z:-0.64 [[ 9.82531545e-01 1.86088718e-01 1.65921982e-03 2.54094581e+02] [-1.86088435e-01 9.82532946e-01 -3.24230755e-04 -2.92676028e+01] [-1.69057382e-03 9.80532424e-06 9.99998571e-01 -6.43147345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:-29.27, Z:-0.65 [[ 9.82479641e-01 1.86362553e-01 1.65923598e-03 2.54121164e+02] [-1.86362272e-01 9.82481042e-01 -3.24148049e-04 -2.92748959e+01] [-1.69057695e-03 9.24987314e-06 9.99998571e-01 -6.45628721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.15, Y:-29.28, Z:-0.65 [[ 9.82488807e-01 1.86314225e-01 1.65925602e-03 2.54149967e+02] [-1.86313943e-01 9.82490208e-01 -3.24045412e-04 -2.92804300e+01] [-1.69057707e-03 9.22845784e-06 9.99998571e-01 -6.45678302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.18, Y:-29.29, Z:-0.65 [[ 9.82390468e-01 1.86832051e-01 1.65927196e-03 2.54177213e+02] [-1.86831770e-01 9.82391869e-01 -3.23963792e-04 -2.92879119e+01] [-1.69058210e-03 8.25422352e-06 9.99998571e-01 -6.48267105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.20, Y:-29.30, Z:-0.64 [[ 9.82151985e-01 1.88081699e-01 1.65929341e-03 2.54204524e+02] [-1.88081420e-01 9.82153386e-01 -3.23853901e-04 -2.92983304e+01] [-1.69059163e-03 5.99149175e-06 9.99998571e-01 -6.42143206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.23, Y:-29.31, Z:-0.64 [[ 9.81944163e-01 1.89163705e-01 1.65930902e-03 2.54231675e+02] [-1.89163428e-01 9.81945565e-01 -3.23773910e-04 -2.93099651e+01] [-1.69059740e-03 4.04731896e-06 9.99998571e-01 -6.37236763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-29.32, Z:-0.64 [[ 9.81852943e-01 1.89636613e-01 1.65932472e-03 2.54259675e+02] [-1.89636337e-01 9.81854345e-01 -3.23693422e-04 -2.93184341e+01] [-1.69059931e-03 3.15107748e-06 9.99998571e-01 -6.36211703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.095769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.29, Y:-29.33, Z:-0.64 [[ 9.81706259e-01 1.90394506e-01 1.65934047e-03 2.54286151e+02] [-1.90394231e-01 9.81707661e-01 -3.23612662e-04 -2.93267783e+01] [-1.69060132e-03 1.76372304e-06 9.99998571e-01 -6.35690137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.31, Y:-29.34, Z:-0.64 [[ 9.81506121e-01 1.91423563e-01 1.65936000e-03 2.54314082e+02] [-1.91423290e-01 9.81507524e-01 -3.23512452e-04 -2.93353663e+01] [-1.69060223e-03 -1.10699430e-07 9.99998571e-01 -6.35505831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.155769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:254.34, Y:-29.35, Z:-0.64 [[ 9.81263759e-01 1.92662093e-01 1.65937559e-03 2.54340386e+02] [-1.92661821e-01 9.81265162e-01 -3.23432485e-04 -2.93456978e+01] [-1.69060064e-03 -2.32574769e-06 9.99998571e-01 -6.38121373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.37, Y:-29.36, Z:-0.64 [[ 9.81111472e-01 1.93436103e-01 1.65939604e-03 2.54367604e+02] [-1.93435833e-01 9.81112875e-01 -3.23327556e-04 -2.93561115e+01] [-1.69059804e-03 -3.76627927e-06 9.99998571e-01 -6.41575293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:-29.36, Z:-0.64 [[ 9.80948523e-01 1.94260756e-01 1.65941121e-03 2.54395080e+02] [-1.94260487e-01 9.80949927e-01 -3.23249646e-04 -2.93635706e+01] [-1.69059403e-03 -5.26676864e-06 9.99998571e-01 -6.40708421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:254.42, Y:-29.37, Z:-0.64 [[ 9.80715189e-01 1.95435320e-01 1.65942645e-03 2.54422406e+02] [-1.95435053e-01 9.80716593e-01 -3.23171427e-04 -2.93700911e+01] [-1.69058616e-03 -7.37096767e-06 9.99998571e-01 -6.37692367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.275769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.45, Y:-29.38, Z:-0.64 [[ 9.80356531e-01 1.97226561e-01 1.65978969e-03 2.54449437e+02] [-1.97226299e-01 9.80357936e-01 -3.21305366e-04 -2.93776259e+01] [-1.69055795e-03 -1.23603647e-05 9.99998571e-01 -6.35231464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.48, Y:-29.38, Z:-0.64 [[ 9.80149762e-01 1.98251581e-01 1.65946513e-03 2.54477850e+02] [-1.98251319e-01 9.80151167e-01 -3.22972991e-04 -2.93846572e+01] [-1.69055659e-03 -1.24292504e-05 9.99998571e-01 -6.35317802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.51, Y:-29.39, Z:-0.64 [[ 9.80099973e-01 1.98497580e-01 1.65948022e-03 2.54505626e+02] [-1.98497317e-01 9.80101378e-01 -3.22895467e-04 -2.93931347e+01] [-1.69055282e-03 -1.29325325e-05 9.99998571e-01 -6.39043562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.53, Y:-29.40, Z:-0.64 [[ 9.80348216e-01 1.97267890e-01 1.65949545e-03 2.54532997e+02] [-1.97267626e-01 9.80349621e-01 -3.22817153e-04 -2.93996630e+01] [-1.69056720e-03 -1.08915084e-05 9.99998571e-01 -6.39042799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:254.56, Y:-29.41, Z:-0.64 [[ 9.80851419e-01 1.94750453e-01 1.65951436e-03 2.54560092e+02] [-1.94750186e-01 9.80852823e-01 -3.22719895e-04 -2.94056439e+01] [-1.69058920e-03 -6.65046371e-06 9.99998571e-01 -6.38964513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.59, Y:-29.41, Z:-0.64 [[ 9.81921414e-01 1.89281755e-01 1.65953406e-03 2.54589365e+02] [-1.89281480e-01 9.81922816e-01 -3.22618578e-04 -2.94138677e+01] [-1.69060017e-03 2.66702622e-06 9.99998571e-01 -6.36514658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.62, Y:-29.42, Z:-0.64 [[ 9.82403012e-01 1.86766077e-01 1.65953406e-03 2.54617808e+02] [-1.86765798e-01 9.82404414e-01 -3.22618578e-04 -2.94213416e+01] [-1.69058779e-03 6.99725913e-06 9.99998571e-01 -6.36444938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.65, Y:-29.43, Z:-0.64 [[ 9.83266355e-01 1.82166193e-01 1.65953805e-03 2.54645983e+02] [-1.82165908e-01 9.83267755e-01 -3.22598068e-04 -2.94312328e+01] [-1.69053671e-03 1.48885716e-05 9.99998571e-01 -6.39482040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.68, Y:-29.44, Z:-0.64 [[ 9.83559139e-01 1.80578695e-01 1.65954190e-03 2.54675207e+02] [-1.80578408e-01 9.83560539e-01 -3.22578233e-04 -2.94382837e+01] [-1.69051069e-03 1.75973340e-05 9.99998571e-01 -6.42679544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.70, Y:-29.44, Z:-0.65 [[ 9.83746610e-01 1.79554596e-01 1.65954914e-03 2.54704597e+02] [-1.79554307e-01 9.83748010e-01 -3.22541021e-04 -2.94449461e+01] [-1.69049188e-03 1.93194398e-05 9.99998571e-01 -6.46257080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.73, Y:-29.45, Z:-0.65 [[ 9.84101131e-01 1.77601269e-01 1.65955641e-03 2.54732119e+02] [-1.77600978e-01 9.84102530e-01 -3.22503606e-04 -2.94527412e+01] [-1.69045071e-03 2.26373233e-05 9.99998571e-01 -6.47980543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.76, Y:-29.46, Z:-0.64 [[ 9.84286174e-01 1.76572853e-01 1.65956480e-03 2.54762111e+02] [-1.76572561e-01 9.84287573e-01 -3.22460422e-04 -2.94606023e+01] [-1.69042676e-03 2.43597292e-05 9.99998571e-01 -6.43485238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:-29.47, Z:-0.64 [[ 9.84584039e-01 1.74904304e-01 1.65956480e-03 2.54792495e+02] [-1.74904009e-01 9.84585438e-01 -3.22460422e-04 -2.94706362e+01] [-1.69038305e-03 2.72248490e-05 9.99998571e-01 -6.36599887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.82, Y:-29.48, Z:-0.64 [[ 9.84719300e-01 1.74141169e-01 1.65950988e-03 2.54822915e+02] [-1.74140872e-01 9.84720698e-01 -3.22742796e-04 -2.94785998e+01] [-1.69035654e-03 2.88225621e-05 9.99998571e-01 -6.36655555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.85, Y:-29.49, Z:-0.64 [[ 9.84909179e-01 1.73064019e-01 1.65945916e-03 2.54852707e+02] [-1.73063720e-01 9.84910577e-01 -3.23003356e-04 -2.94862827e+01] [-1.69031914e-03 3.09367934e-05 9.99998571e-01 -6.38957714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.88, Y:-29.50, Z:-0.64 [[ 9.85093925e-01 1.72009317e-01 1.65940919e-03 2.54882137e+02] [-1.72009017e-01 9.85095322e-01 -3.23259883e-04 -2.94955045e+01] [-1.69027994e-03 3.30080038e-05 9.99998571e-01 -6.41779154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.91, Y:-29.50, Z:-0.64 [[ 9.84996628e-01 1.72565610e-01 1.65940555e-03 2.54913233e+02] [-1.72565311e-01 9.84998025e-01 -3.23278572e-04 -2.95021418e+01] [-1.69029795e-03 3.20724687e-05 9.99998571e-01 -6.39724691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.94, Y:-29.51, Z:-0.64 [[ 9.84428525e-01 1.75777487e-01 1.65935057e-03 2.54944413e+02] [-1.75777191e-01 9.84429924e-01 -3.23560525e-04 -2.95073648e+01] [-1.69038901e-03 2.68462278e-05 9.99998571e-01 -6.37252086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:-29.51, Z:-0.64 [[ 9.84063910e-01 1.77807387e-01 1.65934276e-03 2.54975142e+02] [-1.77807094e-01 9.84065309e-01 -3.23600611e-04 -2.95133415e+01] [-1.69044022e-03 2.34007691e-05 9.99998571e-01 -6.37567746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.845769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.01, Y:-29.52, Z:-0.64 [[ 9.83673320e-01 1.79955677e-01 1.65929200e-03 2.55006641e+02] [-1.79955386e-01 9.83674720e-01 -3.23860664e-04 -2.95196109e+01] [-1.69048416e-03 1.99745623e-05 9.99998571e-01 -6.37474843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-29.52, Z:-0.64 [[ 9.83000657e-01 1.83594542e-01 1.65923642e-03 2.55036314e+02] [-1.83594256e-01 9.83002057e-01 -3.24145149e-04 -2.95233032e+01] [-1.69054410e-03 1.40086172e-05 9.99998571e-01 -6.38638625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.07, Y:-29.53, Z:-0.64 [[ 9.82611795e-01 1.85664500e-01 1.65923642e-03 2.55066591e+02] [-1.85664217e-01 9.82613196e-01 -3.24145149e-04 -2.95273919e+01] [-1.69056985e-03 1.04480148e-05 9.99998571e-01 -6.38620558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:-29.53, Z:-0.64 [[ 9.81914299e-01 1.89318665e-01 1.65923642e-03 2.55096238e+02] [-1.89318388e-01 9.81915701e-01 -3.24145149e-04 -2.95311774e+01] [-1.69059702e-03 4.15879189e-06 9.99998571e-01 -6.43572046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:-29.54, Z:-0.64 [[ 9.81690343e-01 1.90476552e-01 1.65923168e-03 2.55125211e+02] [-1.90476276e-01 9.81691745e-01 -3.24169437e-04 -2.95361349e+01] [-1.69060072e-03 2.18973495e-06 9.99998571e-01 -6.44671814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:-29.54, Z:-0.64 [[ 9.81585912e-01 1.91013990e-01 1.65923926e-03 2.55155648e+02] [-1.91013715e-01 9.81587314e-01 -3.24130635e-04 -2.95411283e+01] [-1.69060169e-03 1.22461060e-06 9.99998571e-01 -6.44172753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:-29.55, Z:-0.64 [[ 9.81674681e-01 1.90557258e-01 1.65923926e-03 2.55184332e+02] [-1.90556982e-01 9.81676083e-01 -3.24130635e-04 -2.95456494e+01] [-1.69060094e-03 2.01121142e-06 9.99998571e-01 -6.43378894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:-29.55, Z:-0.64 [[ 9.81738144e-01 1.90230030e-01 1.65923553e-03 2.55213557e+02] [-1.90229754e-01 9.81739546e-01 -3.24149716e-04 -2.95515977e+01] [-1.69060014e-03 2.59417359e-06 9.99998571e-01 -6.43418598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:-29.56, Z:-0.64 [[ 9.82065509e-01 1.88532713e-01 1.65924311e-03 2.55243363e+02] [-1.88532434e-01 9.82066910e-01 -3.24110881e-04 -2.95577843e+01] [-1.69059326e-03 5.47697395e-06 9.99998571e-01 -6.44320070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:-29.56, Z:-0.65 [[ 9.82201824e-01 1.87821256e-01 1.65924311e-03 2.55272523e+02] [-1.87820976e-01 9.82203225e-01 -3.24110881e-04 -2.95631560e+01] [-1.69058885e-03 6.70163650e-06 9.99998571e-01 -6.45323735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.30, Y:-29.57, Z:-0.65 [[ 9.82266701e-01 1.87481665e-01 1.65924695e-03 2.55301919e+02] [-1.87481385e-01 9.82268102e-01 -3.24091222e-04 -2.95683731e+01] [-1.69058652e-03 7.26609758e-06 9.99998571e-01 -6.45400710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.33, Y:-29.58, Z:-0.64 [[ 9.82268867e-01 1.87470317e-01 1.65925074e-03 2.55331827e+02] [-1.87470037e-01 9.82270268e-01 -3.24071831e-04 -2.95759459e+01] [-1.69058652e-03 7.26587242e-06 9.99998571e-01 -6.43710364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:-29.58, Z:-0.64 [[ 9.82234370e-01 1.87650978e-01 1.65925074e-03 2.55361893e+02] [-1.87650699e-01 9.82235771e-01 -3.24071831e-04 -2.95836699e+01] [-1.69058783e-03 6.95492964e-06 9.99998571e-01 -6.43414492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.39, Y:-29.59, Z:-0.64 [[ 9.82261884e-01 1.87506904e-01 1.65925074e-03 2.55391092e+02] [-1.87506624e-01 9.82263285e-01 -3.24071831e-04 -2.95927397e+01] [-1.69058679e-03 7.20290264e-06 9.99998571e-01 -6.43184989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.42, Y:-29.60, Z:-0.64 [[ 9.82362225e-01 1.86980494e-01 1.65923316e-03 2.55420826e+02] [-1.86980213e-01 9.82363627e-01 -3.24161834e-04 -2.95996319e+01] [-1.69058224e-03 8.20057148e-06 9.99998571e-01 -6.42286549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.45, Y:-29.61, Z:-0.64 [[ 9.82490503e-01 1.86305284e-01 1.65923416e-03 2.55450528e+02] [-1.86305002e-01 9.82491904e-01 -3.24156710e-04 -2.96065438e+01] [-1.69057624e-03 9.35726550e-06 9.99998571e-01 -6.42954293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.48, Y:-29.62, Z:-0.64 [[ 9.82755331e-01 1.84903237e-01 1.65921652e-03 2.55480371e+02] [-1.84902953e-01 9.82756731e-01 -3.24246951e-04 -2.96162884e+01] [-1.69056052e-03 1.18613845e-05 9.99998571e-01 -6.44511332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.51, Y:-29.63, Z:-0.65 [[ 9.83042308e-01 1.83371392e-01 1.65920891e-03 2.55510646e+02] [-1.83371106e-01 9.83043708e-01 -3.24285883e-04 -2.96253135e+01] [-1.69053964e-03 1.45357697e-05 9.99998571e-01 -6.46305779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.54, Y:-29.63, Z:-0.65 [[ 9.83237203e-01 1.82323476e-01 1.65915971e-03 2.55541510e+02] [-1.82323188e-01 9.83238603e-01 -3.24537415e-04 -2.96326608e+01] [-1.69052067e-03 1.65939728e-05 9.99998571e-01 -6.48647567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.57, Y:-29.64, Z:-0.65 [[ 9.83352846e-01 1.81698727e-01 1.65910643e-03 2.55571782e+02] [-1.81698437e-01 9.83354246e-01 -3.24809570e-04 -2.96396068e+01] [-1.69050684e-03 1.79453690e-05 9.99998571e-01 -6.54609317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:255.60, Y:-29.65, Z:-0.66 [[ 9.82984269e-01 1.83682263e-01 1.65905712e-03 2.55602082e+02] [-1.83681976e-01 9.82985669e-01 -3.25061242e-04 -2.96467543e+01] [-1.69053736e-03 1.47911974e-05 9.99998571e-01 -6.56415166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.63, Y:-29.65, Z:-0.65 [[ 9.82587936e-01 1.85790728e-01 1.65904957e-03 2.55633337e+02] [-1.85790444e-01 9.82589337e-01 -3.25099778e-04 -2.96530524e+01] [-1.69056494e-03 1.12035626e-05 9.99998571e-01 -6.51949547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:-29.66, Z:-0.65 [[ 9.81828860e-01 1.89761264e-01 1.65899546e-03 2.55663118e+02] [-1.89760985e-01 9.81830262e-01 -3.25375660e-04 -2.96588060e+01] [-1.69059565e-03 4.65060046e-06 9.99998571e-01 -6.45063653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.69, Y:-29.66, Z:-0.64 [[ 9.81473814e-01 1.91589143e-01 1.65899162e-03 2.55693069e+02] [-1.91588867e-01 9.81475216e-01 -3.25395272e-04 -2.96644437e+01] [-1.69060136e-03 1.52261441e-06 9.99998571e-01 -6.44896206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.72, Y:-29.67, Z:-0.65 [[ 9.81114329e-01 1.93421613e-01 1.65899162e-03 2.55722505e+02] [-1.93421339e-01 9.81115732e-01 -3.25395272e-04 -2.96707585e+01] [-1.69060125e-03 -1.63441634e-06 9.99998571e-01 -6.46616609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.595769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.75, Y:-29.68, Z:-0.65 [[ 9.80643237e-01 1.95796042e-01 1.65899162e-03 2.55753286e+02] [-1.95795772e-01 9.80644640e-01 -3.25395272e-04 -2.96785127e+01] [-1.69059234e-03 -5.72687228e-06 9.99998571e-01 -6.50311838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.78, Y:-29.69, Z:-0.65 [[ 9.80596382e-01 1.96030566e-01 1.65898415e-03 2.55783583e+02] [-1.96030295e-01 9.80597786e-01 -3.25433333e-04 -2.96857554e+01] [-1.69059106e-03 -6.09240469e-06 9.99998571e-01 -6.50158981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.81, Y:-29.69, Z:-0.65 [[ 9.80967405e-01 1.94165389e-01 1.65897661e-03 2.55814307e+02] [-1.94165116e-01 9.80968808e-01 -3.25471751e-04 -2.96924995e+01] [-1.69059966e-03 -2.83820788e-06 9.99998571e-01 -6.46936808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:-29.70, Z:-0.65 [[ 9.81321915e-01 1.92365659e-01 1.65896912e-03 2.55844461e+02] [-1.92365383e-01 9.81323317e-01 -3.25509922e-04 -2.96993763e+01] [-1.69060201e-03 3.01789076e-07 9.99998571e-01 -6.45608190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.87, Y:-29.71, Z:-0.64 [[ 9.81685868e-01 1.90499618e-01 1.65892069e-03 2.55874449e+02] [-1.90499340e-01 9.81687270e-01 -3.25756550e-04 -2.97073203e+01] [-1.69059783e-03 3.76730518e-06 9.99998571e-01 -6.43898529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.90, Y:-29.72, Z:-0.64 [[ 9.82192216e-01 1.87871496e-01 1.65891328e-03 2.55904352e+02] [-1.87871213e-01 9.82193617e-01 -3.25794292e-04 -2.97200911e+01] [-1.69058150e-03 8.33056590e-06 9.99998571e-01 -6.42767969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.94, Y:-29.73, Z:-0.64 [[ 9.82404193e-01 1.86759873e-01 1.65885771e-03 2.55935927e+02] [-1.86759589e-01 9.82405593e-01 -3.26077017e-04 -2.97294490e+01] [-1.69056919e-03 1.05318453e-05 9.99998571e-01 -6.42545411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.97, Y:-29.74, Z:-0.64 [[ 9.82754500e-01 1.84907655e-01 1.65879809e-03 2.55966145e+02] [-1.84907368e-01 9.82755900e-01 -3.26380035e-04 -2.97400325e+01] [-1.69054377e-03 1.40274601e-05 9.99998571e-01 -6.43548609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:-29.75, Z:-0.64 [[ 9.82970806e-01 1.83754303e-01 1.65874251e-03 2.55998449e+02] [-1.83754013e-01 9.82972205e-01 -3.26662251e-04 -2.97489829e+01] [-1.69052338e-03 1.62988633e-05 9.99998571e-01 -6.42618053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:-29.76, Z:-0.64 [[ 9.82935786e-01 1.83941538e-01 1.65868034e-03 2.56031267e+02] [-1.83941248e-01 9.82937185e-01 -3.26977626e-04 -2.97556562e+01] [-1.69052335e-03 1.62982783e-05 9.99998571e-01 -6.42674717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:-29.76, Z:-0.64 [[ 9.83139544e-01 1.82849356e-01 1.65861800e-03 2.56061969e+02] [-1.82849064e-01 9.83140943e-01 -3.27293563e-04 -2.97640279e+01] [-1.69050068e-03 1.84984972e-05 9.99998571e-01 -6.42642349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.09, Y:-29.77, Z:-0.64 [[ 9.82976388e-01 1.83724438e-01 1.65855980e-03 2.56091950e+02] [-1.83724147e-01 9.82977787e-01 -3.27588215e-04 -2.97730425e+01] [-1.69051340e-03 1.72939964e-05 9.99998571e-01 -6.36960389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:-29.78, Z:-0.63 [[ 9.82539330e-01 1.86047613e-01 1.65851218e-03 2.56124367e+02] [-1.86047325e-01 9.82540730e-01 -3.27829100e-04 -2.97805964e+01] [-1.69054759e-03 1.35432299e-05 9.99998571e-01 -6.33947773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.16, Y:-29.79, Z:-0.64 [[ 9.81407664e-01 1.91927711e-01 1.65845150e-03 2.56155344e+02] [-1.91927431e-01 9.81409065e-01 -3.28135800e-04 -2.97884691e+01] [-1.69059769e-03 3.73265324e-06 9.99998571e-01 -6.35432102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.19, Y:-29.80, Z:-0.64 [[ 9.80758944e-01 1.95215631e-01 1.65841392e-03 2.56186493e+02] [-1.95215355e-01 9.80760347e-01 -3.28325597e-04 -2.97955486e+01] [-1.69060090e-03 -1.73959625e-06 9.99998571e-01 -6.39478412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:-29.80, Z:-0.64 [[ 9.79824994e-01 1.99850519e-01 1.65836375e-03 2.56216898e+02] [-1.99850249e-01 9.79826398e-01 -3.28578816e-04 -2.98020217e+01] [-1.69057523e-03 -9.47467243e-06 9.99998571e-01 -6.44812756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.25, Y:-29.81, Z:-0.64 [[ 9.79426814e-01 2.01792877e-01 1.65833518e-03 2.56247953e+02] [-2.01792610e-01 9.79428218e-01 -3.28722945e-04 -2.98085791e+01] [-1.69055422e-03 -1.26797172e-05 9.99998571e-01 -6.44301336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.28, Y:-29.82, Z:-0.64 [[ 9.79144527e-01 2.03158177e-01 1.65832811e-03 2.56278743e+02] [-2.03157911e-01 9.79145931e-01 -3.28758626e-04 -2.98153100e+01] [-1.69053522e-03 -1.50002653e-05 9.99998571e-01 -6.44299507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:-29.82, Z:-0.65 [[ 9.79067504e-01 2.03529045e-01 1.65832108e-03 2.56311099e+02] [-2.03528780e-01 9.79068909e-01 -3.28794072e-04 -2.98224943e+01] [-1.69052976e-03 -1.56044747e-05 9.99998571e-01 -6.46042853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:-29.83, Z:-0.65 [[ 9.79183272e-01 2.02971355e-01 1.65826130e-03 2.56342292e+02] [-2.02971088e-01 9.79184676e-01 -3.29095319e-04 -2.98292345e+01] [-1.69054097e-03 -1.43344692e-05 9.99998571e-01 -6.47603705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:-29.84, Z:-0.64 [[ 9.79192732e-01 2.02925711e-01 1.65820537e-03 2.56374980e+02] [-2.02925444e-01 9.79194136e-01 -3.29376870e-04 -2.98363775e+01] [-1.69054401e-03 -1.39686243e-05 9.99998571e-01 -6.41880140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:-29.84, Z:-0.65 [[ 9.78790435e-01 2.04857354e-01 1.65814360e-03 2.56405619e+02] [-2.04857089e-01 9.78791839e-01 -3.29687565e-04 -2.98428628e+01] [-1.69051634e-03 -1.69874354e-05 9.99998571e-01 -6.45199400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:-29.85, Z:-0.64 [[ 9.77053787e-01 2.12986264e-01 1.65811314e-03 2.56437760e+02] [-2.12986011e-01 9.77055193e-01 -3.29840672e-04 -2.98467200e+01] [-1.69031959e-03 -3.08828252e-05 9.99998571e-01 -6.43323883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:-29.85, Z:-0.64 [[ 9.76023092e-01 2.17660687e-01 1.65805956e-03 2.56469579e+02] [-2.17660440e-01 9.76024500e-01 -3.30109765e-04 -2.98506436e+01] [-1.69015868e-03 -3.86992210e-05 9.99998571e-01 -6.42697381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.50, Y:-29.85, Z:-0.64 [[ 9.75117061e-01 2.21684389e-01 1.65800597e-03 2.56502192e+02] [-2.21684148e-01 9.75118469e-01 -3.30378729e-04 -2.98541311e+01] [-1.68999205e-03 -4.53957049e-05 9.99998571e-01 -6.42746947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:-29.85, Z:-0.65 [[ 9.73839349e-01 2.27231542e-01 1.65798646e-03 2.56533169e+02] [-2.27231309e-01 9.73840759e-01 -3.30476634e-04 -2.98534862e+01] [-1.68970950e-03 -5.49152817e-05 9.99998571e-01 -6.45234300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.56, Y:-29.86, Z:-0.65 [[ 9.73633744e-01 2.28110904e-01 1.65798258e-03 2.56564152e+02] [-2.28110671e-01 9.73635154e-01 -3.30496059e-04 -2.98563262e+01] [-1.68965988e-03 -5.64214051e-05 9.99998571e-01 -6.45002138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:-29.86, Z:-0.64 [[ 9.74076863e-01 2.26211219e-01 1.65797480e-03 2.56595989e+02] [-2.26210984e-01 9.74078273e-01 -3.30535099e-04 -2.98569602e+01] [-1.68976798e-03 -5.30855188e-05 9.99998571e-01 -6.41822281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:-29.86, Z:-0.64 [[ 9.74570462e-01 2.24075134e-01 1.65796706e-03 2.56626704e+02] [-2.24074895e-01 9.74571871e-01 -3.30573930e-04 -2.98596252e+01] [-1.68988146e-03 -4.93412071e-05 9.99998571e-01 -6.39762167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.66, Y:-29.86, Z:-0.64 [[ 9.75019760e-01 2.22111950e-01 1.65796319e-03 2.56657648e+02] [-2.22111709e-01 9.75021169e-01 -3.30593314e-04 -2.98618037e+01] [-1.68997794e-03 -4.59180241e-05 9.99998571e-01 -6.37843776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:-29.86, Z:-0.64 [[ 9.75558486e-01 2.19733682e-01 1.65796319e-03 2.56688080e+02] [-2.19733437e-01 9.75559894e-01 -3.30593314e-04 -2.98595243e+01] [-1.69008488e-03 -4.17968382e-05 9.99998571e-01 -6.35432435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:-29.86, Z:-0.63 [[ 9.75725638e-01 2.18990251e-01 1.65796706e-03 2.56718850e+02] [-2.18990006e-01 9.75727046e-01 -3.30573916e-04 -2.98585337e+01] [-1.69011577e-03 -4.05287710e-05 9.99998571e-01 -6.32158526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:-29.86, Z:-0.63 [[ 9.75897233e-01 2.18224290e-01 1.65797490e-03 2.56747989e+02] [-2.18224043e-01 9.75898641e-01 -3.30534605e-04 -2.98608825e+01] [-1.69014613e-03 -3.92421794e-05 9.99998571e-01 -6.31801001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.78, Y:-29.86, Z:-0.63 [[ 9.76276641e-01 2.16520601e-01 1.65798659e-03 2.56778094e+02] [-2.16520352e-01 9.76278048e-01 -3.30475921e-04 -2.98636556e+01] [-1.69021076e-03 -3.63519193e-05 9.99998571e-01 -6.33989617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.81, Y:-29.87, Z:-0.64 [[ 9.77381690e-01 2.11476438e-01 1.65799431e-03 2.56807947e+02] [-2.11476181e-01 9.77383096e-01 -3.30437208e-04 -2.98654992e+01] [-1.69037529e-03 -2.76630285e-05 9.99998571e-01 -6.42836155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.84, Y:-29.87, Z:-0.65 [[ 9.77975865e-01 2.08711422e-01 1.65800212e-03 2.56837114e+02] [-2.08711162e-01 9.77977271e-01 -3.30398003e-04 -2.98701466e+01] [-1.69044623e-03 -2.29222769e-05 9.99998571e-01 -6.45718253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.87, Y:-29.87, Z:-0.64 [[ 9.79034708e-01 2.03686746e-01 1.65800997e-03 2.56865992e+02] [-2.03686479e-01 9.79036112e-01 -3.30358609e-04 -2.98743091e+01] [-1.69054131e-03 -1.42816689e-05 9.99998571e-01 -6.41931860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-29.88, Z:-0.64 [[ 9.79311918e-01 2.02349743e-01 1.65802168e-03 2.56893868e+02] [-2.02349474e-01 9.79313321e-01 -3.30299818e-04 -2.98784856e+01] [-1.69055881e-03 -1.20332676e-05 9.99998571e-01 -6.38110311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:-29.88, Z:-0.64 [[ 9.79376555e-01 2.02036666e-01 1.65803726e-03 2.56922571e+02] [-2.02036397e-01 9.79377958e-01 -3.30221617e-04 -2.98814741e+01] [-1.69056202e-03 -1.15725644e-05 9.99998571e-01 -6.35511434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:-29.88, Z:-0.64 [[ 9.78965359e-01 2.04019793e-01 1.65805279e-03 2.56951958e+02] [-2.04019527e-01 9.78966763e-01 -3.30143630e-04 -2.98817260e+01] [-1.69053441e-03 -1.50759681e-05 9.99998571e-01 -6.41139756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.98, Y:-29.88, Z:-0.65 [[ 9.78023855e-01 2.08486425e-01 1.65806882e-03 2.56980858e+02] [-2.08486165e-01 9.78025260e-01 -3.30063105e-04 -2.98810163e+01] [-1.69044686e-03 -2.28748194e-05 9.99998571e-01 -6.48460524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:257.01, Y:-29.88, Z:-0.65 [[ 9.77252009e-01 2.12074897e-01 1.65808473e-03 2.57008864e+02] [-2.12074642e-01 9.77253415e-01 -3.29983150e-04 -2.98829034e+01] [-1.69035011e-03 -2.91610293e-05 9.99998571e-01 -6.50852950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:-29.88, Z:-0.65 [[ 9.76326782e-01 2.16294397e-01 1.65810430e-03 2.57038214e+02] [-2.16294148e-01 9.76328189e-01 -3.29884802e-04 -2.98847897e+01] [-1.69020620e-03 -3.65628893e-05 9.99998571e-01 -6.48594250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.07, Y:-29.88, Z:-0.65 [[ 9.74630253e-01 2.23814924e-01 1.65811928e-03 2.57068420e+02] [-2.23814686e-01 9.74631662e-01 -3.29809452e-04 -2.98825727e+01] [-1.68987183e-03 -4.96691772e-05 9.99998571e-01 -6.48437279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:-29.88, Z:-0.65 [[ 9.74092507e-01 2.26143844e-01 1.65813479e-03 2.57096575e+02] [-2.26143610e-01 9.74093917e-01 -3.29731461e-04 -2.98838554e+01] [-1.68974575e-03 -5.37876419e-05 9.99998571e-01 -6.50886436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.13, Y:-29.89, Z:-0.65 [[ 9.73861339e-01 2.27137278e-01 1.65815405e-03 2.57125671e+02] [-2.27137046e-01 9.73862749e-01 -3.29634576e-04 -2.98853591e+01] [-1.68968676e-03 -5.56098427e-05 9.99998571e-01 -6.52359655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.15, Y:-29.89, Z:-0.65 [[ 9.74177107e-01 2.25779128e-01 1.65816878e-03 2.57152719e+02] [-2.25778893e-01 9.74178517e-01 -3.29560462e-04 -2.98854189e+01] [-1.68976028e-03 -5.33292556e-05 9.99998571e-01 -6.54473830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.18, Y:-29.89, Z:-0.65 [[ 9.74726357e-01 2.23396016e-01 1.65819448e-03 2.57181431e+02] [-2.23395778e-01 9.74727766e-01 -3.29431123e-04 -2.98895213e+01] [-1.68988180e-03 -4.93284477e-05 9.99998571e-01 -6.53476028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.21, Y:-29.89, Z:-0.65 [[ 9.75400590e-01 2.20433526e-01 1.65820896e-03 2.57210331e+02] [-2.20433284e-01 9.75401999e-01 -3.29358189e-04 -2.98935275e+01] [-1.69002192e-03 -4.42682758e-05 9.99998571e-01 -6.49558410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.24, Y:-29.89, Z:-0.65 [[ 9.76614491e-01 2.14991596e-01 1.65822419e-03 2.57238773e+02] [-2.14991346e-01 9.76615898e-01 -3.29281524e-04 -2.98943153e+01] [-1.69024087e-03 -3.49227425e-05 9.99998571e-01 -6.46497595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:-29.90, Z:-0.65 [[ 9.77078871e-01 2.12871158e-01 1.65824313e-03 2.57266409e+02] [-2.12870906e-01 9.77080278e-01 -3.29186108e-04 -2.98969786e+01] [-1.69031089e-03 -3.13509261e-05 9.99998571e-01 -6.45807114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:-29.90, Z:-0.64 [[ 9.77275386e-01 2.11967143e-01 1.65826624e-03 2.57295031e+02] [-2.11966889e-01 9.77276793e-01 -3.29069665e-04 -2.98992856e+01] [-1.69033707e-03 -2.99058519e-05 9.99998571e-01 -6.40638015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:-29.90, Z:-0.64 [[ 9.77200628e-01 2.12311522e-01 1.65828236e-03 2.57322482e+02] [-2.12311269e-01 9.77202035e-01 -3.28988382e-04 -2.99028157e+01] [-1.69032492e-03 -3.05843804e-05 9.99998571e-01 -6.37612208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.35, Y:-29.91, Z:-0.64 [[ 9.77130625e-01 2.12633467e-01 1.65830233e-03 2.57351191e+02] [-2.12633215e-01 9.77132032e-01 -3.28887713e-04 -2.99065454e+01] [-1.69031286e-03 -3.12438994e-05 9.99998571e-01 -6.35560626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:-29.91, Z:-0.64 [[ 9.77334984e-01 2.11692181e-01 1.65831770e-03 2.57377876e+02] [-2.11691928e-01 9.77336390e-01 -3.28810175e-04 -2.99093133e+01] [-1.69034078e-03 -2.96947852e-05 9.99998571e-01 -6.36045178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:-29.91, Z:-0.64 [[ 9.77607318e-01 2.10430944e-01 1.65834447e-03 2.57405707e+02] [-2.10430690e-01 9.77608724e-01 -3.28675120e-04 -2.99146975e+01] [-1.69037544e-03 -2.76513684e-05 9.99998571e-01 -6.36224507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.43, Y:-29.92, Z:-0.64 [[ 9.78291103e-01 2.07228780e-01 1.65836842e-03 2.57432226e+02] [-2.07228521e-01 9.78292508e-01 -3.28554238e-04 -2.99192970e+01] [-1.69045529e-03 -2.22395469e-05 9.99998571e-01 -6.36645738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:-29.92, Z:-0.64 [[ 9.78626958e-01 2.05636880e-01 1.65839619e-03 2.57460444e+02] [-2.05636618e-01 9.78628363e-01 -3.28414021e-04 -2.99236291e+01] [-1.69048758e-03 -1.96321694e-05 9.99998571e-01 -6.38452305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:257.49, Y:-29.93, Z:-0.64 [[ 9.79045872e-01 2.03633077e-01 1.65841169e-03 2.57489428e+02] [-2.03632813e-01 9.79047277e-01 -3.28335731e-04 -2.99277283e+01] [-1.69052346e-03 -1.62512948e-05 9.99998571e-01 -6.43408297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:-29.93, Z:-0.65 [[ 9.79238715e-01 2.02703698e-01 1.65842761e-03 2.57516238e+02] [-2.02703433e-01 9.79240119e-01 -3.28255263e-04 -2.99334182e+01] [-1.69053741e-03 -1.47287087e-05 9.99998571e-01 -6.46956072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:-29.94, Z:-0.65 [[ 9.79508270e-01 2.01397117e-01 1.65844746e-03 2.57543262e+02] [-2.01396850e-01 9.79509674e-01 -3.28154951e-04 -2.99393340e+01] [-1.69055479e-03 -1.25756067e-05 9.99998571e-01 -6.51264023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:-29.95, Z:-0.65 [[ 9.80264156e-01 1.97685187e-01 1.65847455e-03 2.57571567e+02] [-1.97684915e-01 9.80265559e-01 -3.28018011e-04 -2.99460871e+01] [-1.69058978e-03 -6.31110172e-06 9.99998571e-01 -6.48401985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.60, Y:-29.95, Z:-0.65 [[ 9.80603438e-01 1.95995274e-01 1.65849036e-03 2.57600096e+02] [-1.95995000e-01 9.80604840e-01 -3.27938013e-04 -2.99523235e+01] [-1.69059798e-03 -3.47867495e-06 9.99998571e-01 -6.46220045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:-29.96, Z:-0.65 [[ 9.80856746e-01 1.94723635e-01 1.65850671e-03 2.57626563e+02] [-1.94723359e-01 9.80858148e-01 -3.27855325e-04 -2.99596345e+01] [-1.69060100e-03 -1.37088966e-06 9.99998571e-01 -6.45355028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:-29.97, Z:-0.65 [[ 9.80937984e-01 1.94313973e-01 1.65853129e-03 2.57652559e+02] [-1.94313697e-01 9.80939386e-01 -3.27730930e-04 -2.99663310e+01] [-1.69060137e-03 -7.91628518e-07 9.99998571e-01 -6.45012709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:-29.97, Z:-0.64 [[ 9.80930774e-01 1.94350366e-01 1.65855807e-03 2.57678945e+02] [-1.94350090e-01 9.80932177e-01 -3.27595376e-04 -2.99728890e+01] [-1.69060125e-03 -9.92524293e-07 9.99998571e-01 -6.44891815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:-29.98, Z:-0.65 [[ 9.80545612e-01 1.96284366e-01 1.65858457e-03 2.57707011e+02] [-1.96284093e-01 9.80547014e-01 -3.27461127e-04 -2.99779157e+01] [-1.69059565e-03 -4.46319680e-06 9.99998571e-01 -6.45324152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.73, Y:-29.98, Z:-0.65 [[ 9.79920721e-01 1.99380615e-01 1.65860022e-03 2.57734777e+02] [-1.99380347e-01 9.79922125e-01 -3.27381827e-04 -2.99814464e+01] [-1.69057264e-03 -9.88405169e-06 9.99998571e-01 -6.47622788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.76, Y:-29.98, Z:-0.64 [[ 9.77822857e-01 2.09427098e-01 1.65862654e-03 2.57763752e+02] [-2.09426844e-01 9.77824263e-01 -3.27248444e-04 -2.99823359e+01] [-1.69037997e-03 -2.73699137e-05 9.99998571e-01 -6.43794353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:-29.99, Z:-0.64 [[ 9.76759591e-01 2.14331402e-01 1.65864194e-03 2.57792611e+02] [-2.14331155e-01 9.76760999e-01 -3.27170376e-04 -2.99856093e+01] [-1.69021964e-03 -3.59318404e-05 9.99998571e-01 -6.40119056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:-29.99, Z:-0.64 [[ 9.75998789e-01 2.17769631e-01 1.65865733e-03 2.57821250e+02] [-2.17769390e-01 9.76000198e-01 -3.27092312e-04 -2.99875845e+01] [-1.69008066e-03 -4.19630946e-05 9.99998571e-01 -6.36970993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:-29.98, Z:-0.64 [[ 9.75486487e-01 2.20053091e-01 1.65867294e-03 2.57850402e+02] [-2.20052853e-01 9.75487896e-01 -3.27013159e-04 -2.99830434e+01] [-1.68997563e-03 -4.59987946e-05 9.99998571e-01 -6.35252822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.88, Y:-29.99, Z:-0.64 [[ 9.75501656e-01 2.19985836e-01 1.65869230e-03 2.57878386e+02] [-2.19985598e-01 9.75503065e-01 -3.26914926e-04 -2.99884189e+01] [-1.68997608e-03 -4.59823650e-05 9.99998571e-01 -6.35300994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:-29.99, Z:-0.64 [[ 9.75678012e-01 2.19202338e-01 1.65871483e-03 2.57906871e+02] [-2.19202099e-01 9.75679421e-01 -3.26800568e-04 -2.99902896e+01] [-1.69000937e-03 -4.47416437e-05 9.99998571e-01 -6.36927460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:-29.99, Z:-0.64 [[ 9.76658946e-01 2.14789552e-01 1.65873783e-03 2.57934369e+02] [-2.14789306e-01 9.76660354e-01 -3.26683778e-04 -2.99922298e+01] [-1.69019174e-03 -3.72205142e-05 9.99998571e-01 -6.41627128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.96, Y:-30.00, Z:-0.64 [[ 9.77518890e-01 2.10841333e-01 1.65875691e-03 2.57962612e+02] [-2.10841083e-01 9.77520297e-01 -3.26586858e-04 -2.99958862e+01] [-1.69032656e-03 -3.04892810e-05 9.99998571e-01 -6.42435374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:-30.00, Z:-0.64 [[ 9.78484733e-01 2.06312567e-01 1.65877227e-03 2.57991530e+02] [-2.06312309e-01 9.78486139e-01 -3.26508854e-04 -2.99991454e+01] [-1.69044855e-03 -2.27412091e-05 9.99998571e-01 -6.42788104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.02, Y:-30.00, Z:-0.64 [[ 9.80549625e-01 1.96264316e-01 1.65878786e-03 2.58018984e+02] [-1.96264045e-01 9.80551028e-01 -3.26429622e-04 -3.00006691e+01] [-1.69059263e-03 -5.47997110e-06 9.99998571e-01 -6.42477519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:-30.01, Z:-0.64 [[ 9.81514849e-01 1.91378811e-01 1.65882935e-03 2.58045678e+02] [-1.91378533e-01 9.81516251e-01 -3.26218643e-04 -3.00057756e+01] [-1.69059930e-03 2.72411418e-06 9.99998571e-01 -6.43779133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.07, Y:-30.01, Z:-0.65 [[ 9.82885428e-01 1.84210432e-01 1.65885643e-03 2.58072348e+02] [-1.84210144e-01 9.82886828e-01 -3.26080890e-04 -3.00108616e+01] [-1.69053563e-03 1.49219736e-05 9.99998571e-01 -6.45385351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.10, Y:-30.02, Z:-0.65 [[ 9.83321914e-01 1.81866053e-01 1.65888294e-03 2.58101238e+02] [-1.81865762e-01 9.83323313e-01 -3.25945985e-04 -3.00158671e+01] [-1.69049677e-03 1.88158215e-05 9.99998571e-01 -6.46812470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.13, Y:-30.02, Z:-0.65 [[ 9.83688077e-01 1.79875001e-01 1.65889421e-03 2.58129889e+02] [-1.79874707e-01 9.83689475e-01 -3.25888616e-04 -3.00205607e+01] [-1.69045599e-03 2.21796374e-05 9.99998571e-01 -6.47663481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.16, Y:-30.02, Z:-0.65 [[ 9.83861333e-01 1.78924915e-01 1.65890939e-03 2.58157608e+02] [-1.78924620e-01 9.83862731e-01 -3.25811284e-04 -3.00245078e+01] [-1.69043488e-03 2.37333912e-05 9.99998571e-01 -6.49249062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:-30.03, Z:-0.65 [[ 9.83811787e-01 1.79197142e-01 1.65892827e-03 2.58186073e+02] [-1.79196847e-01 9.83813185e-01 -3.25715152e-04 -3.00288788e+01] [-1.69044273e-03 2.31676904e-05 9.99998571e-01 -6.49879708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:-30.03, Z:-0.65 [[ 9.83694752e-01 1.79838491e-01 1.65894336e-03 2.58214052e+02] [-1.79838198e-01 9.83696151e-01 -3.25638245e-04 -3.00331627e+01] [-1.69045849e-03 2.19872481e-05 9.99998571e-01 -6.54114408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:-30.04, Z:-0.65 [[ 9.83819955e-01 1.79152294e-01 1.65897038e-03 2.58242586e+02] [-1.79151999e-01 9.83821353e-01 -3.25500563e-04 -3.00387876e+01] [-1.69044466e-03 2.30260894e-05 9.99998571e-01 -6.53407032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.27, Y:-30.04, Z:-0.65 [[ 9.84013125e-01 1.78088232e-01 1.65898501e-03 2.58270034e+02] [-1.78087937e-01 9.84014523e-01 -3.25425991e-04 -3.00444211e+01] [-1.69041988e-03 2.47782291e-05 9.99998571e-01 -6.52823367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:-30.05, Z:-0.65 [[ 9.84655992e-01 1.74498784e-01 1.65901137e-03 2.58297380e+02] [-1.74498483e-01 9.84657389e-01 -3.25291520e-04 -3.00519826e+01] [-1.69032078e-03 3.08052753e-05 9.99998571e-01 -6.46530774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:-30.06, Z:-0.65 [[ 9.84878879e-01 1.73236371e-01 1.65903065e-03 2.58323987e+02] [-1.73236069e-01 9.84880276e-01 -3.25193172e-04 -3.00586425e+01] [-1.69028185e-03 3.28719380e-05 9.99998571e-01 -6.45495742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:-30.07, Z:-0.64 [[ 9.85082199e-01 1.72076464e-01 1.65904973e-03 2.58351390e+02] [-1.72076160e-01 9.85083595e-01 -3.25095827e-04 -3.00686349e+01] [-1.69024401e-03 3.47632051e-05 9.99998571e-01 -6.43653942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:-30.08, Z:-0.64 [[ 9.84977216e-01 1.72676377e-01 1.65906493e-03 2.58378156e+02] [-1.72676075e-01 9.84978613e-01 -3.25018232e-04 -3.00764406e+01] [-1.69026644e-03 3.36547342e-05 9.99998571e-01 -6.44032249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-30.08, Z:-0.64 [[ 9.84733119e-01 1.74063011e-01 1.65908758e-03 2.58405281e+02] [-1.74062711e-01 9.84734516e-01 -3.24902559e-04 -3.00838156e+01] [-1.69031432e-03 3.11570285e-05 9.99998571e-01 -6.44901598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.43, Y:-30.09, Z:-0.64 [[ 9.84375659e-01 1.76073308e-01 1.65911021e-03 2.58432548e+02] [-1.76073010e-01 9.84377057e-01 -3.24786947e-04 -3.00914693e+01] [-1.69037634e-03 2.75878356e-05 9.99998571e-01 -6.44751287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.46, Y:-30.10, Z:-0.64 [[ 9.83351019e-01 1.81708613e-01 1.65913274e-03 2.58460020e+02] [-1.81708324e-01 9.83352419e-01 -3.24671813e-04 -3.01019647e+01] [-1.69050786e-03 1.77881282e-05 9.99998571e-01 -6.42399915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.49, Y:-30.11, Z:-0.64 [[ 9.82769268e-01 1.84829145e-01 1.65914798e-03 2.58485727e+02] [-1.84828861e-01 9.82770669e-01 -3.24593931e-04 -3.01094135e+01] [-1.69055639e-03 1.23425097e-05 9.99998571e-01 -6.41336014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:-30.12, Z:-0.64 [[ 9.81698461e-01 1.90434709e-01 1.65917459e-03 2.58511797e+02] [-1.90434432e-01 9.81699863e-01 -3.24457832e-04 -3.01193905e+01] [-1.69059950e-03 2.55578247e-06 9.99998571e-01 -6.39684931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:-30.13, Z:-0.64 [[ 9.81266296e-01 1.92649171e-01 1.65919347e-03 2.58539767e+02] [-1.92648898e-01 9.81267699e-01 -3.24361258e-04 -3.01269399e+01] [-1.69060089e-03 -1.35702387e-06 9.99998571e-01 -6.38843064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:-30.13, Z:-0.64 [[ 9.80868459e-01 1.94664619e-01 1.65920818e-03 2.58566777e+02] [-1.94664349e-01 9.80869862e-01 -3.24286004e-04 -3.01336582e+01] [-1.69059431e-03 -4.90676683e-06 9.99998571e-01 -6.39686109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:-30.14, Z:-0.64 [[ 9.80126835e-01 1.98364900e-01 1.65923018e-03 2.58594948e+02] [-1.98364636e-01 9.80128240e-01 -3.24173419e-04 -3.01396645e+01] [-1.69056298e-03 -1.14015223e-05 9.99998571e-01 -6.40169634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:-30.14, Z:-0.64 [[ 9.79670653e-01 2.00605730e-01 1.65924484e-03 2.58623122e+02] [-2.00605469e-01 9.79672058e-01 -3.24098344e-04 -3.01443113e+01] [-1.69053179e-03 -1.53439532e-05 9.99998571e-01 -6.41355309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.65, Y:-30.15, Z:-0.64 [[ 9.78596782e-01 2.05780430e-01 1.65925956e-03 2.58650663e+02] [-2.05780176e-01 9.78598188e-01 -3.24022962e-04 -3.01472350e+01] [-1.69042599e-03 -2.43548967e-05 9.99998571e-01 -6.43813510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:-30.15, Z:-0.64 [[ 9.78115610e-01 2.08055524e-01 1.65927793e-03 2.58679602e+02] [-2.08055274e-01 9.78117017e-01 -3.23928868e-04 -3.01507986e+01] [-1.69036317e-03 -2.83816422e-05 9.99998571e-01 -6.44610595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:-30.15, Z:-0.64 [[ 9.77469939e-01 2.11068154e-01 1.65929235e-03 2.58708608e+02] [-2.11067909e-01 9.77471346e-01 -3.23854979e-04 -3.01526707e+01] [-1.69026620e-03 -3.36648600e-05 9.99998571e-01 -6.41894165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:-30.16, Z:-0.64 [[ 9.77276963e-01 2.11959866e-01 1.65930757e-03 2.58735986e+02] [-2.11959622e-01 9.77278371e-01 -3.23776998e-04 -3.01560309e+01] [-1.69023313e-03 -3.52864034e-05 9.99998571e-01 -6.40408652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:-30.16, Z:-0.64 [[ 9.77073024e-01 2.12897987e-01 1.65932641e-03 2.58763497e+02] [-2.12897745e-01 9.77074432e-01 -3.23680390e-04 -3.01573458e+01] [-1.69019632e-03 -3.70074738e-05 9.99998571e-01 -6.41347473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.79, Y:-30.16, Z:-0.64 [[ 9.77160513e-01 2.12496068e-01 1.65935151e-03 2.58792274e+02] [-2.12495824e-01 9.77161921e-01 -3.23551694e-04 -3.01614648e+01] [-1.69020857e-03 -3.64433275e-05 9.99998571e-01 -6.44436513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:-30.17, Z:-0.65 [[ 9.77333121e-01 2.11700770e-01 1.65936661e-03 2.58820033e+02] [-2.11700526e-01 9.77334530e-01 -3.23474219e-04 -3.01661444e+01] [-1.69023603e-03 -3.51467169e-05 9.99998571e-01 -6.50467373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.85, Y:-30.17, Z:-0.65 [[ 9.78148174e-01 2.07902374e-01 1.65938534e-03 2.58848090e+02] [-2.07902124e-01 9.78149581e-01 -3.23378113e-04 -3.01710529e+01] [-1.69035815e-03 -2.86780266e-05 9.99998571e-01 -6.49103815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:-30.18, Z:-0.65 [[ 9.78637502e-01 2.05586688e-01 1.65940043e-03 2.58876540e+02] [-2.05586435e-01 9.78638908e-01 -3.23300684e-04 -3.01760707e+01] [-1.69042014e-03 -2.47560445e-05 9.99998571e-01 -6.47600007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:-30.18, Z:-0.65 [[ 9.79559122e-01 2.01149626e-01 1.65941545e-03 2.58904071e+02] [-2.01149367e-01 9.79560528e-01 -3.23223550e-04 -3.01814283e+01] [-1.69051417e-03 -1.71737901e-05 9.99998571e-01 -6.48878769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:-30.19, Z:-0.65 [[ 9.80023378e-01 1.98875400e-01 1.65943789e-03 2.58930792e+02] [-1.98875138e-01 9.80024783e-01 -3.23108293e-04 -3.01883568e+01] [-1.69054855e-03 -1.33672587e-05 9.99998571e-01 -6.51576528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.96, Y:-30.20, Z:-0.65 [[ 9.80438230e-01 1.96820028e-01 1.65946546e-03 2.58957635e+02] [-1.96819763e-01 9.80439634e-01 -3.22966661e-04 -3.01961380e+01] [-1.69057201e-03 -9.96673652e-06 9.99998571e-01 -6.51584896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:-30.21, Z:-0.65 [[ 9.81005193e-01 1.93974372e-01 1.65948770e-03 2.58984793e+02] [-1.93974103e-01 9.81006597e-01 -3.22852349e-04 -3.02051004e+01] [-1.69059346e-03 -5.17780643e-06 9.99998571e-01 -6.50712322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:-30.21, Z:-0.65 [[ 9.81057520e-01 1.93709549e-01 1.65951082e-03 2.59012026e+02] [-1.93709280e-01 9.81058923e-01 -3.22733447e-04 -3.02113926e+01] [-1.69059445e-03 -4.84257047e-06 9.99998571e-01 -6.51713231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:-30.22, Z:-0.65 [[ 9.80532723e-01 1.96348735e-01 1.65953003e-03 2.59040314e+02] [-1.96348470e-01 9.80534127e-01 -3.22634629e-04 -3.02178801e+01] [-1.69057473e-03 -9.49237203e-06 9.99998571e-01 -6.47498122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.07, Y:-30.22, Z:-0.65 [[ 9.80046970e-01 1.98759106e-01 1.65954535e-03 2.59068062e+02] [-1.98758844e-01 9.80048375e-01 -3.22555810e-04 -3.02232623e+01] [-1.69054563e-03 -1.37294720e-05 9.99998571e-01 -6.46545785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:-30.23, Z:-0.65 [[ 9.79505879e-01 2.01408735e-01 1.65956864e-03 2.59095595e+02] [-2.01408478e-01 9.79507285e-01 -3.22435919e-04 -3.02283845e+01] [-1.69050099e-03 -1.84233169e-05 9.99998571e-01 -6.47757743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:-30.23, Z:-0.65 [[ 9.78401030e-01 2.06709145e-01 1.65958796e-03 2.59122956e+02] [-2.06708896e-01 9.78402437e-01 -3.22336492e-04 -3.02312233e+01] [-1.69037480e-03 -2.76772386e-05 9.99998571e-01 -6.51328847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:-30.23, Z:-0.65 [[ 9.77851463e-01 2.09293484e-01 1.65960696e-03 2.59151202e+02] [-2.09293239e-01 9.77852870e-01 -3.22238587e-04 -3.02344716e+01] [-1.69029387e-03 -3.22430430e-05 9.99998571e-01 -6.50269032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:-30.24, Z:-0.65 [[ 9.77379843e-01 2.11484960e-01 1.65962963e-03 2.59178644e+02] [-2.11484718e-01 9.77381251e-01 -3.22121800e-04 -3.02370670e+01] [-1.69021480e-03 -3.61509504e-05 9.99998571e-01 -6.48762478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:-30.24, Z:-0.64 [[ 9.77090073e-01 2.12819722e-01 1.65964843e-03 2.59207066e+02] [-2.12819482e-01 9.77091482e-01 -3.22024940e-04 -3.02391113e+01] [-1.69016160e-03 -3.85581459e-05 9.99998571e-01 -6.43495521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:-30.24, Z:-0.64 [[ 9.77268991e-01 2.11996613e-01 1.65966709e-03 2.59234951e+02] [-2.11996372e-01 9.77270400e-01 -3.21928740e-04 -3.02435992e+01] [-1.69019132e-03 -3.72324256e-05 9.99998571e-01 -6.42504719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:-30.25, Z:-0.64 [[ 9.77876036e-01 2.09178641e-01 1.65968563e-03 2.59262648e+02] [-2.09178396e-01 9.77877444e-01 -3.21833125e-04 -3.02476386e+01] [-1.69028975e-03 -3.24574773e-05 9.99998571e-01 -6.42718715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:-30.25, Z:-0.64 [[ 9.78410937e-01 2.06662247e-01 1.65970302e-03 2.59290972e+02] [-2.06661998e-01 9.78412344e-01 -3.21743431e-04 -3.02534244e+01] [-1.69036614e-03 -2.82002501e-05 9.99998571e-01 -6.42539322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.32, Y:-30.26, Z:-0.65 [[ 9.78981234e-01 2.03943592e-01 1.65971817e-03 2.59318314e+02] [-2.03943340e-01 9.78982641e-01 -3.21665220e-04 -3.02594671e+01] [-1.69043684e-03 -2.35842537e-05 9.99998571e-01 -6.45802831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:-30.27, Z:-0.65 [[ 9.80094507e-01 1.98524564e-01 1.65974524e-03 2.59346628e+02] [-1.98524304e-01 9.80095912e-01 -3.21525513e-04 -3.02668258e+01] [-1.69054023e-03 -1.43743800e-05 9.99998571e-01 -6.47333922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:-30.27, Z:-0.65 [[ 9.80461443e-01 1.96704359e-01 1.65976041e-03 2.59373724e+02] [-1.96704097e-01 9.80462847e-01 -3.21447164e-04 -3.02731385e+01] [-1.69056348e-03 -1.13151220e-05 9.99998571e-01 -6.48642128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:-30.28, Z:-0.65 [[ 9.80905252e-01 1.94479131e-01 1.65977933e-03 2.59401920e+02] [-1.94478866e-01 9.80906656e-01 -3.21349426e-04 -3.02809501e+01] [-1.69058435e-03 -7.57866271e-06 9.99998571e-01 -6.45461924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:-30.29, Z:-0.64 [[ 9.81011230e-01 1.93943836e-01 1.65979431e-03 2.59429441e+02] [-1.93943570e-01 9.81012634e-01 -3.21272047e-04 -3.02874222e+01] [-1.69058792e-03 -6.73494854e-06 9.99998571e-01 -6.41753644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:-30.29, Z:-0.64 [[ 9.81048949e-01 1.93752947e-01 1.65982098e-03 2.59457691e+02] [-1.93752681e-01 9.81050353e-01 -3.21134220e-04 -3.02940870e+01] [-1.69058866e-03 -6.54637560e-06 9.99998571e-01 -6.40354307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:-30.30, Z:-0.64 [[ 9.81427286e-01 1.91827339e-01 1.65983573e-03 2.59485944e+02] [-1.91827070e-01 9.81428689e-01 -3.21057932e-04 -3.03020280e+01] [-1.69059810e-03 -3.30641126e-06 9.99998571e-01 -6.44773384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:-30.31, Z:-0.65 [[ 9.81851044e-01 1.89646442e-01 1.65985043e-03 2.59512980e+02] [-1.89646171e-01 9.81852447e-01 -3.20981930e-04 -3.03099465e+01] [-1.69060129e-03 3.72164248e-07 9.99998571e-01 -6.45760937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:-30.32, Z:-0.64 [[ 9.82970107e-01 1.83758030e-01 1.65986874e-03 2.59540287e+02] [-1.83757751e-01 9.82971508e-01 -3.20887221e-04 -3.03210522e+01] [-1.69056928e-03 1.04088003e-05 9.99998571e-01 -6.42671059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:-30.33, Z:-0.64 [[ 9.83441290e-01 1.81219406e-01 1.65988332e-03 2.59568503e+02] [-1.81219122e-01 9.83442691e-01 -3.20811766e-04 -3.03284195e+01] [-1.69053744e-03 1.46969380e-05 9.99998571e-01 -6.40053045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:-30.34, Z:-0.64 [[ 9.83913392e-01 1.78638412e-01 1.65989817e-03 2.59596168e+02] [-1.78638125e-01 9.83914792e-01 -3.20734935e-04 -3.03385768e+01] [-1.69049394e-03 1.90543014e-05 9.99998571e-01 -6.43554412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:-30.35, Z:-0.65 [[ 9.83950818e-01 1.78432150e-01 1.65991350e-03 2.59623431e+02] [-1.78431863e-01 9.83952218e-01 -3.20655594e-04 -3.03467696e+01] [-1.69049083e-03 1.93278763e-05 9.99998571e-01 -6.46915160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.65, Y:-30.35, Z:-0.65 [[ 9.83959195e-01 1.78385950e-01 1.65992869e-03 2.59652246e+02] [-1.78385663e-01 9.83960595e-01 -3.20576900e-04 -3.03522416e+01] [-1.69049084e-03 1.93271079e-05 9.99998571e-01 -6.46964742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.68, Y:-30.36, Z:-0.65 [[ 9.83937169e-01 1.78507400e-01 1.65994374e-03 2.59678817e+02] [-1.78507113e-01 9.83938569e-01 -3.20498959e-04 -3.03603707e+01] [-1.69049411e-03 1.90390732e-05 9.99998571e-01 -6.49144720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.71, Y:-30.37, Z:-0.65 [[ 9.83912240e-01 1.78644758e-01 1.65996245e-03 2.59707010e+02] [-1.78644471e-01 9.83913640e-01 -3.20402048e-04 -3.03686306e+01] [-1.69049784e-03 1.87043827e-05 9.99998571e-01 -6.48174953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:-30.38, Z:-0.65 [[ 9.83624704e-01 1.80221215e-01 1.65997757e-03 2.59732699e+02] [-1.80220931e-01 9.83626105e-01 -3.20323684e-04 -3.03805264e+01] [-1.69052639e-03 1.59155865e-05 9.99998571e-01 -6.46520005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:-30.39, Z:-0.65 [[ 9.83372679e-01 1.81591352e-01 1.65999647e-03 2.59760637e+02] [-1.81591070e-01 9.83374080e-01 -3.20225723e-04 -3.03897237e+01] [-1.69054772e-03 1.34606913e-05 9.99998571e-01 -6.45029446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.79, Y:-30.40, Z:-0.64 [[ 9.82492729e-01 1.86293534e-01 1.66001108e-03 2.59787473e+02] [-1.86293259e-01 9.82494132e-01 -3.20149933e-04 -3.04009719e+01] [-1.69059301e-03 5.29610587e-06 9.99998571e-01 -6.37140547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:-30.41, Z:-0.64 [[ 9.81912492e-01 1.89328030e-01 1.66002634e-03 2.59815725e+02] [-1.89327760e-01 9.81913895e-01 -3.20070787e-04 -3.04081267e+01] [-1.69060131e-03 -7.56536177e-09 9.99998571e-01 -6.39311579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:-30.41, Z:-0.64 [[ 9.81334025e-01 1.92303861e-01 1.66004163e-03 2.59842856e+02] [-1.92303595e-01 9.81335429e-01 -3.19991490e-04 -3.04141968e+01] [-1.69059326e-03 -5.21343685e-06 9.99998571e-01 -6.39213230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:-30.42, Z:-0.64 [[ 9.80409431e-01 1.96963429e-01 1.66006063e-03 2.59869811e+02] [-1.96963170e-01 9.80410836e-01 -3.19892909e-04 -3.04204340e+01] [-1.69054863e-03 -1.33447779e-05 9.99998571e-01 -6.40054853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:-30.43, Z:-0.64 [[ 9.80154925e-01 1.98226050e-01 1.66008141e-03 2.59897706e+02] [-1.98225792e-01 9.80156331e-01 -3.19784993e-04 -3.04261766e+01] [-1.69052902e-03 -1.56321175e-05 9.99998571e-01 -6.41243314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:-30.43, Z:-0.65 [[ 9.79617631e-01 2.00864485e-01 1.66009649e-03 2.59925318e+02] [-2.00864231e-01 9.79619037e-01 -3.19706699e-04 -3.04309767e+01] [-1.69047985e-03 -2.02636868e-05 9.99998571e-01 -6.47900134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.95, Y:-30.43, Z:-0.65 [[ 9.79433236e-01 2.01761693e-01 1.66011530e-03 2.59954243e+02] [-2.01761441e-01 9.79434642e-01 -3.19609029e-04 -3.04347591e+01] [-1.69045929e-03 -2.19115488e-05 9.99998571e-01 -6.48005633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:-30.44, Z:-0.65 [[ 9.79329332e-01 2.02265430e-01 1.66013021e-03 2.59982704e+02] [-2.02265179e-01 9.79330739e-01 -3.19531571e-04 -3.04379867e+01] [-1.69044673e-03 -2.28598931e-05 9.99998571e-01 -6.45797584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:-30.44, Z:-0.64 [[ 9.79842985e-01 1.99762280e-01 1.66014522e-03 2.60010767e+02] [-1.99762026e-01 9.79844391e-01 -3.19453529e-04 -3.04406786e+01] [-1.69049875e-03 -1.86196731e-05 9.99998571e-01 -6.38213211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:-30.45, Z:-0.64 [[ 9.80518233e-01 1.96421077e-01 1.66016386e-03 2.60039196e+02] [-1.96420818e-01 9.80519638e-01 -3.19356639e-04 -3.04460676e+01] [-1.69055164e-03 -1.29557354e-05 9.99998571e-01 -6.36285095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:-30.45, Z:-0.64 [[ 9.81306219e-01 1.92445701e-01 1.66017905e-03 2.60067251e+02] [-1.92445436e-01 9.81307624e-01 -3.19277652e-04 -3.04520812e+01] [-1.69058997e-03 -6.18473605e-06 9.99998571e-01 -6.35843208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:-30.46, Z:-0.64 [[ 9.82609625e-01 1.85675979e-01 1.66019455e-03 2.60094719e+02] [-1.85675705e-01 9.82611027e-01 -3.19197030e-04 -3.04588449e+01] [-1.69059269e-03 5.38828005e-06 9.99998571e-01 -6.37258000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:-30.47, Z:-0.64 [[ 9.83049661e-01 1.83331960e-01 1.66021517e-03 2.60122857e+02] [-1.83331683e-01 9.83051063e-01 -3.19089740e-04 -3.04662312e+01] [-1.69057564e-03 9.31101875e-06 9.99998571e-01 -6.38006839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:-30.47, Z:-0.64 [[ 9.82993994e-01 1.83630205e-01 1.66023074e-03 2.60150369e+02] [-1.83629928e-01 9.82995396e-01 -3.19008734e-04 -3.04711328e+01] [-1.69057881e-03 8.71561906e-06 9.99998571e-01 -6.40476625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:-30.48, Z:-0.64 [[ 9.82804341e-01 1.84642551e-01 1.66025011e-03 2.60179141e+02] [-1.84642276e-01 9.82805743e-01 -3.18907883e-04 -3.04759921e+01] [-1.69058731e-03 6.87169233e-06 9.99998571e-01 -6.43529500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:-30.48, Z:-0.65 [[ 9.82520955e-01 1.86144614e-01 1.66026475e-03 2.60206531e+02] [-1.86144341e-01 9.82522357e-01 -3.18831657e-04 -3.04806200e+01] [-1.69059603e-03 4.20989717e-06 9.99998571e-01 -6.46799245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:-30.49, Z:-0.65 [[ 9.81902386e-01 1.89380431e-01 1.66028290e-03 2.60233953e+02] [-1.89380163e-01 9.81903790e-01 -3.18737090e-04 -3.04865383e+01] [-1.69060064e-03 -1.45593817e-06 9.99998571e-01 -6.47119440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.26, Y:-30.49, Z:-0.64 [[ 9.81707046e-01 1.90390439e-01 1.66030097e-03 2.60261539e+02] [-1.90390172e-01 9.81708450e-01 -3.18642937e-04 -3.04939242e+01] [-1.69059806e-03 -3.29097080e-06 9.99998571e-01 -6.38311225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:-30.50, Z:-0.64 [[ 9.81713224e-01 1.90358581e-01 1.66031594e-03 2.60288923e+02] [-1.90358314e-01 9.81714628e-01 -3.18564914e-04 -3.04993149e+01] [-1.69059801e-03 -3.31555535e-06 9.99998571e-01 -6.37105416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:-30.50, Z:-0.64 [[ 9.81757687e-01 1.90129132e-01 1.66033455e-03 2.60317579e+02] [-1.90128866e-01 9.81759091e-01 -3.18467928e-04 -3.05039360e+01] [-1.69059856e-03 -3.01918669e-06 9.99998571e-01 -6.36587149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:-30.51, Z:-0.64 [[ 9.81691981e-01 1.90468104e-01 1.66034928e-03 2.60346007e+02] [-1.90467837e-01 9.81693385e-01 -3.18391071e-04 -3.05082946e+01] [-1.69059725e-03 -3.68117604e-06 9.99998571e-01 -6.37317257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:-30.51, Z:-0.64 [[ 9.81283487e-01 1.92561579e-01 1.66036423e-03 2.60374134e+02] [-1.92561316e-01 9.81284892e-01 -3.18313132e-04 -3.05123059e+01] [-1.69058521e-03 -7.36649938e-06 9.99998571e-01 -6.38879562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.40, Y:-30.51, Z:-0.64 [[ 9.80353092e-01 1.97243651e-01 1.66037930e-03 2.60402149e+02] [-1.97243395e-01 9.80354498e-01 -3.18234471e-04 -3.05147124e+01] [-1.69053005e-03 -1.55167023e-05 9.99998571e-01 -6.40962792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.43, Y:-30.52, Z:-0.64 [[ 9.79956971e-01 1.99202355e-01 1.66039811e-03 2.60430264e+02] [-1.99202102e-01 9.79958377e-01 -3.18136315e-04 -3.05176341e+01] [-1.69049454e-03 -1.89948933e-05 9.99998571e-01 -6.41914335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.46, Y:-30.52, Z:-0.64 [[ 9.79770736e-01 2.00116337e-01 1.66042040e-03 2.60457155e+02] [-2.00116086e-01 9.79772142e-01 -3.18019921e-04 -3.05206174e+01] [-1.69047464e-03 -2.06902191e-05 9.99998571e-01 -6.43214636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.49, Y:-30.52, Z:-0.64 [[ 9.79772713e-01 2.00106658e-01 1.66045244e-03 2.60485079e+02] [-2.00106406e-01 9.79774119e-01 -3.17852552e-04 -3.05246875e+01] [-1.69047274e-03 -2.08439134e-05 9.99998571e-01 -6.43694214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.51, Y:-30.53, Z:-0.65 [[ 9.80145507e-01 1.98272611e-01 1.66047456e-03 2.60512358e+02] [-1.98272358e-01 9.80146913e-01 -3.17736980e-04 -3.05285668e+01] [-1.69050755e-03 -1.77977318e-05 9.99998571e-01 -6.46114891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:-30.53, Z:-0.65 [[ 9.80605550e-01 1.95984689e-01 1.66049574e-03 2.60539444e+02] [-1.95984432e-01 9.80606956e-01 -3.17626235e-04 -3.05332847e+01] [-1.69054355e-03 -1.39652661e-05 9.99998571e-01 -6.46617816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.57, Y:-30.54, Z:-0.65 [[ 9.80834434e-01 1.94835971e-01 1.66051394e-03 2.60566386e+02] [-1.94835713e-01 9.80835840e-01 -3.17531075e-04 -3.05386430e+01] [-1.69055806e-03 -1.20820042e-05 9.99998571e-01 -6.45112476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.60, Y:-30.54, Z:-0.64 [[ 9.81067460e-01 1.93659188e-01 1.66053202e-03 2.60595006e+02] [-1.93658928e-01 9.81068865e-01 -3.17436494e-04 -3.05442638e+01] [-1.69057076e-03 -1.01502362e-05 9.99998571e-01 -6.41568139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.62, Y:-30.55, Z:-0.64 [[ 9.81262519e-01 1.92668397e-01 1.66054642e-03 2.60622697e+02] [-1.92668136e-01 9.81263924e-01 -3.17361139e-04 -3.05499700e+01] [-1.69057976e-03 -8.51979237e-06 9.99998571e-01 -6.40112713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:-30.56, Z:-0.64 [[ 9.81587266e-01 1.91007021e-01 1.66056733e-03 2.60650924e+02] [-1.91006758e-01 9.81588670e-01 -3.17251665e-04 -3.05561577e+01] [-1.69059138e-03 -5.76938799e-06 9.99998571e-01 -6.39695117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:-30.56, Z:-0.64 [[ 9.81771806e-01 1.90056211e-01 1.66058234e-03 2.60677869e+02] [-1.90055947e-01 9.81773210e-01 -3.17173082e-04 -3.05623613e+01] [-1.69059597e-03 -4.21196011e-06 9.99998571e-01 -6.40221091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:-30.57, Z:-0.64 [[ 9.81944309e-01 1.89162937e-01 1.66060099e-03 2.60706414e+02] [-1.89162672e-01 9.81945713e-01 -3.17075410e-04 -3.05682739e+01] [-1.69059894e-03 -2.77332623e-06 9.99998571e-01 -6.39783680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.73, Y:-30.57, Z:-0.64 [[ 9.82199757e-01 1.87832051e-01 1.66061619e-03 2.60733342e+02] [-1.87831784e-01 9.82201161e-01 -3.16995818e-04 -3.05733309e+01] [-1.69060112e-03 -5.63285167e-07 9.99998571e-01 -6.42054216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:-30.58, Z:-0.65 [[ 9.82675979e-01 1.85324479e-01 1.66063510e-03 2.60762138e+02] [-1.85324208e-01 9.82677382e-01 -3.16896719e-04 -3.05767561e+01] [-1.69059727e-03 3.65090862e-06 9.99998571e-01 -6.45156939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.79, Y:-30.58, Z:-0.64 [[ 9.82845885e-01 1.84421278e-01 1.66065052e-03 2.60789625e+02] [-1.84421006e-01 9.82847288e-01 -3.16815872e-04 -3.05798543e+01] [-1.69059345e-03 5.12233710e-06 9.99998571e-01 -6.44319798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.82, Y:-30.58, Z:-0.64 [[ 9.82974065e-01 1.83736851e-01 1.66066968e-03 2.60816824e+02] [-1.83736578e-01 9.82975467e-01 -3.16715426e-04 -3.05840268e+01] [-1.69058985e-03 6.19728546e-06 9.99998571e-01 -6.42453160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.84, Y:-30.59, Z:-0.64 [[ 9.83151003e-01 1.82787709e-01 1.66068865e-03 2.60844649e+02] [-1.82787435e-01 9.83152406e-01 -3.16615933e-04 -3.05898672e+01] [-1.69058354e-03 7.72825402e-06 9.99998571e-01 -6.41491137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.87, Y:-30.60, Z:-0.64 [[ 9.83193305e-01 1.82560034e-01 1.66070344e-03 2.60871976e+02] [-1.82559760e-01 9.83194708e-01 -3.16538326e-04 -3.05954349e+01] [-1.69058208e-03 8.04074178e-06 9.99998571e-01 -6.43386771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.90, Y:-30.60, Z:-0.64 [[ 9.83409052e-01 1.81394261e-01 1.66072318e-03 2.60900600e+02] [-1.81393985e-01 9.83410455e-01 -3.16434721e-04 -3.06011286e+01] [-1.69057198e-03 9.93957429e-06 9.99998571e-01 -6.43565486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.93, Y:-30.61, Z:-0.64 [[ 9.83659824e-01 1.80029424e-01 1.66073811e-03 2.60928656e+02] [-1.80029146e-01 9.83661225e-01 -3.16356348e-04 -3.06073796e+01] [-1.69055713e-03 1.22057661e-05 9.99998571e-01 -6.44066435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.96, Y:-30.61, Z:-0.64 [[ 9.83953184e-01 1.78419097e-01 1.66075304e-03 2.60956170e+02] [-1.78418817e-01 9.83954585e-01 -3.16277926e-04 -3.06143230e+01] [-1.69053559e-03 1.48930787e-05 9.99998571e-01 -6.44599257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:-30.62, Z:-0.64 [[ 9.84509284e-01 1.75324587e-01 1.66077161e-03 2.60983575e+02] [-1.75324303e-01 9.84510685e-01 -3.16180392e-04 -3.06241660e+01] [-1.69048159e-03 2.01089060e-05 9.99998571e-01 -6.42730762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.01, Y:-30.63, Z:-0.64 [[ 9.84781272e-01 1.73790354e-01 1.66078644e-03 2.61011074e+02] [-1.73790068e-01 9.84782673e-01 -3.16102508e-04 -3.06320685e+01] [-1.69044927e-03 2.26636427e-05 9.99998571e-01 -6.41776404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.04, Y:-30.65, Z:-0.65 [[ 9.85338464e-01 1.70602910e-01 1.66080129e-03 2.61037999e+02] [-1.70602620e-01 9.85339863e-01 -3.16024436e-04 -3.06456660e+01] [-1.69036841e-03 2.80539806e-05 9.99998571e-01 -6.45460491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.07, Y:-30.66, Z:-0.64 [[ 9.85586315e-01 1.69165176e-01 1.66081242e-03 2.61066375e+02] [-1.69164883e-01 9.85587714e-01 -3.15965968e-04 -3.06554246e+01] [-1.69032675e-03 3.04605954e-05 9.99998571e-01 -6.44881834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.09, Y:-30.67, Z:-0.65 [[ 9.85707214e-01 1.68459283e-01 1.66081984e-03 2.61094195e+02] [-1.68458989e-01 9.85708613e-01 -3.15926945e-04 -3.06654709e+01] [-1.69030525e-03 3.16314377e-05 9.99998571e-01 -6.45327899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.12, Y:-30.68, Z:-0.65 [[ 9.85439925e-01 1.70015869e-01 1.66081607e-03 2.61121678e+02] [-1.70015578e-01 9.85441324e-01 -3.15946740e-04 -3.06808652e+01] [-1.69035275e-03 2.89819274e-05 9.99998571e-01 -6.45263808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:-30.69, Z:-0.64 [[ 9.85126907e-01 1.71820309e-01 1.66081973e-03 2.61150797e+02] [-1.71820021e-01 9.85128307e-01 -3.15927526e-04 -3.06911021e+01] [-1.69040329e-03 2.58666270e-05 9.99998571e-01 -6.44887209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.18, Y:-30.70, Z:-0.65 [[ 9.84320672e-01 1.76380429e-01 1.66081973e-03 2.61178629e+02] [-1.76380147e-01 9.84322073e-01 -3.15927526e-04 -3.07037258e+01] [-1.69050495e-03 1.80383671e-05 9.99998571e-01 -6.48149192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.21, Y:-30.71, Z:-0.65 [[ 9.83793482e-01 1.79297589e-01 1.66082340e-03 2.61208907e+02] [-1.79297312e-01 9.83794884e-01 -3.15908205e-04 -3.07125347e+01] [-1.69055115e-03 1.30072618e-05 9.99998571e-01 -6.50085405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.24, Y:-30.72, Z:-0.65 [[ 9.83233362e-01 1.82344174e-01 1.66081566e-03 2.61237881e+02] [-1.82343901e-01 9.83234764e-01 -3.15948898e-04 -3.07207960e+01] [-1.69058314e-03 7.81189037e-06 9.99998571e-01 -6.51701670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.27, Y:-30.73, Z:-0.64 [[ 9.82152133e-01 1.88080909e-01 1.66081181e-03 2.61267267e+02] [-1.88080644e-01 9.82153538e-01 -3.15969135e-04 -3.07288181e+01] [-1.69059996e-03 -2.03679458e-06 9.99998571e-01 -6.42702489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.30, Y:-30.73, Z:-0.64 [[ 9.81045374e-01 1.93771042e-01 1.66081181e-03 2.61297771e+02] [-1.93770785e-01 9.81046779e-01 -3.15969135e-04 -3.07335889e+01] [-1.69055975e-03 -1.18367497e-05 9.99998571e-01 -6.37451772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.33, Y:-30.74, Z:-0.64 [[ 9.80444213e-01 1.96790213e-01 1.66081181e-03 2.61326530e+02] [-1.96789960e-01 9.80445619e-01 -3.15969135e-04 -3.07395222e+01] [-1.69051530e-03 -1.70409794e-05 9.99998571e-01 -6.39187470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.35, Y:-30.75, Z:-0.64 [[ 9.80095095e-01 1.98521653e-01 1.66081556e-03 2.61354570e+02] [-1.98521402e-01 9.80096502e-01 -3.15949409e-04 -3.07460890e+01] [-1.69048232e-03 -2.00469687e-05 9.99998571e-01 -6.43689841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:-30.75, Z:-0.65 [[ 9.80087586e-01 1.98558721e-01 1.66082621e-03 2.61382510e+02] [-1.98558471e-01 9.80088993e-01 -3.15893431e-04 -3.07527047e+01] [-1.69048088e-03 -2.01678829e-05 9.99998571e-01 -6.48323877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.41, Y:-30.76, Z:-0.65 [[ 9.80091901e-01 1.98537420e-01 1.66083654e-03 2.61412154e+02] [-1.98537170e-01 9.80093308e-01 -3.15839117e-04 -3.07582940e+01] [-1.69048066e-03 -2.01864257e-05 9.99998571e-01 -6.48374870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.44, Y:-30.76, Z:-0.65 [[ 9.80650260e-01 1.95760845e-01 1.66084340e-03 2.61442727e+02] [-1.95760591e-01 9.80651667e-01 -3.15803020e-04 -3.07641094e+01] [-1.69053072e-03 -1.54353722e-05 9.99998571e-01 -6.49013125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.47, Y:-30.77, Z:-0.64 [[ 9.81112929e-01 1.93428699e-01 1.66083602e-03 2.61472615e+02] [-1.93428442e-01 9.81114335e-01 -3.15841859e-04 -3.07707255e+01] [-1.69056290e-03 -1.13763914e-05 9.99998571e-01 -6.43576674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.50, Y:-30.78, Z:-0.64 [[ 9.81174585e-01 1.93115703e-01 1.66082002e-03 2.61503450e+02] [-1.93115445e-01 9.81175991e-01 -3.15925972e-04 -3.07778817e+01] [-1.69056699e-03 -1.07514612e-05 9.99998571e-01 -6.40671512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:-30.78, Z:-0.64 [[ 9.81121242e-01 1.93386533e-01 1.66081241e-03 2.61535011e+02] [-1.93386275e-01 9.81122647e-01 -3.15965957e-04 -3.07845437e+01] [-1.69056423e-03 -1.11774138e-05 9.99998571e-01 -6.41310413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.57, Y:-30.79, Z:-0.65 [[ 9.80677664e-01 1.95623520e-01 1.66075814e-03 2.61565167e+02] [-1.95623265e-01 9.80679070e-01 -3.16250969e-04 -3.07890320e+01] [-1.69053687e-03 -1.47426683e-05 9.99998571e-01 -6.48780071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.59, Y:-30.79, Z:-0.65 [[ 9.80406960e-01 1.96975719e-01 1.66073758e-03 2.61593877e+02] [-1.96975466e-01 9.80408367e-01 -3.16358873e-04 -3.07947822e+01] [-1.69051604e-03 -1.69641179e-05 9.99998571e-01 -6.52017915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.62, Y:-30.80, Z:-0.65 [[ 9.80133337e-01 1.98332759e-01 1.66074484e-03 2.61624006e+02] [-1.98332507e-01 9.80134744e-01 -3.16320775e-04 -3.08049141e+01] [-1.69049049e-03 -1.93431505e-05 9.99998571e-01 -6.46906190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.65, Y:-30.81, Z:-0.64 [[ 9.79998315e-01 1.98998855e-01 1.66073726e-03 2.61653186e+02] [-1.98998605e-01 9.79999722e-01 -3.16360561e-04 -3.08111931e+01] [-1.69047744e-03 -2.04515811e-05 9.99998571e-01 -6.42967809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.68, Y:-30.82, Z:-0.64 [[ 9.79828404e-01 1.99833782e-01 1.66073726e-03 2.61683771e+02] [-1.99833533e-01 9.79829811e-01 -3.16360561e-04 -3.08160835e+01] [-1.69045940e-03 -2.18919301e-05 9.99998571e-01 -6.39681276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.71, Y:-30.82, Z:-0.64 [[ 9.79430514e-01 2.01774898e-01 1.66072971e-03 2.61713681e+02] [-2.01774652e-01 9.79431922e-01 -3.16400176e-04 -3.08202907e+01] [-1.69041331e-03 -2.52011715e-05 9.99998571e-01 -6.38692789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.74, Y:-30.83, Z:-0.64 [[ 9.79394037e-01 2.01951881e-01 1.66072597e-03 2.61743942e+02] [-2.01951634e-01 9.79395445e-01 -3.16419838e-04 -3.08261246e+01] [-1.69040903e-03 -2.54866201e-05 9.99998571e-01 -6.38456712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.78, Y:-30.83, Z:-0.64 [[ 9.79969961e-01 1.99138436e-01 1.66072597e-03 2.61775364e+02] [-1.99138185e-01 9.79971368e-01 -3.16419838e-04 -3.08310177e+01] [-1.69047525e-03 -2.06320184e-05 9.99998571e-01 -6.39130910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:-30.84, Z:-0.64 [[ 9.80362587e-01 1.97196450e-01 1.66071843e-03 2.61805206e+02] [-1.97196197e-01 9.80363994e-01 -3.16459373e-04 -3.08363892e+01] [-1.69051322e-03 -1.72424294e-05 9.99998571e-01 -6.38783071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:-30.84, Z:-0.64 [[ 9.80654885e-01 1.95737678e-01 1.66071468e-03 2.61835339e+02] [-1.95737423e-01 9.80656291e-01 -3.16479078e-04 -3.08430425e+01] [-1.69053718e-03 -1.47072575e-05 9.99998571e-01 -6.39659190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:-30.85, Z:-0.64 [[ 9.80782251e-01 1.95098482e-01 1.66070716e-03 2.61864919e+02] [-1.95098225e-01 9.80783657e-01 -3.16518538e-04 -3.08535434e+01] [-1.69054672e-03 -1.35652552e-05 9.99998571e-01 -6.41251774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.89, Y:-30.86, Z:-0.64 [[ 9.80816544e-01 1.94926009e-01 1.66065853e-03 2.61894613e+02] [-1.94925752e-01 9.80817950e-01 -3.16773442e-04 -3.08597412e+01] [-1.69055108e-03 -1.30084809e-05 9.99998571e-01 -6.40071378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:-30.87, Z:-0.64 [[ 9.80958961e-01 1.94208033e-01 1.66065485e-03 2.61925751e+02] [-1.94207775e-01 9.80960366e-01 -3.16792760e-04 -3.08655007e+01] [-1.69056029e-03 -1.17513857e-05 9.99998571e-01 -6.36529877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:-30.87, Z:-0.64 [[ 9.80950295e-01 1.94251795e-01 1.66064744e-03 2.61957502e+02] [-1.94251537e-01 9.80951701e-01 -3.16831595e-04 -3.08728327e+01] [-1.69056004e-03 -1.17872710e-05 9.99998571e-01 -6.35471402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.99, Y:-30.88, Z:-0.64 [[ 9.80892207e-01 1.94544906e-01 1.66059306e-03 2.61988147e+02] [-1.94544647e-01 9.80893613e-01 -3.17116357e-04 -3.08803051e+01] [-1.69055850e-03 -1.20025280e-05 9.99998571e-01 -6.36395040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:-30.89, Z:-0.64 [[ 9.80810197e-01 1.94957943e-01 1.66055434e-03 2.62018531e+02] [-1.94957685e-01 9.80811603e-01 -3.17318978e-04 -3.08861677e+01] [-1.69055482e-03 -1.25081412e-05 9.99998571e-01 -6.38971381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:-30.89, Z:-0.65 [[ 9.80577701e-01 1.96123979e-01 1.66054718e-03 2.62048663e+02] [-1.96123723e-01 9.80579107e-01 -3.17356431e-04 -3.08881662e+01] [-1.69053908e-03 -1.44800565e-05 9.99998571e-01 -6.48470124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:-30.89, Z:-0.65 [[ 9.80241862e-01 1.97795688e-01 1.66054718e-03 2.62079258e+02] [-1.97795434e-01 9.80243269e-01 -3.17356431e-04 -3.08931208e+01] [-1.69051193e-03 -1.73625918e-05 9.99998571e-01 -6.47610374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:-30.90, Z:-0.64 [[ 9.80194986e-01 1.98027858e-01 1.66053962e-03 2.62109383e+02] [-1.98027604e-01 9.80196392e-01 -3.17396005e-04 -3.08993678e+01] [-1.69050819e-03 -1.77227090e-05 9.99998571e-01 -6.44601337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:-30.90, Z:-0.64 [[ 9.80386236e-01 1.97078842e-01 1.66053585e-03 2.62140026e+02] [-1.97078587e-01 9.80387643e-01 -3.17415690e-04 -3.09043782e+01] [-1.69052475e-03 -1.60660864e-05 9.99998571e-01 -6.40143530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:-30.91, Z:-0.64 [[ 9.81009742e-01 1.93951354e-01 1.66052834e-03 2.62170677e+02] [-1.93951095e-01 9.81011148e-01 -3.17454992e-04 -3.09074194e+01] [-1.69056764e-03 -1.06348496e-05 9.99998571e-01 -6.35575420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.20, Y:-30.91, Z:-0.64 [[ 9.81303542e-01 1.92459348e-01 1.66052460e-03 2.62200551e+02] [-1.92459086e-01 9.81304947e-01 -3.17474546e-04 -3.09127380e+01] [-1.69058195e-03 -8.04415147e-06 9.99998571e-01 -6.36092194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.23, Y:-30.92, Z:-0.64 [[ 9.81745753e-01 1.90190742e-01 1.66052089e-03 2.62231577e+02] [-1.90190477e-01 9.81747158e-01 -3.17493965e-04 -3.09186653e+01] [-1.69059608e-03 -4.11690741e-06 9.99998571e-01 -6.41935049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.26, Y:-30.92, Z:-0.64 [[ 9.81921880e-01 1.89279329e-01 1.66051346e-03 2.62261296e+02] [-1.89279062e-01 9.81923284e-01 -3.17532832e-04 -3.09232292e+01] [-1.69059923e-03 -2.50799491e-06 9.99998571e-01 -6.43819207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.29, Y:-30.93, Z:-0.64 [[ 9.82015943e-01 1.88790704e-01 1.66050976e-03 2.62291063e+02] [-1.88790437e-01 9.82017347e-01 -3.17552182e-04 -3.09278168e+01] [-1.69060029e-03 -1.64705704e-06 9.99998571e-01 -6.44642819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.32, Y:-30.93, Z:-0.64 [[ 9.82157694e-01 1.88051875e-01 1.66050609e-03 2.62321413e+02] [-1.88051607e-01 9.82159097e-01 -3.17571328e-04 -3.09334427e+01] [-1.69060105e-03 -3.55715295e-07 9.99998571e-01 -6.44103186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.35, Y:-30.94, Z:-0.65 [[ 9.82110780e-01 1.88296729e-01 1.66049880e-03 2.62352065e+02] [-1.88296461e-01 9.82112184e-01 -3.17609470e-04 -3.09397755e+01] [-1.69060093e-03 -7.38362846e-07 9.99998571e-01 -6.45272792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.38, Y:-30.95, Z:-0.65 [[ 9.81721799e-01 1.90314351e-01 1.66049151e-03 2.62382220e+02] [-1.90314086e-01 9.81723203e-01 -3.17647556e-04 -3.09460890e+01] [-1.69059594e-03 -4.17339431e-06 9.99998571e-01 -6.46813768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.41, Y:-30.95, Z:-0.65 [[ 9.81495398e-01 1.91478530e-01 1.66049151e-03 2.62411266e+02] [-1.91478267e-01 9.81496802e-01 -3.17647556e-04 -3.09525282e+01] [-1.69058980e-03 -6.17842276e-06 9.99998571e-01 -6.45971585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.44, Y:-30.96, Z:-0.64 [[ 9.81346936e-01 1.92237960e-01 1.66049521e-03 2.62441350e+02] [-1.92237698e-01 9.81348341e-01 -3.17628254e-04 -3.09598257e+01] [-1.69058442e-03 -7.50626244e-06 9.99998571e-01 -6.44177282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.47, Y:-30.97, Z:-0.64 [[ 9.81128447e-01 1.93349977e-01 1.66049521e-03 2.62472021e+02] [-1.93349716e-01 9.81129852e-01 -3.17628254e-04 -3.09670604e+01] [-1.69057483e-03 -9.42216097e-06 9.99998571e-01 -6.42158851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:-30.97, Z:-0.64 [[ 9.80900612e-01 1.94502525e-01 1.66048767e-03 2.62501427e+02] [-1.94502266e-01 9.80902017e-01 -3.17667648e-04 -3.09728650e+01] [-1.69056286e-03 -1.13682236e-05 9.99998571e-01 -6.44858799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:-30.98, Z:-0.65 [[ 9.80463471e-01 1.96694244e-01 1.66048392e-03 2.62532225e+02] [-1.96693988e-01 9.80464877e-01 -3.17687260e-04 -3.09804805e+01] [-1.69053341e-03 -1.51264500e-05 9.99998571e-01 -6.46983505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:-30.99, Z:-0.65 [[ 9.80436803e-01 1.96827128e-01 1.66047645e-03 2.62561330e+02] [-1.96826872e-01 9.80438209e-01 -3.17726265e-04 -3.09871817e+01] [-1.69053171e-03 -1.53158635e-05 9.99998571e-01 -6.46372859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-30.99, Z:-0.65 [[ 9.80533440e-01 1.96345145e-01 1.66045928e-03 2.62592104e+02] [-1.96344888e-01 9.80534846e-01 -3.17815996e-04 -3.09942624e+01] [-1.69053981e-03 -1.43934796e-05 9.99998571e-01 -6.45697826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.62, Y:-31.00, Z:-0.65 [[ 9.80999615e-01 1.94002575e-01 1.66045186e-03 2.62622171e+02] [-1.94002315e-01 9.81001020e-01 -3.17854760e-04 -3.10030400e+01] [-1.69056961e-03 -1.03161073e-05 9.99998571e-01 -6.45926853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.65, Y:-31.01, Z:-0.65 [[ 9.81240035e-01 1.92782874e-01 1.66040373e-03 2.62651708e+02] [-1.92782612e-01 9.81241440e-01 -3.18105964e-04 -3.10123275e+01] [-1.69058233e-03 -7.95866104e-06 9.99998571e-01 -6.46988064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.68, Y:-31.02, Z:-0.65 [[ 9.81335586e-01 1.92295896e-01 1.66037433e-03 2.62682301e+02] [-1.92295633e-01 9.81336990e-01 -3.18259362e-04 -3.10195233e+01] [-1.69058672e-03 -6.96349526e-06 9.99998571e-01 -6.45731979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:-31.03, Z:-0.64 [[ 9.81315638e-01 1.92397667e-01 1.66036698e-03 2.62713922e+02] [-1.92397404e-01 9.81317042e-01 -3.18297677e-04 -3.10277965e+01] [-1.69058615e-03 -7.09980925e-06 9.99998571e-01 -6.44523100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.74, Y:-31.04, Z:-0.64 [[ 9.81051839e-01 1.93738310e-01 1.66031569e-03 2.62743662e+02] [-1.93738048e-01 9.81053244e-01 -3.18565005e-04 -3.10380486e+01] [-1.69057634e-03 -9.13753784e-06 9.99998571e-01 -6.41667205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:-31.05, Z:-0.64 [[ 9.80728545e-01 1.95368281e-01 1.66026825e-03 2.62775798e+02] [-1.95368021e-01 9.80729950e-01 -3.18812083e-04 -3.10454609e+01] [-1.69056056e-03 -1.16952111e-05 9.99998571e-01 -6.40023695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:-31.05, Z:-0.64 [[ 9.79821496e-01 1.99867653e-01 1.66020715e-03 2.62807679e+02] [-1.99867399e-01 9.79822903e-01 -3.19129898e-04 -3.10525467e+01] [-1.69049274e-03 -1.91309520e-05 9.99998571e-01 -6.37463379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:-31.06, Z:-0.64 [[ 9.79234632e-01 2.02723405e-01 1.66015404e-03 2.62840086e+02] [-2.02723155e-01 9.79236039e-01 -3.19405973e-04 -3.10599947e+01] [-1.69043373e-03 -2.37782742e-05 9.99998571e-01 -6.35624479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:-31.07, Z:-0.63 [[ 9.78742765e-01 2.05084967e-01 1.66009348e-03 2.62871295e+02] [-2.05084720e-01 9.78744173e-01 -3.19720422e-04 -3.10672191e+01] [-1.69037667e-03 -2.75357556e-05 9.99998571e-01 -6.33730259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:-31.08, Z:-0.63 [[ 9.78442693e-01 2.06511840e-01 1.66005581e-03 2.62902931e+02] [-2.06511595e-01 9.78444101e-01 -3.19915876e-04 -3.10760129e+01] [-1.69033823e-03 -2.98014215e-05 9.99998571e-01 -6.33035163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.94, Y:-31.08, Z:-0.64 [[ 9.78448354e-01 2.06485017e-01 1.65999638e-03 2.62935007e+02] [-2.06484771e-01 9.78449762e-01 -3.20223950e-04 -3.10834208e+01] [-1.69034451e-03 -2.94413758e-05 9.99998571e-01 -6.35897220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.095769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:-31.09, Z:-0.65 [[ 9.78518594e-01 2.06151898e-01 1.65993710e-03 2.62966340e+02] [-2.06151650e-01 9.78520002e-01 -3.20530974e-04 -3.10922410e+01] [-1.69035972e-03 -2.85532541e-05 9.99998571e-01 -6.45257025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:-31.10, Z:-0.65 [[ 9.78653182e-01 2.05512027e-01 1.65988535e-03 2.62996889e+02] [-2.05511779e-01 9.78654590e-01 -3.20798703e-04 -3.10995076e+01] [-1.69038241e-03 -2.71753196e-05 9.99998571e-01 -6.47920806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:-31.11, Z:-0.65 [[ 9.78788260e-01 2.04867728e-01 1.65985605e-03 2.63029464e+02] [-2.04867478e-01 9.78789668e-01 -3.20950245e-04 -3.11069065e+01] [-1.69040230e-03 -2.59081925e-05 9.99998571e-01 -6.48161305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.06, Y:-31.11, Z:-0.64 [[ 9.78932089e-01 2.04179358e-01 1.65979692e-03 2.63060065e+02] [-2.04179107e-01 9.78933496e-01 -3.21255745e-04 -3.11142900e+01] [-1.69042459e-03 -2.44082958e-05 9.99998571e-01 -6.43864678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.09, Y:-31.12, Z:-0.64 [[ 9.78837686e-01 2.04631449e-01 1.65974917e-03 2.63092401e+02] [-2.04631197e-01 9.78839093e-01 -3.21502281e-04 -3.11206968e+01] [-1.69041685e-03 -2.49379107e-05 9.99998571e-01 -6.42013385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:-31.13, Z:-0.64 [[ 9.78560461e-01 2.05953077e-01 1.65969031e-03 2.63123518e+02] [-2.05952827e-01 9.78561868e-01 -3.21805845e-04 -3.11250209e+01] [-1.69038655e-03 -2.69114347e-05 9.99998571e-01 -6.40250981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:-31.13, Z:-0.64 [[ 9.78350366e-01 2.06948802e-01 1.65964271e-03 2.63155290e+02] [-2.06948554e-01 9.78351773e-01 -3.22051114e-04 -3.11301106e+01] [-1.69036248e-03 -2.83818339e-05 9.99998571e-01 -6.39678330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:-31.14, Z:-0.64 [[ 9.78161480e-01 2.07839758e-01 1.65959222e-03 2.63187481e+02] [-2.07839511e-01 9.78162887e-01 -3.22311092e-04 -3.11365512e+01] [-1.69034058e-03 -2.96565407e-05 9.99998571e-01 -6.40281197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.22, Y:-31.14, Z:-0.65 [[ 9.77962337e-01 2.08774789e-01 1.65953146e-03 2.63218126e+02] [-2.08774542e-01 9.77963745e-01 -3.22623635e-04 -3.11438108e+01] [-1.69031728e-03 -3.09541569e-05 9.99998571e-01 -6.45037499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.25, Y:-31.15, Z:-0.65 [[ 9.77719697e-01 2.09908172e-01 1.65950132e-03 2.63248433e+02] [-2.09907926e-01 9.77721105e-01 -3.22778593e-04 -3.11488211e+01] [-1.69028333e-03 -3.27554923e-05 9.99998571e-01 -6.47450731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.28, Y:-31.15, Z:-0.65 [[ 9.76853317e-01 2.13903817e-01 1.65947256e-03 2.63280293e+02] [-2.13903576e-01 9.76854726e-01 -3.22926378e-04 -3.11500130e+01] [-1.69013880e-03 -3.95154129e-05 9.99998571e-01 -6.49483777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.31, Y:-31.15, Z:-0.65 [[ 9.76380829e-01 2.16050280e-01 1.65946511e-03 2.63310275e+02] [-2.16050043e-01 9.76382238e-01 -3.22964698e-04 -3.11538899e+01] [-1.69004887e-03 -4.31909677e-05 9.99998571e-01 -6.51326347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.34, Y:-31.16, Z:-0.65 [[ 9.75775235e-01 2.18769140e-01 1.65946139e-03 2.63339400e+02] [-2.18768907e-01 9.75776645e-01 -3.22983776e-04 -3.11569991e+01] [-1.68992255e-03 -4.78789854e-05 9.99998571e-01 -6.46695890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:-31.16, Z:-0.65 [[ 9.75780007e-01 2.18747855e-01 1.65947200e-03 2.63369020e+02] [-2.18747622e-01 9.75781417e-01 -3.22929251e-04 -3.11627160e+01] [-1.68992202e-03 -4.78976477e-05 9.99998571e-01 -6.46746882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.40, Y:-31.17, Z:-0.64 [[ 9.75640186e-01 2.19370628e-01 1.65947905e-03 2.63397093e+02] [-2.19370396e-01 9.75641597e-01 -3.22893052e-04 -3.11662938e+01] [-1.68989004e-03 -4.90131390e-05 9.99998571e-01 -6.43628588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:-31.17, Z:-0.64 [[ 9.75571845e-01 2.19674354e-01 1.65948956e-03 2.63428820e+02] [-2.19674122e-01 9.75573255e-01 -3.22839020e-04 -3.11687952e+01] [-1.68987308e-03 -4.95942541e-05 9.99998571e-01 -6.40641336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.46, Y:-31.17, Z:-0.64 [[ 9.75791355e-01 2.18697229e-01 1.65948209e-03 2.63458277e+02] [-2.18696996e-01 9.75792765e-01 -3.22877382e-04 -3.11739654e+01] [-1.68992301e-03 -4.78627913e-05 9.99998571e-01 -6.42894903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.49, Y:-31.18, Z:-0.64 [[ 9.76220006e-01 2.16775795e-01 1.65947838e-03 2.63486709e+02] [-2.16775559e-01 9.76221416e-01 -3.22896494e-04 -3.11790080e+01] [-1.69001447e-03 -4.45163358e-05 9.99998571e-01 -6.44751007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.52, Y:-31.18, Z:-0.65 [[ 9.77195107e-01 2.12336922e-01 1.65948569e-03 2.63516147e+02] [-2.12336680e-01 9.77196516e-01 -3.22858893e-04 -3.11810354e+01] [-1.69019850e-03 -3.68735521e-05 9.99998571e-01 -6.51019166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.54, Y:-31.18, Z:-0.66 [[ 9.77477214e-01 2.11034456e-01 1.65949253e-03 2.63544537e+02] [-2.11034212e-01 9.77478622e-01 -3.22823756e-04 -3.11847818e+01] [-1.69024540e-03 -3.46568310e-05 9.99998571e-01 -6.55083246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.57, Y:-31.19, Z:-0.66 [[ 9.77412727e-01 2.11332928e-01 1.65950620e-03 2.63573193e+02] [-2.11332684e-01 9.77414136e-01 -3.22753424e-04 -3.11891696e+01] [-1.69023325e-03 -3.52445957e-05 9.99998571e-01 -6.55369784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:-31.19, Z:-0.65 [[ 9.77254744e-01 2.12062282e-01 1.65951985e-03 2.63601383e+02] [-2.12062040e-01 9.77256152e-01 -3.22683249e-04 -3.11939829e+01] [-1.69020493e-03 -3.65774284e-05 9.99998571e-01 -6.50288312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:263.63, Y:-31.20, Z:-0.64 [[ 9.77230643e-01 2.12173318e-01 1.65953347e-03 2.63631560e+02] [-2.12173076e-01 9.77232051e-01 -3.22613182e-04 -3.11988641e+01] [-1.69019921e-03 -3.68408333e-05 9.99998571e-01 -6.39184414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.66, Y:-31.20, Z:-0.64 [[ 9.77330950e-01 2.11710794e-01 1.65953347e-03 2.63660029e+02] [-2.11710551e-01 9.77332358e-01 -3.22613182e-04 -3.12045244e+01] [-1.69021645e-03 -3.60408981e-05 9.99998571e-01 -6.39740665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.69, Y:-31.21, Z:-0.64 [[ 9.77496256e-01 2.10946239e-01 1.65953715e-03 2.63688086e+02] [-2.10945995e-01 9.77497664e-01 -3.22594262e-04 -3.12108648e+01] [-1.69024373e-03 -3.47380310e-05 9.99998571e-01 -6.40323919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.845769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:263.72, Y:-31.22, Z:-0.64 [[ 9.78061155e-01 2.08311363e-01 1.65955056e-03 2.63717151e+02] [-2.08311115e-01 9.78062562e-01 -3.22525273e-04 -3.12186204e+01] [-1.69032995e-03 -3.02533865e-05 9.99998571e-01 -6.39412618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.75, Y:-31.23, Z:-0.64 [[ 9.78384807e-01 2.06785919e-01 1.65955056e-03 2.63746295e+02] [-2.06785669e-01 9.78386214e-01 -3.22525273e-04 -3.12252700e+01] [-1.69037507e-03 -2.76174453e-05 9.99998571e-01 -6.39213779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.78, Y:-31.23, Z:-0.64 [[ 9.78830114e-01 2.04667667e-01 1.65955414e-03 2.63776352e+02] [-2.04667414e-01 9.78831520e-01 -3.22506840e-04 -3.12328856e+01] [-1.69043062e-03 -2.39772481e-05 9.99998571e-01 -6.39815299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.81, Y:-31.24, Z:-0.64 [[ 9.78919450e-01 2.04239949e-01 1.65955414e-03 2.63808600e+02] [-2.04239696e-01 9.78920856e-01 -3.22506840e-04 -3.12405390e+01] [-1.69044094e-03 -2.32386142e-05 9.99998571e-01 -6.38937614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.84, Y:-31.25, Z:-0.64 [[ 9.79087977e-01 2.03430529e-01 1.65949134e-03 2.63839523e+02] [-2.03430274e-01 9.79089383e-01 -3.22829642e-04 -3.12495057e+01] [-1.69046376e-03 -2.15121580e-05 9.99998571e-01 -6.38500443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.87, Y:-31.26, Z:-0.64 [[ 9.79115063e-01 2.03300120e-01 1.65943260e-03 2.63869115e+02] [-2.03299865e-01 9.79116469e-01 -3.23131299e-04 -3.12574382e+01] [-1.69047042e-03 -2.09797008e-05 9.99998571e-01 -6.36697885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.025769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:263.90, Y:-31.27, Z:-0.64 [[ 9.79352945e-01 2.02151073e-01 1.65943260e-03 2.63900564e+02] [-2.02150815e-01 9.79354350e-01 -3.23131299e-04 -3.12681096e+01] [-1.69049388e-03 -1.89960640e-05 9.99998571e-01 -6.36804893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.93, Y:-31.28, Z:-0.64 [[ 9.79541912e-01 2.01233419e-01 1.65937072e-03 2.63931173e+02] [-2.01233160e-01 9.79543317e-01 -3.23448770e-04 -3.12762704e+01] [-1.69051420e-03 -1.70887863e-05 9.99998571e-01 -6.37729049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.96, Y:-31.29, Z:-0.64 [[ 9.79743491e-01 2.00249689e-01 1.65931306e-03 2.63963346e+02] [-2.00249428e-01 9.79744896e-01 -3.23744311e-04 -3.12853188e+01] [-1.69053320e-03 -1.50901083e-05 9.99998571e-01 -6.38497943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.99, Y:-31.30, Z:-0.64 [[ 9.80092984e-01 1.98532087e-01 1.65925222e-03 2.63994567e+02] [-1.98531823e-01 9.80094389e-01 -3.24055835e-04 -3.12975014e+01] [-1.69055927e-03 -1.18095158e-05 9.99998571e-01 -6.39849714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.03, Y:-31.31, Z:-0.64 [[ 9.79993324e-01 1.99023448e-01 1.65919062e-03 2.64025989e+02] [-1.99023184e-01 9.79994728e-01 -3.24370917e-04 -3.13058954e+01] [-1.69055548e-03 -1.23360672e-05 9.99998571e-01 -6.39725785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:264.06, Y:-31.31, Z:-0.64 [[ 9.79478066e-01 2.01543953e-01 1.65913319e-03 2.64056853e+02] [-2.01543692e-01 9.79479471e-01 -3.24664389e-04 -3.13139628e+01] [-1.69052104e-03 -1.63861811e-05 9.99998571e-01 -6.41088258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.09, Y:-31.32, Z:-0.64 [[ 9.79052869e-01 2.03599430e-01 1.65907710e-03 2.64089523e+02] [-2.03599171e-01 9.79054274e-01 -3.24950750e-04 -3.13213422e+01] [-1.69048632e-03 -1.96427588e-05 9.99998571e-01 -6.39748300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.12, Y:-31.33, Z:-0.64 [[ 9.78659046e-01 2.05484109e-01 1.65901749e-03 2.64120879e+02] [-2.05483853e-01 9.78660452e-01 -3.25254820e-04 -3.13284549e+01] [-1.69044950e-03 -2.25877329e-05 9.99998571e-01 -6.39762060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.15, Y:-31.34, Z:-0.64 [[ 9.78068270e-01 2.08277957e-01 1.65896179e-03 2.64153366e+02] [-2.08277705e-01 9.78069676e-01 -3.25538667e-04 -3.13362823e+01] [-1.69038275e-03 -2.71257133e-05 9.99998571e-01 -6.37522159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:264.18, Y:-31.34, Z:-0.64 [[ 9.77869116e-01 2.09210993e-01 1.65890185e-03 2.64184490e+02] [-2.09210741e-01 9.77870523e-01 -3.25843833e-04 -3.13426909e+01] [-1.69036133e-03 -2.84274646e-05 9.99998571e-01 -6.38985254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.21, Y:-31.35, Z:-0.64 [[ 9.77734997e-01 2.09836897e-01 1.65884602e-03 2.64214517e+02] [-2.09836645e-01 9.77736404e-01 -3.26127789e-04 -3.13490405e+01] [-1.69034779e-03 -2.92201319e-05 9.99998571e-01 -6.44208363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.25, Y:-31.36, Z:-0.65 [[ 9.77877616e-01 2.09171260e-01 1.65879817e-03 2.64245765e+02] [-2.09171008e-01 9.77879023e-01 -3.26370999e-04 -3.13554559e+01] [-1.69037137e-03 -2.78215904e-05 9.99998571e-01 -6.45798201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.28, Y:-31.36, Z:-0.65 [[ 9.78862323e-01 2.04513573e-01 1.65874598e-03 2.64275893e+02] [-2.04513313e-01 9.78863728e-01 -3.26636056e-04 -3.13633261e+01] [-1.69048778e-03 -1.95039066e-05 9.99998571e-01 -6.46943662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.31, Y:-31.37, Z:-0.64 [[ 9.79400118e-01 2.01922407e-01 1.65869768e-03 2.64306369e+02] [-2.01922143e-01 9.79401522e-01 -3.26881119e-04 -3.13706209e+01] [-1.69053566e-03 -1.47803844e-05 9.99998571e-01 -6.43896413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:264.34, Y:-31.38, Z:-0.64 [[ 9.79790168e-01 2.00021189e-01 1.65866924e-03 2.64337724e+02] [-2.00020922e-01 9.79791572e-01 -3.27025362e-04 -3.13780025e+01] [-1.69056215e-03 -1.13523167e-05 9.99998571e-01 -6.40102576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:264.37, Y:-31.38, Z:-0.64 [[ 9.79942385e-01 1.99274109e-01 1.65861777e-03 2.64368889e+02] [-1.99273840e-01 9.79943789e-01 -3.27286228e-04 -3.13847788e+01] [-1.69057185e-03 -9.79748548e-06 9.99998571e-01 -6.35055687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.40, Y:-31.39, Z:-0.64 [[ 9.79594778e-01 2.00975917e-01 1.65856611e-03 2.64401245e+02] [-2.00975651e-01 9.79596182e-01 -3.27547797e-04 -3.13905907e+01] [-1.69055425e-03 -1.24672925e-05 9.99998571e-01 -6.35889315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5357692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:264.43, Y:-31.39, Z:-0.64 [[ 9.78700274e-01 2.05287661e-01 1.65850737e-03 2.64434436e+02] [-2.05287400e-01 9.78701679e-01 -3.27844963e-04 -3.13949913e+01] [-1.69048647e-03 -1.96087109e-05 9.99998571e-01 -6.38117582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.47, Y:-31.40, Z:-0.64 [[ 9.78169887e-01 2.07800196e-01 1.65844697e-03 2.64467217e+02] [-2.07799938e-01 9.78171293e-01 -3.28150216e-04 -3.14007494e+01] [-1.69043490e-03 -2.36385184e-05 9.99998571e-01 -6.37867263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.595769231 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:264.50, Y:-31.41, Z:-0.64 [[ 9.77694338e-01 2.10026265e-01 1.65838642e-03 2.64500113e+02] [-2.10026010e-01 9.77695744e-01 -3.28455945e-04 -3.14065780e+01] [-1.69038172e-03 -2.71747645e-05 9.99998571e-01 -6.36343335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:264.53, Y:-31.41, Z:-0.63 [[ 9.77026564e-01 2.13111104e-01 1.65832618e-03 2.64532809e+02] [-2.13110853e-01 9.77027971e-01 -3.28759790e-04 -3.14119217e+01] [-1.69029343e-03 -3.22002584e-05 9.99998571e-01 -6.34389342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.655769231 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:264.56, Y:-31.42, Z:-0.63 [[ 9.76911643e-01 2.13637291e-01 1.65826394e-03 2.64564731e+02] [-2.13637040e-01 9.76913050e-01 -3.29073430e-04 -3.14172931e+01] [-1.69028204e-03 -3.27909345e-05 9.99998571e-01 -6.34143567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:264.60, Y:-31.42, Z:-0.63 [[ 9.77260320e-01 2.12036592e-01 1.65820584e-03 2.64597291e+02] [-2.12036339e-01 9.77261727e-01 -3.29365948e-04 -3.14204431e+01] [-1.69033873e-03 -2.97236229e-05 9.99998571e-01 -6.32900531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.715769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:264.63, Y:-31.43, Z:-0.63 [[ 9.77640338e-01 2.10277484e-01 1.65814433e-03 2.64629766e+02] [-2.10277227e-01 9.77641744e-01 -3.29675322e-04 -3.14253932e+01] [-1.69039441e-03 -2.63660977e-05 9.99998571e-01 -6.33115986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:264.66, Y:-31.43, Z:-0.64 [[ 9.78637237e-01 2.05587958e-01 1.65808274e-03 2.64661469e+02] [-2.05587693e-01 9.78638642e-01 -3.29984810e-04 -3.14296472e+01] [-1.69050474e-03 -1.79459827e-05 9.99998571e-01 -6.36143303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.775769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.69, Y:-31.44, Z:-0.64 [[ 9.79129118e-01 2.03232432e-01 1.65802515e-03 2.64693579e+02] [-2.03232164e-01 9.79130522e-01 -3.30273919e-04 -3.14362099e+01] [-1.69054540e-03 -1.35832270e-05 9.99998571e-01 -6.37329097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.73, Y:-31.44, Z:-0.64 [[ 9.79610636e-01 2.00898615e-01 1.65796428e-03 2.64725332e+02] [-2.00898344e-01 9.79612039e-01 -3.30579180e-04 -3.14432749e+01] [-1.69057467e-03 -9.24339635e-06 9.99998571e-01 -6.37835925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:264.76, Y:-31.45, Z:-0.64 [[ 9.80493296e-01 1.96545534e-01 1.65789931e-03 2.64755951e+02] [-1.96545256e-01 9.80494698e-01 -3.30904696e-04 -3.14509058e+01] [-1.69059932e-03 -1.40240720e-06 9.99998571e-01 -6.40207733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:264.79, Y:-31.46, Z:-0.64 [[ 9.80902400e-01 1.94493532e-01 1.65783873e-03 2.64787107e+02] [-1.94493250e-01 9.80903801e-01 -3.31207904e-04 -3.14576381e+01] [-1.69059811e-03 2.44418497e-06 9.99998571e-01 -6.40099385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:264.82, Y:-31.47, Z:-0.64 [[ 9.81415216e-01 1.91889096e-01 1.65777942e-03 2.64818802e+02] [-1.91888810e-01 9.81416616e-01 -3.31504517e-04 -3.14652090e+01] [-1.69058437e-03 7.23425756e-06 9.99998571e-01 -6.37948345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.85, Y:-31.47, Z:-0.64 [[ 9.81373212e-01 1.92103801e-01 1.65771639e-03 2.64850926e+02] [-1.92103514e-01 9.81374612e-01 -3.31819423e-04 -3.14725289e+01] [-1.69058455e-03 7.18554928e-06 9.99998571e-01 -6.38105375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95576923100003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:264.88, Y:-31.48, Z:-0.64 [[ 9.81131370e-01 1.93335168e-01 1.65765307e-03 2.64883381e+02] [-1.93334883e-01 9.81132770e-01 -3.32135411e-04 -3.14790201e+01] [-1.69059121e-03 5.38630744e-06 9.99998571e-01 -6.38824690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:264.92, Y:-31.48, Z:-0.64 [[ 9.79850157e-01 1.99727118e-01 1.65758970e-03 2.64915654e+02] [-1.99726841e-01 9.79851559e-01 -3.32451386e-04 -3.14825428e+01] [-1.69059141e-03 -5.31261194e-06 9.99998571e-01 -6.39794295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.95, Y:-31.49, Z:-0.64 [[ 9.78964136e-01 2.04025670e-01 1.65753335e-03 2.64946978e+02] [-2.04025399e-01 9.78965539e-01 -3.32732078e-04 -3.14866884e+01] [-1.69055392e-03 -1.24461333e-05 9.99998571e-01 -6.40897304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.98, Y:-31.49, Z:-0.64 [[ 9.77199242e-01 2.12317907e-01 1.65747322e-03 2.64977632e+02] [-2.12317647e-01 9.77200648e-01 -3.33031364e-04 -3.14876614e+01] [-1.69039243e-03 -2.64728182e-05 9.99998571e-01 -6.43589072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.01, Y:-31.49, Z:-0.64 [[ 9.76588730e-01 2.15108591e-01 1.65746928e-03 2.65009034e+02] [-2.15108335e-01 9.76590136e-01 -3.33050957e-04 -3.14900859e+01] [-1.69031027e-03 -3.12816466e-05 9.99998571e-01 -6.42689151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.04, Y:-31.49, Z:-0.64 [[ 9.76300630e-01 2.16412414e-01 1.65746138e-03 2.65039482e+02] [-2.16412160e-01 9.76302036e-01 -3.33090272e-04 -3.14925918e+01] [-1.69026779e-03 -3.34985560e-05 9.99998571e-01 -6.41970994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.07, Y:-31.49, Z:-0.64 [[ 9.76283984e-01 2.16487493e-01 1.65744360e-03 2.65070438e+02] [-2.16487240e-01 9.76285391e-01 -3.33178715e-04 -3.14938786e+01] [-1.69026700e-03 -3.35383476e-05 9.99998571e-01 -6.39356983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16576923100007 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:265.10, Y:-31.49, Z:-0.64 [[ 9.76342928e-01 2.16221508e-01 1.65744360e-03 2.65100621e+02] [-2.16221254e-01 9.76344334e-01 -3.33178715e-04 -3.14941520e+01] [-1.69027608e-03 -3.30778523e-05 9.99998571e-01 -6.38125349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.13, Y:-31.50, Z:-0.64 [[ 9.76345544e-01 2.16209696e-01 1.65744746e-03 2.65130163e+02] [-2.16209441e-01 9.76346950e-01 -3.33159540e-04 -3.14968849e+01] [-1.69027609e-03 -3.30769570e-05 9.99998571e-01 -6.35542652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2257692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:265.16, Y:-31.50, Z:-0.63 [[ 9.76425343e-01 2.15849026e-01 1.65745512e-03 2.65160148e+02] [-2.15848771e-01 9.76426749e-01 -3.33121428e-04 -3.15000866e+01] [-1.69028745e-03 -3.24914458e-05 9.99998571e-01 -6.33026947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:265.19, Y:-31.50, Z:-0.63 [[ 9.76898590e-01 2.13696976e-01 1.65746284e-03 2.65190076e+02] [-2.13696719e-01 9.76899996e-01 -3.33082989e-04 -3.15006821e+01] [-1.69035427e-03 -2.88060686e-05 9.99998571e-01 -6.29084843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.22, Y:-31.50, Z:-0.63 [[ 9.77212291e-01 2.12257840e-01 1.65747054e-03 2.65220253e+02] [-2.12257580e-01 9.77213697e-01 -3.33044662e-04 -3.15034979e+01] [-1.69039426e-03 -2.63553494e-05 9.99998571e-01 -6.28356232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:265.25, Y:-31.50, Z:-0.63 [[ 9.77709533e-01 2.09955522e-01 1.65747842e-03 2.65249313e+02] [-2.09955259e-01 9.77710938e-01 -3.33005436e-04 -3.15036378e+01] [-1.69045112e-03 -2.24137227e-05 9.99998571e-01 -6.31543651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.345769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.28, Y:-31.51, Z:-0.63 [[ 9.77886777e-01 2.09128440e-01 1.65749021e-03 2.65277766e+02] [-2.09128176e-01 9.77888181e-01 -3.32946770e-04 -3.15073752e+01] [-1.69046872e-03 -2.10436599e-05 9.99998571e-01 -6.34787452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.31, Y:-31.51, Z:-0.63 [[ 9.77896566e-01 2.09082660e-01 1.65750581e-03 2.65306543e+02] [-2.09082396e-01 9.77897971e-01 -3.32869110e-04 -3.15130625e+01] [-1.69046872e-03 -2.10437255e-05 9.99998571e-01 -6.34837035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.405769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:265.34, Y:-31.52, Z:-0.64 [[ 9.78127062e-01 2.08001692e-01 1.65752138e-03 2.65335001e+02] [-2.08001427e-01 9.78128466e-01 -3.32791513e-04 -3.15174853e+01] [-1.69049005e-03 -1.92544284e-05 9.99998571e-01 -6.37769726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:265.36, Y:-31.52, Z:-0.64 [[ 9.78566924e-01 2.05922385e-01 1.65753704e-03 2.65363664e+02] [-2.05922117e-01 9.78568327e-01 -3.32713502e-04 -3.15207016e+01] [-1.69052641e-03 -1.57411095e-05 9.99998571e-01 -6.40427388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.465769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:265.39, Y:-31.53, Z:-0.64 [[ 9.78602291e-01 2.05754243e-01 1.65754877e-03 2.65391923e+02] [-2.05753975e-01 9.78603695e-01 -3.32655076e-04 -3.15253138e+01] [-1.69052854e-03 -1.55102282e-05 9.99998571e-01 -6.36649249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.42, Y:-31.53, Z:-0.63 [[ 9.78569698e-01 2.05909200e-01 1.65756421e-03 2.65420463e+02] [-2.05908932e-01 9.78571102e-01 -3.32578144e-04 -3.15310533e+01] [-1.69052533e-03 -1.58563817e-05 9.99998571e-01 -6.34131997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.525769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.45, Y:-31.54, Z:-0.64 [[ 9.78953204e-01 2.04078113e-01 1.65757969e-03 2.65448604e+02] [-2.04077843e-01 9.78954608e-01 -3.32500937e-04 -3.15379926e+01] [-1.69055144e-03 -1.27724294e-05 9.99998571e-01 -6.36181743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:265.48, Y:-31.55, Z:-0.64 [[ 9.79334023e-01 2.02242736e-01 1.65759540e-03 2.65477867e+02] [-2.02242463e-01 9.79335426e-01 -3.32422637e-04 -3.15450340e+01] [-1.69057196e-03 -9.68337697e-06 9.99998571e-01 -6.40432016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:265.51, Y:-31.55, Z:-0.65 [[ 9.79954563e-01 1.99214225e-01 1.65760340e-03 2.65505912e+02] [-1.99213948e-01 9.79955965e-01 -3.32382732e-04 -3.15536805e+01] [-1.69059370e-03 -4.49774242e-06 9.99998571e-01 -6.47488003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:265.53, Y:-31.56, Z:-0.65 [[ 9.80251911e-01 1.97745904e-01 1.65761135e-03 2.65534550e+02] [-1.97745625e-01 9.80253313e-01 -3.32343045e-04 -3.15606582e+01] [-1.69059850e-03 -2.00548753e-06 9.99998571e-01 -6.45653047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:265.56, Y:-31.57, Z:-0.64 [[ 9.80423652e-01 1.96892647e-01 1.65761923e-03 2.65562932e+02] [-1.96892366e-01 9.80425054e-01 -3.32303754e-04 -3.15673753e+01] [-1.69059959e-03 -5.74113232e-07 9.99998571e-01 -6.43215136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.59, Y:-31.57, Z:-0.64 [[ 9.80547632e-01 1.96274284e-01 1.65763106e-03 2.65591187e+02] [-1.96274003e-01 9.80549033e-01 -3.32244726e-04 -3.15743141e+01] [-1.69059963e-03 4.31895620e-07 9.99998571e-01 -6.39867784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70576923100003 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:265.62, Y:-31.58, Z:-0.64 [[ 9.80518942e-01 1.96417555e-01 1.65764111e-03 2.65618671e+02] [-1.96417275e-01 9.80520343e-01 -3.32194609e-04 -3.15807443e+01] [-1.69059968e-03 1.33758722e-07 9.99998571e-01 -6.41193359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.65, Y:-31.59, Z:-0.64 [[ 9.80447418e-01 1.96774269e-01 1.65765274e-03 2.65647862e+02] [-1.96773988e-01 9.80448819e-01 -3.32136529e-04 -3.15862833e+01] [-1.69059960e-03 -5.40539046e-07 9.99998571e-01 -6.43067060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:265.68, Y:-31.59, Z:-0.64 [[ 9.80348439e-01 1.97266802e-01 1.65766029e-03 2.65677248e+02] [-1.97266522e-01 9.80349840e-01 -3.32098843e-04 -3.15915546e+01] [-1.69059908e-03 -1.42829901e-06 9.99998571e-01 -6.42014214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.71, Y:-31.60, Z:-0.64 [[ 9.80182748e-01 1.98088449e-01 1.65766805e-03 2.65705603e+02] [-1.98088170e-01 9.80184149e-01 -3.32060138e-04 -3.15995789e+01] [-1.69059722e-03 -2.88481206e-06 9.99998571e-01 -6.39140850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:265.73, Y:-31.61, Z:-0.64 [[ 9.80163692e-01 1.98182718e-01 1.65767588e-03 2.65733416e+02] [-1.98182440e-01 9.80165093e-01 -3.32021022e-04 -3.16062795e+01] [-1.69059686e-03 -3.08729989e-06 9.99998571e-01 -6.39566225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.76, Y:-31.61, Z:-0.64 [[ 9.79979104e-01 1.99093467e-01 1.65768756e-03 2.65762404e+02] [-1.99093190e-01 9.79980506e-01 -3.31962680e-04 -3.16119837e+01] [-1.69059310e-03 -4.71781502e-06 9.99998571e-01 -6.39935922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.79, Y:-31.62, Z:-0.64 [[ 9.79262120e-01 2.02590601e-01 1.65769546e-03 2.65792290e+02] [-2.02590329e-01 9.79263524e-01 -3.31923247e-04 -3.16156431e+01] [-1.69056523e-03 -1.07932059e-05 9.99998571e-01 -6.41969905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.82, Y:-31.62, Z:-0.64 [[ 9.78860793e-01 2.04520901e-01 1.65770331e-03 2.65821157e+02] [-2.04520632e-01 9.78862197e-01 -3.31884027e-04 -3.16214711e+01] [-1.69054033e-03 -1.41662677e-05 9.99998571e-01 -6.41251121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:265.85, Y:-31.63, Z:-0.64 [[ 9.78242751e-01 2.07456917e-01 1.65771114e-03 2.65848976e+02] [-2.07456653e-01 9.78244155e-01 -3.31844935e-04 -3.16289007e+01] [-1.69048976e-03 -1.92783021e-05 9.99998571e-01 -6.40416054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:265.88, Y:-31.63, Z:-0.64 [[ 9.78027195e-01 2.08470762e-01 1.65772280e-03 2.65878148e+02] [-2.08470499e-01 9.78028599e-01 -3.31786680e-04 -3.16347646e+01] [-1.69046813e-03 -2.10899028e-05 9.99998571e-01 -6.38537787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:265.91, Y:-31.64, Z:-0.64 [[ 9.77792862e-01 2.09567105e-01 1.65773048e-03 2.65906300e+02] [-2.09566843e-01 9.77794267e-01 -3.31748269e-04 -3.16394958e+01] [-1.69044289e-03 -2.30242554e-05 9.99998571e-01 -6.35261784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.94, Y:-31.64, Z:-0.63 [[ 9.77781804e-01 2.09618691e-01 1.65774191e-03 2.65935324e+02] [-2.09618429e-01 9.77783209e-01 -3.31691173e-04 -3.16449946e+01] [-1.69044087e-03 -2.31716617e-05 9.99998571e-01 -6.34265394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.96, Y:-31.65, Z:-0.63 [[ 9.77738342e-01 2.09821322e-01 1.65774951e-03 2.65963879e+02] [-2.09821061e-01 9.77739747e-01 -3.31653175e-04 -3.16500217e+01] [-1.69043549e-03 -2.35607352e-05 9.99998571e-01 -6.34163536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.095769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.99, Y:-31.65, Z:-0.64 [[ 9.77560832e-01 2.10646795e-01 1.65776085e-03 2.65991087e+02] [-2.10646535e-01 9.77562237e-01 -3.31596473e-04 -3.16537060e+01] [-1.69041414e-03 -2.50458559e-05 9.99998571e-01 -6.37414039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.02, Y:-31.66, Z:-0.64 [[ 9.77403387e-01 2.11376137e-01 1.65778025e-03 2.66018958e+02] [-2.11375879e-01 9.77404792e-01 -3.31499482e-04 -3.16580578e+01] [-1.69039344e-03 -2.64060403e-05 9.99998571e-01 -6.37972615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.155769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.05, Y:-31.66, Z:-0.64 [[ 9.77208334e-01 2.12276056e-01 1.65779979e-03 2.66047459e+02] [-2.12275799e-01 9.77209740e-01 -3.31401724e-04 -3.16614998e+01] [-1.69036675e-03 -2.80622482e-05 9.99998571e-01 -6.36082443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.07, Y:-31.67, Z:-0.64 [[ 9.77112846e-01 2.12715158e-01 1.65781522e-03 2.66074637e+02] [-2.12714902e-01 9.77114252e-01 -3.31324506e-04 -3.16653874e+01] [-1.69035262e-03 -2.89005709e-05 9.99998571e-01 -6.36117571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.215769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.10, Y:-31.67, Z:-0.64 [[ 9.76818326e-01 2.14063565e-01 1.65783445e-03 2.66102063e+02] [-2.14063311e-01 9.76819732e-01 -3.31228267e-04 -3.16694632e+01] [-1.69030931e-03 -3.13316902e-05 9.99998571e-01 -6.38739156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.13, Y:-31.67, Z:-0.64 [[ 9.76736359e-01 2.14437254e-01 1.65785446e-03 2.66129131e+02] [-2.14437001e-01 9.76737766e-01 -3.31128060e-04 -3.16748844e+01] [-1.69029526e-03 -3.20805236e-05 9.99998571e-01 -6.38916044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.16, Y:-31.68, Z:-0.64 [[ 9.77080980e-01 2.12861482e-01 1.65787322e-03 2.66157078e+02] [-2.12861227e-01 9.77082386e-01 -3.31034151e-04 -3.16812133e+01] [-1.69034314e-03 -2.94497537e-05 9.99998571e-01 -6.35575469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.19, Y:-31.69, Z:-0.63 [[ 9.77632124e-01 2.10315671e-01 1.65788816e-03 2.66185419e+02] [-2.10315412e-01 9.77633529e-01 -3.30959267e-04 -3.16871369e+01] [-1.69041298e-03 -2.51230216e-05 9.99998571e-01 -6.34629747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.21, Y:-31.69, Z:-0.64 [[ 9.78306911e-01 2.07154144e-01 1.65790312e-03 2.66212098e+02] [-2.07153880e-01 9.78308316e-01 -3.30884312e-04 -3.16934769e+01] [-1.69048447e-03 -1.97346558e-05 9.99998571e-01 -6.35486103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.24, Y:-31.70, Z:-0.64 [[ 9.79464814e-01 2.01608355e-01 1.65792171e-03 2.66240086e+02] [-2.01608084e-01 9.79466217e-01 -3.30791182e-04 -3.17030522e+01] [-1.69056857e-03 -1.02520950e-05 9.99998571e-01 -6.40822348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.27, Y:-31.71, Z:-0.65 [[ 9.79947489e-01 1.99249015e-01 1.65792942e-03 2.66267924e+02] [-1.99248740e-01 9.79948892e-01 -3.30752503e-04 -3.17122812e+01] [-1.69058821e-03 -6.22026393e-06 9.99998571e-01 -6.45244339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.30, Y:-31.73, Z:-0.64 [[ 9.81273317e-01 1.92613420e-01 1.65794095e-03 2.66296501e+02] [-1.92613136e-01 9.81274717e-01 -3.30694706e-04 -3.17271077e+01] [-1.69059177e-03 5.16068595e-06 9.99998571e-01 -6.44034772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.33, Y:-31.74, Z:-0.64 [[ 9.81947329e-01 1.89147284e-01 1.65793330e-03 2.66328075e+02] [-1.89146995e-01 9.81948728e-01 -3.30733059e-04 -3.17379549e+01] [-1.69056275e-03 1.11693417e-05 9.99998571e-01 -6.39945949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:266.36, Y:-31.75, Z:-0.64 [[ 9.82404202e-01 1.86759835e-01 1.65786968e-03 2.66358980e+02] [-1.86759543e-01 9.82405600e-01 -3.31051644e-04 -3.17482401e+01] [-1.69052761e-03 1.56035428e-05 9.99998571e-01 -6.38550102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.39, Y:-31.76, Z:-0.65 [[ 9.82982330e-01 1.83692652e-01 1.65781005e-03 2.66387529e+02] [-1.83692355e-01 9.82983728e-01 -3.31349990e-04 -3.17636876e+01] [-1.69046686e-03 2.11841533e-05 9.99998571e-01 -6.46718414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.42, Y:-31.78, Z:-0.65 [[ 9.83117931e-01 1.82965532e-01 1.65778017e-03 2.66416943e+02] [-1.82965234e-01 9.83119328e-01 -3.31499403e-04 -3.17800867e+01] [-1.69044870e-03 2.25868701e-05 9.99998571e-01 -6.49827529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:266.45, Y:-31.79, Z:-0.65 [[ 9.83067517e-01 1.83236212e-01 1.65772389e-03 2.66447881e+02] [-1.83235913e-01 9.83068914e-01 -3.31780646e-04 -3.17908083e+01] [-1.69045105e-03 2.24082262e-05 9.99998571e-01 -6.49312812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.48, Y:-31.80, Z:-0.65 [[ 9.83009127e-01 1.83549200e-01 1.65766387e-03 2.66478480e+02] [-1.83548901e-01 9.83010524e-01 -3.32080242e-04 -3.18010790e+01] [-1.69045409e-03 2.21755276e-05 9.99998571e-01 -6.47018658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:-31.82, Z:-0.64 [[ 9.82661269e-01 1.85402489e-01 1.65760848e-03 2.66507379e+02] [-1.85402192e-01 9.82662667e-01 -3.32356478e-04 -3.18150133e+01] [-1.69048969e-03 1.92695929e-05 9.99998571e-01 -6.41437433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.54, Y:-31.83, Z:-0.64 [[ 9.82467949e-01 1.86424196e-01 1.65755716e-03 2.66537616e+02] [-1.86423900e-01 9.82469348e-01 -3.32612255e-04 -3.18251923e+01] [-1.69050607e-03 1.77726104e-05 9.99998571e-01 -6.37103965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:-31.84, Z:-0.64 [[ 9.82266407e-01 1.87483223e-01 1.65752641e-03 2.66568003e+02] [-1.87482928e-01 9.82267805e-01 -3.32765382e-04 -3.18355456e+01] [-1.69052276e-03 1.61063508e-05 9.99998571e-01 -6.35776179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.60, Y:-31.85, Z:-0.63 [[ 9.81598308e-01 1.90950295e-01 1.65746683e-03 2.66597847e+02] [-1.90950005e-01 9.81599707e-01 -3.33061892e-04 -3.18478261e+01] [-1.69056722e-03 1.04396897e-05 9.99998571e-01 -6.34503055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.63, Y:-31.86, Z:-0.63 [[ 9.81033333e-01 1.93832024e-01 1.65740839e-03 2.66630174e+02] [-1.93831737e-01 9.81034733e-01 -3.33352442e-04 -3.18556952e+01] [-1.69058958e-03 5.77150889e-06 9.99998571e-01 -6.33544471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:-31.86, Z:-0.63 [[ 9.80261594e-01 1.97697900e-01 1.65734668e-03 2.66662271e+02] [-1.97697619e-01 9.80262995e-01 -3.33658987e-04 -3.18630086e+01] [-1.69059930e-03 -5.80401556e-07 9.99998571e-01 -6.32714457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.69, Y:-31.87, Z:-0.63 [[ 9.78806193e-01 2.04782057e-01 1.65728500e-03 2.66694866e+02] [-2.04781785e-01 9.78807596e-01 -3.33965052e-04 -3.18704106e+01] [-1.69055320e-03 -1.24947204e-05 9.99998571e-01 -6.30730557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.845769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.73, Y:-31.88, Z:-0.63 [[ 9.78226209e-01 2.07534907e-01 1.65722313e-03 2.66726458e+02] [-2.07534638e-01 9.78227613e-01 -3.34271795e-04 -3.18775307e+01] [-1.69051449e-03 -1.69377728e-05 9.99998571e-01 -6.30400464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.76, Y:-31.89, Z:-0.63 [[ 9.77302079e-01 2.11844047e-01 1.65716546e-03 2.66758110e+02] [-2.11843784e-01 9.77303484e-01 -3.34557456e-04 -3.18856089e+01] [-1.69042758e-03 -2.40965052e-05 9.99998571e-01 -6.33128976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:-31.89, Z:-0.64 [[ 9.76988630e-01 2.13284953e-01 1.65710377e-03 2.66788863e+02] [-2.13284691e-01 9.76990035e-01 -3.34862729e-04 -3.18921263e+01] [-1.69039505e-03 -2.62777874e-05 9.99998571e-01 -6.37435711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:-31.90, Z:-0.64 [[ 9.76882582e-01 2.13770147e-01 1.65705391e-03 2.66819640e+02] [-2.13769886e-01 9.76883987e-01 -3.35109295e-04 -3.18976291e+01] [-1.69038579e-03 -2.68657911e-05 9.99998571e-01 -6.41313666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.85, Y:-31.90, Z:-0.64 [[ 9.76816158e-01 2.14073464e-01 1.65700496e-03 2.66851690e+02] [-2.14073203e-01 9.76817563e-01 -3.35351168e-04 -3.19004017e+01] [-1.69038133e-03 -2.71439194e-05 9.99998571e-01 -6.40714191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.88, Y:-31.90, Z:-0.63 [[ 9.76688876e-01 2.14653430e-01 1.65694923e-03 2.66883759e+02] [-2.14653169e-01 9.76690281e-01 -3.35626279e-04 -3.19026499e+01] [-1.69036954e-03 -2.78669509e-05 9.99998571e-01 -6.33246190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.92, Y:-31.91, Z:-0.63 [[ 9.76655029e-01 2.14807377e-01 1.65689630e-03 2.66916355e+02] [-2.14807116e-01 9.76656434e-01 -3.35887396e-04 -3.19065024e+01] [-1.69036952e-03 -2.78670003e-05 9.99998571e-01 -6.33790014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.95, Y:-31.91, Z:-0.64 [[ 9.76605829e-01 2.15030951e-01 1.65683583e-03 2.66949187e+02] [-2.15030690e-01 9.76607234e-01 -3.36185424e-04 -3.19101543e+01] [-1.69036812e-03 -2.79499059e-05 9.99998571e-01 -6.37262347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.98, Y:-31.91, Z:-0.64 [[ 9.76506280e-01 2.15482575e-01 1.65677561e-03 2.66980297e+02] [-2.15482314e-01 9.76507685e-01 -3.36481913e-04 -3.19138833e+01] [-1.69036010e-03 -2.84291415e-05 9.99998571e-01 -6.41537375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.01, Y:-31.92, Z:-0.64 [[ 9.76888829e-01 2.13741599e-01 1.65672683e-03 2.67012615e+02] [-2.13741335e-01 9.76890233e-01 -3.36721924e-04 -3.19186774e+01] [-1.69041174e-03 -2.51711189e-05 9.99998571e-01 -6.39422673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:-31.92, Z:-0.64 [[ 9.77508165e-01 2.10891067e-01 1.65666266e-03 2.67044488e+02] [-2.10890798e-01 9.77509569e-01 -3.37037330e-04 -3.19233203e+01] [-1.69048177e-03 -1.99181683e-05 9.99998571e-01 -6.36383779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.08, Y:-31.93, Z:-0.64 [[ 9.77639891e-01 2.10279575e-01 1.65660272e-03 2.67076407e+02] [-2.10279305e-01 9.77641294e-01 -3.37331681e-04 -3.19271067e+01] [-1.69049719e-03 -1.85603617e-05 9.99998571e-01 -6.37829780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.11, Y:-31.93, Z:-0.64 [[ 9.77629428e-01 2.10328215e-01 1.65654356e-03 2.67109805e+02] [-2.10327945e-01 9.77630831e-01 -3.37621989e-04 -3.19307670e+01] [-1.69049948e-03 -1.83482100e-05 9.99998571e-01 -6.38265937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.14, Y:-31.93, Z:-0.64 [[ 9.77317329e-01 2.11773689e-01 1.65647956e-03 2.67142356e+02] [-2.11773421e-01 9.77318732e-01 -3.37935702e-04 -3.19330538e+01] [-1.69047439e-03 -2.05279244e-05 9.99998571e-01 -6.38787423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.17, Y:-31.94, Z:-0.64 [[ 9.77131740e-01 2.12628360e-01 1.65641973e-03 2.67173926e+02] [-2.12628092e-01 9.77133144e-01 -3.38228694e-04 -3.19374956e+01] [-1.69045963e-03 -2.17073734e-05 9.99998571e-01 -6.37607297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.21, Y:-31.94, Z:-0.64 [[ 9.77126986e-01 2.12650203e-01 1.65638031e-03 2.67205104e+02] [-2.12649935e-01 9.77128390e-01 -3.38421633e-04 -3.19439129e+01] [-1.69046165e-03 -2.15482545e-05 9.99998571e-01 -6.37661141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.24, Y:-31.94, Z:-0.63 [[ 9.77002497e-01 2.13221429e-01 1.65637274e-03 2.67237364e+02] [-2.13221162e-01 9.77003900e-01 -3.38458660e-04 -3.19440254e+01] [-1.69044927e-03 -2.24987644e-05 9.99998571e-01 -6.34400317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.27, Y:-31.95, Z:-0.63 [[ 9.77005451e-01 2.13207894e-01 1.65636506e-03 2.67268252e+02] [-2.13207626e-01 9.77006854e-01 -3.38496243e-04 -3.19480123e+01] [-1.69045009e-03 -2.24369880e-05 9.99998571e-01 -6.34015990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:-31.95, Z:-0.63 [[ 9.77024624e-01 2.13120016e-01 1.65635722e-03 2.67299046e+02] [-2.13119748e-01 9.77026027e-01 -3.38534601e-04 -3.19530588e+01] [-1.69045262e-03 -2.22457931e-05 9.99998571e-01 -6.34404006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:-31.96, Z:-0.64 [[ 9.77317684e-01 2.11772049e-01 1.65634940e-03 2.67330245e+02] [-2.11771779e-01 9.77319088e-01 -3.38572883e-04 -3.19559536e+01] [-1.69048215e-03 -1.98747926e-05 9.99998571e-01 -6.36282419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.36, Y:-31.96, Z:-0.64 [[ 9.77569150e-01 2.10608199e-01 1.65634160e-03 2.67360405e+02] [-2.10607927e-01 9.77570553e-01 -3.38611006e-04 -3.19588314e+01] [-1.69050503e-03 -1.78229981e-05 9.99998571e-01 -6.37746682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.39, Y:-31.96, Z:-0.63 [[ 9.78120728e-01 2.08031484e-01 1.65633771e-03 2.67391643e+02] [-2.08031209e-01 9.78122130e-01 -3.38630071e-04 -3.19599926e+01] [-1.69054628e-03 -1.33488429e-05 9.99998571e-01 -6.33283300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.42, Y:-31.97, Z:-0.63 [[ 9.78287820e-01 2.07244297e-01 1.65632967e-03 2.67421276e+02] [-2.07244021e-01 9.78289222e-01 -3.38669359e-04 -3.19651422e+01] [-1.69055676e-03 -1.19483125e-05 9.99998571e-01 -6.30271890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:-31.97, Z:-0.63 [[ 9.78420493e-01 2.06617025e-01 1.65632565e-03 2.67452131e+02] [-2.06616748e-01 9.78421895e-01 -3.38689011e-04 -3.19699597e+01] [-1.69056420e-03 -1.08443508e-05 9.99998571e-01 -6.28873813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.48, Y:-31.97, Z:-0.63 [[ 9.78481330e-01 2.06328728e-01 1.65631763e-03 2.67482265e+02] [-2.06328450e-01 9.78482732e-01 -3.38728249e-04 -3.19705050e+01] [-1.69056757e-03 -1.03061820e-05 9.99998571e-01 -6.34309074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.595769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.51, Y:-31.97, Z:-0.64 [[ 9.78414465e-01 2.06645570e-01 1.65632162e-03 2.67511911e+02] [-2.06645292e-01 9.78415867e-01 -3.38708719e-04 -3.19721030e+01] [-1.69056401e-03 -1.08735553e-05 9.99998571e-01 -6.38916803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:-31.98, Z:-0.64 [[ 9.78570004e-01 2.05907755e-01 1.65632950e-03 2.67540644e+02] [-2.05907477e-01 9.78571406e-01 -3.38670183e-04 -3.19769852e+01] [-1.69057151e-03 -9.63814575e-06 9.99998571e-01 -6.38177677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:-31.98, Z:-0.64 [[ 9.78807861e-01 2.04774089e-01 1.65634126e-03 2.67569204e+02] [-2.04773809e-01 9.78809263e-01 -3.38612662e-04 -3.19822037e+01] [-1.69058127e-03 -7.73857379e-06 9.99998571e-01 -6.36574268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:267.60, Y:-31.99, Z:-0.64 [[ 9.79073830e-01 2.03498628e-01 1.65635029e-03 2.67598310e+02] [-2.03498347e-01 9.79075231e-01 -3.38568484e-04 -3.19870834e+01] [-1.69058977e-03 -5.58100404e-06 9.99998571e-01 -6.35805709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:-31.99, Z:-0.64 [[ 9.79606655e-01 2.00918036e-01 1.65635815e-03 2.67626773e+02] [-2.00917751e-01 9.79608056e-01 -3.38530049e-04 -3.19889894e+01] [-1.69059858e-03 -1.16546477e-06 9.99998571e-01 -6.36696783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.66, Y:-31.99, Z:-0.64 [[ 9.79738488e-01 2.00274192e-01 1.65636595e-03 2.67655944e+02] [-2.00273906e-01 9.79739888e-01 -3.38491872e-04 -3.19888012e+01] [-1.69059898e-03 -9.33627021e-08 9.99998571e-01 -6.37933144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.68, Y:-31.99, Z:-0.64 [[ 9.79608747e-01 2.00907836e-01 1.65638179e-03 2.67684346e+02] [-2.00907551e-01 9.79610148e-01 -3.38414355e-04 -3.19915041e+01] [-1.69059850e-03 -1.26594649e-06 9.99998571e-01 -6.39210143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:-32.00, Z:-0.64 [[ 9.79403858e-01 2.01904283e-01 1.65639750e-03 2.67712045e+02] [-2.01903999e-01 9.79405259e-01 -3.38337409e-04 -3.19956072e+01] [-1.69059620e-03 -3.06431695e-06 9.99998571e-01 -6.40224987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.74, Y:-32.00, Z:-0.64 [[ 9.79294240e-01 2.02435293e-01 1.65641704e-03 2.67740516e+02] [-2.02435011e-01 9.79295641e-01 -3.38241736e-04 -3.20009114e+01] [-1.69059405e-03 -4.07861775e-06 9.99998571e-01 -6.40629507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:-32.01, Z:-0.64 [[ 9.79388582e-01 2.01978372e-01 1.65643247e-03 2.67768773e+02] [-2.01978089e-01 9.79389982e-01 -3.38166150e-04 -3.20065796e+01] [-1.69059562e-03 -3.36699852e-06 9.99998571e-01 -6.39788656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:-32.01, Z:-0.64 [[ 9.79719329e-01 2.00367894e-01 1.65644797e-03 2.67797024e+02] [-2.00367609e-01 9.79720729e-01 -3.38090191e-04 -3.20093837e+01] [-1.69059884e-03 -6.65024883e-07 9.99998571e-01 -6.38039152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:-32.01, Z:-0.64 [[ 9.80072995e-01 1.98630763e-01 1.65646725e-03 2.67825447e+02] [-1.98630476e-01 9.80074395e-01 -3.37995708e-04 -3.20130472e+01] [-1.69059749e-03 2.23558797e-06 9.99998571e-01 -6.36285367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.85, Y:-32.02, Z:-0.64 [[ 9.80482162e-01 1.96601081e-01 1.65648322e-03 2.67852859e+02] [-1.96600791e-01 9.80483562e-01 -3.37917439e-04 -3.20176345e+01] [-1.69058950e-03 5.65610970e-06 9.99998571e-01 -6.35207634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.88, Y:-32.02, Z:-0.63 [[ 9.81419098e-01 1.91869254e-01 1.65650472e-03 2.67880302e+02] [-1.91868957e-01 9.81420496e-01 -3.37812006e-04 -3.20237822e+01] [-1.69054342e-03 1.37033210e-05 9.99998571e-01 -6.31657912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:-32.03, Z:-0.63 [[ 9.81771788e-01 1.90056338e-01 1.65652375e-03 2.67908377e+02] [-1.90056038e-01 9.81773186e-01 -3.37718658e-04 -3.20307819e+01] [-1.69051617e-03 1.67303093e-05 9.99998571e-01 -6.31863890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.94, Y:-32.04, Z:-0.64 [[ 9.82461538e-01 1.86457993e-01 1.65653914e-03 2.67936236e+02] [-1.86457688e-01 9.82462934e-01 -3.37643179e-04 -3.20401709e+01] [-1.69044457e-03 2.28469788e-05 9.99998571e-01 -6.36041770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:-32.05, Z:-0.64 [[ 9.82822181e-01 1.84547598e-01 1.65654697e-03 2.67963532e+02] [-1.84547291e-01 9.82823577e-01 -3.37604727e-04 -3.20487646e+01] [-1.69039756e-03 2.60941578e-05 9.99998571e-01 -6.37965100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.99, Y:-32.06, Z:-0.64 [[ 9.83112517e-01 1.82994630e-01 1.65655866e-03 2.67991842e+02] [-1.82994321e-01 9.83113912e-01 -3.37547351e-04 -3.20585087e+01] [-1.69035522e-03 2.87061978e-05 9.99998571e-01 -6.37897183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:-32.07, Z:-0.63 [[ 9.83379501e-01 1.81554436e-01 1.65656638e-03 2.68020780e+02] [-1.81554125e-01 9.83380896e-01 -3.37509469e-04 -3.20715292e+01] [-1.69031207e-03 3.11434335e-05 9.99998571e-01 -6.34287881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:-32.08, Z:-0.63 [[ 9.83336239e-01 1.81788606e-01 1.65656638e-03 2.68050260e+02] [-1.81788295e-01 9.83337634e-01 -3.37509469e-04 -3.20806110e+01] [-1.69031944e-03 3.07409141e-05 9.99998571e-01 -6.32410701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:-32.10, Z:-0.64 [[ 9.82809804e-01 1.84613502e-01 1.65656638e-03 2.68079736e+02] [-1.84613195e-01 9.82811200e-01 -3.37509469e-04 -3.20950802e+01] [-1.69040080e-03 2.58836030e-05 9.99998571e-01 -6.35696270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:-32.11, Z:-0.64 [[ 9.82326423e-01 1.87168517e-01 1.65655874e-03 2.68109374e+02] [-1.87168214e-01 9.82327820e-01 -3.37546969e-04 -3.21062169e+01] [-1.69046190e-03 2.15261659e-05 9.99998571e-01 -6.38248782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:-32.12, Z:-0.64 [[ 9.81709381e-01 1.90378431e-01 1.65655088e-03 2.68138775e+02] [-1.90378133e-01 9.81710779e-01 -3.37585560e-04 -3.21163014e+01] [-1.69052286e-03 1.60398483e-05 9.99998571e-01 -6.40038769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:-32.13, Z:-0.64 [[ 9.80010748e-01 1.98937652e-01 1.65654696e-03 2.68166558e+02] [-1.98937366e-01 9.80012148e-01 -3.37604773e-04 -3.21265656e+01] [-1.69059845e-03 1.30721689e-06 9.99998571e-01 -6.40312986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:-32.13, Z:-0.64 [[ 9.79086489e-01 2.03437715e-01 1.65655072e-03 2.68196509e+02] [-2.03437435e-01 9.79087890e-01 -3.37586320e-04 -3.21343059e+01] [-1.69058654e-03 -6.47822506e-06 9.99998571e-01 -6.42364539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.345769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:-32.14, Z:-0.65 [[ 9.77137593e-01 2.12601458e-01 1.65655072e-03 2.68224946e+02] [-2.12601191e-01 9.77138997e-01 -3.37586320e-04 -3.21421062e+01] [-1.69045165e-03 -2.23163721e-05 9.99998571e-01 -6.46208734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:-32.15, Z:-0.64 [[ 9.76008863e-01 2.17724495e-01 1.65655819e-03 2.68253284e+02] [-2.17724236e-01 9.76010268e-01 -3.37549675e-04 -3.21461336e+01] [-1.69031063e-03 -3.12213914e-05 9.99998571e-01 -6.44967657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:-32.15, Z:-0.64 [[ 9.73648671e-01 2.28047190e-01 1.65656929e-03 2.68282883e+02] [-2.28046945e-01 9.73650079e-01 -3.37495196e-04 -3.21469279e+01] [-1.68988365e-03 -4.91738165e-05 9.99998571e-01 -6.40949830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:-32.15, Z:-0.64 [[ 9.72687312e-01 2.32113439e-01 1.65658096e-03 2.68312296e+02] [-2.32113201e-01 9.72688721e-01 -3.37437889e-04 -3.21505624e+01] [-1.68966149e-03 -5.62927558e-05 9.99998571e-01 -6.41680118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:-32.15, Z:-0.64 [[ 9.71712049e-01 2.36162970e-01 1.65658881e-03 2.68340422e+02] [-2.36162738e-01 9.71713460e-01 -3.37399347e-04 -3.21504742e+01] [-1.68941088e-03 -6.33695388e-05 9.99998571e-01 -6.43561271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:-32.15, Z:-0.64 [[ 9.71712018e-01 2.36163098e-01 1.65660832e-03 2.68368798e+02] [-2.36162866e-01 9.71713428e-01 -3.37303519e-04 -3.21526261e+01] [-1.68940720e-03 -6.34674855e-05 9.99998571e-01 -6.43148374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:-32.15, Z:-0.64 [[ 9.71971253e-01 2.35093895e-01 1.65662750e-03 2.68397832e+02] [-2.35093662e-01 9.71972662e-01 -3.37209299e-04 -3.21546547e+01] [-1.68947249e-03 -6.17048806e-05 9.99998571e-01 -6.42850471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:-32.15, Z:-0.64 [[ 9.72955865e-01 2.30985150e-01 1.65664257e-03 2.68426999e+02] [-2.30984911e-01 9.72957274e-01 -3.37135257e-04 -3.21539293e+01] [-1.68971568e-03 -5.46417102e-05 9.99998571e-01 -6.44775565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:-32.16, Z:-0.64 [[ 9.73618770e-01 2.28174813e-01 1.65665777e-03 2.68456071e+02] [-2.28174569e-01 9.73620179e-01 -3.37060552e-04 -3.21573773e+01] [-1.68986416e-03 -4.98386925e-05 9.99998571e-01 -6.42910905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:-32.16, Z:-0.64 [[ 9.74834080e-01 2.22925485e-01 1.65667309e-03 2.68485137e+02] [-2.22925234e-01 9.74835487e-01 -3.36985243e-04 -3.21575933e+01] [-1.69010631e-03 -4.08095369e-05 9.99998571e-01 -6.35660750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:-32.16, Z:-0.63 [[ 9.75270491e-01 2.21008426e-01 1.65668834e-03 2.68513353e+02] [-2.21008173e-01 9.75271898e-01 -3.36910259e-04 -3.21591495e+01] [-1.69018158e-03 -3.75630285e-05 9.99998571e-01 -6.32976571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:-32.16, Z:-0.63 [[ 9.75945428e-01 2.18008660e-01 1.65670732e-03 2.68543010e+02] [-2.18008403e-01 9.75946834e-01 -3.36816870e-04 -3.21572266e+01] [-1.69028726e-03 -3.24612319e-05 9.99998571e-01 -6.32492410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.57, Y:-32.16, Z:-0.64 [[ 9.76342374e-01 2.16224014e-01 1.65672249e-03 2.68572183e+02] [-2.16223753e-01 9.76343779e-01 -3.36742227e-04 -3.21609251e+01] [-1.69034246e-03 -2.94470507e-05 9.99998571e-01 -6.35000183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:-32.16, Z:-0.64 [[ 9.76906242e-01 2.13661998e-01 1.65673799e-03 2.68600262e+02] [-2.13661735e-01 9.76907647e-01 -3.36665963e-04 -3.21648019e+01] [-1.69041274e-03 -2.50904328e-05 9.99998571e-01 -6.37787017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-32.17, Z:-0.64 [[ 9.78351068e-01 2.06945509e-01 1.65675732e-03 2.68629362e+02] [-2.06945236e-01 9.78352470e-01 -3.36570800e-04 -3.21668977e+01] [-1.69054444e-03 -1.35736343e-05 9.99998571e-01 -6.37932698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:-32.17, Z:-0.64 [[ 9.79024422e-01 2.03736195e-01 1.65676881e-03 2.68657920e+02] [-2.03735917e-01 9.79025823e-01 -3.36514251e-04 -3.21699702e+01] [-1.69057958e-03 -8.08764312e-06 9.99998571e-01 -6.36950163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:-32.17, Z:-0.64 [[ 9.80046689e-01 1.98760514e-01 1.65678494e-03 2.68686025e+02] [-1.98760230e-01 9.80048090e-01 -3.36434798e-04 -3.21728788e+01] [-1.69059887e-03 4.18853923e-07 9.99998571e-01 -6.38929266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:-32.18, Z:-0.64 [[ 9.80715796e-01 1.95432298e-01 1.65680499e-03 2.68713849e+02] [-1.95432009e-01 9.80717195e-01 -3.36336046e-04 -3.21783570e+01] [-1.69058807e-03 6.05734478e-06 9.99998571e-01 -6.40216545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:-32.19, Z:-0.64 [[ 9.81922470e-01 1.89276299e-01 1.65681982e-03 2.68741831e+02] [-1.89276001e-01 9.81923868e-01 -3.36262989e-04 -3.21860604e+01] [-1.69051754e-03 1.65879554e-05 9.99998571e-01 -6.41240587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:-32.19, Z:-0.64 [[ 9.82342675e-01 1.87083201e-01 1.65683507e-03 2.68768581e+02] [-1.87082900e-01 9.82344072e-01 -3.36187828e-04 -3.21922422e+01] [-1.69047720e-03 2.02861398e-05 9.99998571e-01 -6.40285020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:-32.20, Z:-0.64 [[ 9.82878610e-01 1.84246828e-01 1.65685549e-03 2.68796315e+02] [-1.84246523e-01 9.82880006e-01 -3.36087175e-04 -3.22000231e+01] [-1.69041313e-03 2.50630329e-05 9.99998571e-01 -6.36858005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:-32.21, Z:-0.64 [[ 9.82940178e-01 1.83918080e-01 1.65687055e-03 2.68824921e+02] [-1.83917775e-01 9.82941575e-01 -3.36012889e-04 -3.22076467e+01] [-1.69040580e-03 2.55526231e-05 9.99998571e-01 -6.36311570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:-32.22, Z:-0.64 [[ 9.82903996e-01 1.84111348e-01 1.65687844e-03 2.68853923e+02] [-1.84111044e-01 9.82905393e-01 -3.35974005e-04 -3.22162168e+01] [-1.69041138e-03 2.51805738e-05 9.99998571e-01 -6.37115366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.88, Y:-32.23, Z:-0.64 [[ 9.82997678e-01 1.83610508e-01 1.65688631e-03 2.68880278e+02] [-1.83610203e-01 9.82999075e-01 -3.35935190e-04 -3.22281242e+01] [-1.69039894e-03 2.60022810e-05 9.99998571e-01 -6.43165237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:-32.24, Z:-0.64 [[ 9.83129109e-01 1.82905465e-01 1.65689806e-03 2.68909146e+02] [-1.82905159e-01 9.83130505e-01 -3.35877204e-04 -3.22370036e+01] [-1.69038080e-03 2.71554536e-05 9.99998571e-01 -6.44051726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:-32.25, Z:-0.64 [[ 9.83127620e-01 1.82913469e-01 1.65690595e-03 2.68936840e+02] [-1.82913163e-01 9.83129016e-01 -3.35838309e-04 -3.22502591e+01] [-1.69038166e-03 2.71020100e-05 9.99998571e-01 -6.40197732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:-32.26, Z:-0.64 [[ 9.82974307e-01 1.83735588e-01 1.65690986e-03 2.68964683e+02] [-1.83735283e-01 9.82975703e-01 -3.35818981e-04 -3.22605037e+01] [-1.69040404e-03 2.56686277e-05 9.99998571e-01 -6.36982243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:-32.27, Z:-0.63 [[ 9.82735442e-01 1.85008935e-01 1.65691374e-03 2.68993831e+02] [-1.85008632e-01 9.82736838e-01 -3.35799846e-04 -3.22704938e+01] [-1.69043614e-03 2.34590666e-05 9.99998571e-01 -6.34640298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.02, Y:-32.28, Z:-0.63 [[ 9.82735442e-01 1.85008935e-01 1.65691374e-03 2.69024213e+02] [-1.85008632e-01 9.82736838e-01 -3.35799846e-04 -3.22766513e+01] [-1.69043614e-03 2.34590666e-05 9.99998571e-01 -6.34692707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:-32.29, Z:-0.64 [[ 9.81807391e-01 1.89872331e-01 1.65691374e-03 2.69053356e+02] [-1.89872034e-01 9.81808789e-01 -3.35799846e-04 -3.22870083e+01] [-1.69053157e-03 1.50891883e-05 9.99998571e-01 -6.35816129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.08, Y:-32.30, Z:-0.64 [[ 9.80162051e-01 1.98190840e-01 1.65691374e-03 2.69082227e+02] [-1.98190556e-01 9.80163451e-01 -3.35799846e-04 -3.22958616e+01] [-1.69059874e-03 7.53610957e-07 9.99998571e-01 -6.39379415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:-32.30, Z:-0.64 [[ 9.79319386e-01 2.02313605e-01 1.65691374e-03 2.69111976e+02] [-2.02313326e-01 9.79320788e-01 -3.35799846e-04 -3.23036462e+01] [-1.69058695e-03 -6.36043105e-06 9.99998571e-01 -6.41350986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.14, Y:-32.31, Z:-0.64 [[ 9.78584131e-01 2.05840600e-01 1.65690974e-03 2.69141569e+02] [-2.05840327e-01 9.78585534e-01 -3.35819606e-04 -3.23108244e+01] [-1.69055321e-03 -1.24311035e-05 9.99998571e-01 -6.42968514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:-32.32, Z:-0.64 [[ 9.77299459e-01 2.11856136e-01 1.65690974e-03 2.69171058e+02] [-2.11855871e-01 9.77300863e-01 -3.35819606e-04 -3.23168288e+01] [-1.69044476e-03 -2.28297354e-05 9.99998571e-01 -6.42503199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:-32.32, Z:-0.64 [[ 9.76663618e-01 2.14768323e-01 1.65691761e-03 2.69199265e+02] [-2.14768062e-01 9.76665023e-01 -3.35780743e-04 -3.23217732e+01] [-1.69036854e-03 -2.79081495e-05 9.99998571e-01 -6.40674786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:-32.33, Z:-0.64 [[ 9.76089193e-01 2.17364076e-01 1.65692934e-03 2.69228282e+02] [-2.17363819e-01 9.76090599e-01 -3.35722859e-04 -3.23266537e+01] [-1.69028724e-03 -3.24610350e-05 9.99998571e-01 -6.38546344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:-32.33, Z:-0.64 [[ 9.75396723e-01 2.20450647e-01 1.65693725e-03 2.69257101e+02] [-2.20450394e-01 9.75398129e-01 -3.35683831e-04 -3.23288129e+01] [-1.69017521e-03 -3.78475605e-05 9.99998571e-01 -6.40497539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.29, Y:-32.33, Z:-0.64 [[ 9.75241328e-01 2.21137077e-01 1.65694639e-03 2.69286027e+02] [-2.21136825e-01 9.75242735e-01 -3.35638679e-04 -3.23328339e+01] [-1.69014709e-03 -3.90831545e-05 9.99998571e-01 -6.42272706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.32, Y:-32.34, Z:-0.64 [[ 9.75508296e-01 2.19956402e-01 1.65695503e-03 2.69315691e+02] [-2.19956149e-01 9.75509703e-01 -3.35596049e-04 -3.23379573e+01] [-1.69019220e-03 -3.70807177e-05 9.99998571e-01 -6.41855560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:-32.34, Z:-0.64 [[ 9.75883267e-01 2.18286747e-01 1.65696281e-03 2.69344991e+02] [-2.18286492e-01 9.75884673e-01 -3.35557611e-04 -3.23434494e+01] [-1.69025239e-03 -3.42275423e-05 9.99998571e-01 -6.40322671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:-32.35, Z:-0.64 [[ 9.76726620e-01 2.14481616e-01 1.65697056e-03 2.69373264e+02] [-2.14481355e-01 9.76728025e-01 -3.35519339e-04 -3.23484895e+01] [-1.69037231e-03 -2.76786207e-05 9.99998571e-01 -6.35388944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:-32.36, Z:-0.63 [[ 9.77194154e-01 2.12341331e-01 1.65697976e-03 2.69401546e+02] [-2.12341067e-01 9.77195558e-01 -3.35473915e-04 -3.23551489e+01] [-1.69042824e-03 -2.40217016e-05 9.99998571e-01 -6.33822642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:-32.36, Z:-0.64 [[ 9.78080153e-01 2.08222160e-01 1.65699127e-03 2.69430403e+02] [-2.08221891e-01 9.78081557e-01 -3.35417025e-04 -3.23638453e+01] [-1.69051386e-03 -1.69571205e-05 9.99998571e-01 -6.35840237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:-32.37, Z:-0.64 [[ 9.78440745e-01 2.06521098e-01 1.65699508e-03 2.69457884e+02] [-2.06520826e-01 9.78442147e-01 -3.35398241e-04 -3.23702306e+01] [-1.69054063e-03 -1.40366874e-05 9.99998571e-01 -6.37989245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:-32.38, Z:-0.64 [[ 9.78655154e-01 2.05502663e-01 1.65700649e-03 2.69487381e+02] [-2.05502390e-01 9.78656556e-01 -3.35341859e-04 -3.23764569e+01] [-1.69055391e-03 -1.23347543e-05 9.99998571e-01 -6.40194418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.52, Y:-32.38, Z:-0.64 [[ 9.78353010e-01 2.06936324e-01 1.65701408e-03 2.69516467e+02] [-2.06936053e-01 9.78354413e-01 -3.35304338e-04 -3.23838303e+01] [-1.69053368e-03 -1.48499454e-05 9.99998571e-01 -6.43438828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.54, Y:-32.39, Z:-0.64 [[ 9.77831282e-01 2.09387769e-01 1.65702165e-03 2.69544989e+02] [-2.09387501e-01 9.77832686e-01 -3.35266924e-04 -3.23906688e+01] [-1.69049072e-03 -1.91251362e-05 9.99998571e-01 -6.44497782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:-32.40, Z:-0.64 [[ 9.76523196e-01 2.15405902e-01 1.65702920e-03 2.69573541e+02] [-2.15405643e-01 9.76524601e-01 -3.35229574e-04 -3.23971345e+01] [-1.69034021e-03 -2.95739872e-05 9.99998571e-01 -6.42324952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:-32.40, Z:-0.64 [[ 9.75865779e-01 2.18364912e-01 1.65703697e-03 2.69601593e+02] [-2.18364657e-01 9.75867186e-01 -3.35191166e-04 -3.24016132e+01] [-1.69024200e-03 -3.47367232e-05 9.99998571e-01 -6.40267556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.63, Y:-32.41, Z:-0.64 [[ 9.75241425e-01 2.21136648e-01 1.65704857e-03 2.69630195e+02] [-2.21136398e-01 9.75242832e-01 -3.35133842e-04 -3.24055287e+01] [-1.69013511e-03 -3.95973451e-05 9.99998571e-01 -6.36339712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:-32.41, Z:-0.63 [[ 9.74391196e-01 2.24853400e-01 1.65706337e-03 2.69659541e+02] [-2.24853155e-01 9.74392604e-01 -3.35060633e-04 -3.24060002e+01] [-1.68996981e-03 -4.61157969e-05 9.99998571e-01 -6.32189320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.69, Y:-32.40, Z:-0.64 [[ 9.73671064e-01 2.27951558e-01 1.65707864e-03 2.69687926e+02] [-2.27951318e-01 9.73672473e-01 -3.34985108e-04 -3.24039337e+01] [-1.68981223e-03 -5.15679531e-05 9.99998571e-01 -6.36216248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.72, Y:-32.41, Z:-0.64 [[ 9.73336543e-01 2.29375737e-01 1.65709755e-03 2.69716816e+02] [-2.29375499e-01 9.73337952e-01 -3.34891543e-04 -3.24054202e+01] [-1.68973193e-03 -5.41353999e-05 9.99998571e-01 -6.37534600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:269.75, Y:-32.41, Z:-0.64 [[ 9.73120780e-01 2.30289384e-01 1.65711328e-03 2.69745029e+02] [-2.30289148e-01 9.73122190e-01 -3.34813670e-04 -3.24063575e+01] [-1.68967774e-03 -5.58010653e-05 9.99998571e-01 -6.39752785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:-32.40, Z:-0.64 [[ 9.73259378e-01 2.29702934e-01 1.65713287e-03 2.69775565e+02] [-2.29702697e-01 9.73260787e-01 -3.34716671e-04 -3.24030900e+01] [-1.68970785e-03 -5.48817505e-05 9.99998571e-01 -6.38632183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.80, Y:-32.40, Z:-0.64 [[ 9.73660392e-01 2.27997136e-01 1.65714849e-03 2.69803387e+02] [-2.27996897e-01 9.73661801e-01 -3.34639347e-04 -3.24041064e+01] [-1.68979899e-03 -5.19996344e-05 9.99998571e-01 -6.36170976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:-32.40, Z:-0.63 [[ 9.74724392e-01 2.23404596e-01 1.65716791e-03 2.69832340e+02] [-2.23404350e-01 9.74725800e-01 -3.34543148e-04 -3.24010893e+01] [-1.69002279e-03 -4.41311530e-05 9.99998571e-01 -6.30322227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:-32.40, Z:-0.63 [[ 9.75314210e-01 2.20815412e-01 1.65719146e-03 2.69860622e+02] [-2.20815162e-01 9.75315617e-01 -3.34426427e-04 -3.24024187e+01] [-1.69013122e-03 -3.97621559e-05 9.99998571e-01 -6.30796061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.89, Y:-32.40, Z:-0.63 [[ 9.75905875e-01 2.18185647e-01 1.65721526e-03 2.69888116e+02] [-2.18185394e-01 9.75907282e-01 -3.34308443e-04 -3.24043271e+01] [-1.69022975e-03 -3.53265916e-05 9.99998571e-01 -6.33255898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:-32.41, Z:-0.64 [[ 9.76865719e-01 2.13847192e-01 1.65722819e-03 2.69917050e+02] [-2.13846932e-01 9.76867124e-01 -3.34244377e-04 -3.24062140e+01] [-1.69036895e-03 -2.78812896e-05 9.99998571e-01 -6.41150737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:-32.41, Z:-0.64 [[ 9.77300895e-01 2.11849507e-01 1.65724420e-03 2.69944717e+02] [-2.11849245e-01 9.77302300e-01 -3.34164947e-04 -3.24105178e+01] [-1.69042125e-03 -2.45062318e-05 9.99998571e-01 -6.42846025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.97, Y:-32.41, Z:-0.64 [[ 9.78133333e-01 2.07972200e-01 1.65726412e-03 2.69971858e+02] [-2.07971932e-01 9.78134737e-01 -3.34066139e-04 -3.24142159e+01] [-1.69050407e-03 -1.79031953e-05 9.99998571e-01 -6.36881126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:-32.42, Z:-0.63 [[ 9.78500153e-01 2.06239432e-01 1.65728759e-03 2.69999555e+02] [-2.06239162e-01 9.78501557e-01 -3.33949654e-04 -3.24194586e+01] [-1.69053207e-03 -1.50278167e-05 9.99998571e-01 -6.34611901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.03, Y:-32.43, Z:-0.63 [[ 9.78769850e-01 2.04955690e-01 1.65731016e-03 2.70027092e+02] [-2.04955419e-01 9.78771253e-01 -3.33837631e-04 -3.24256735e+01] [-1.69054946e-03 -1.29244894e-05 9.99998571e-01 -6.33962383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:-32.44, Z:-0.63 [[ 9.79116759e-01 2.03291969e-01 1.65733367e-03 2.70054686e+02] [-2.03291696e-01 9.79118162e-01 -3.33720836e-04 -3.24350032e+01] [-1.69056827e-03 -1.01705097e-05 9.99998571e-01 -6.32833233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:-32.45, Z:-0.63 [[ 9.79747306e-01 2.00231040e-01 1.65734943e-03 2.70082058e+02] [-2.00230762e-01 9.79748708e-01 -3.33642552e-04 -3.24450031e+01] [-1.69059156e-03 -4.96694790e-06 9.99998571e-01 -6.32601548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.11, Y:-32.45, Z:-0.63 [[ 9.80208600e-01 1.97960483e-01 1.65736546e-03 2.70108824e+02] [-1.97960202e-01 9.80210002e-01 -3.33562902e-04 -3.24534906e+01] [-1.69059848e-03 -1.13117594e-06 9.99998571e-01 -6.32834809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.14, Y:-32.46, Z:-0.63 [[ 9.80617756e-01 1.95923631e-01 1.65738541e-03 2.70135545e+02] [-1.95923347e-01 9.80619157e-01 -3.33463789e-04 -3.24624162e+01] [-1.69059732e-03 2.28001638e-06 9.99998571e-01 -6.33576051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.16, Y:-32.47, Z:-0.63 [[ 9.80902350e-01 1.94493786e-01 1.65740668e-03 2.70163074e+02] [-1.94493500e-01 9.80903750e-01 -3.33358023e-04 -3.24712947e+01] [-1.69059249e-03 4.63684266e-06 9.99998571e-01 -6.34596919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:-32.48, Z:-0.64 [[ 9.81340723e-01 1.92269704e-01 1.65742206e-03 2.70190800e+02] [-1.92269416e-01 9.81342122e-01 -3.33281510e-04 -3.24816502e+01] [-1.69057802e-03 8.39114541e-06 9.99998571e-01 -6.37932791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.22, Y:-32.49, Z:-0.64 [[ 9.81742468e-01 1.90207729e-01 1.65743816e-03 2.70218291e+02] [-1.90207437e-01 9.81743867e-01 -3.33201466e-04 -3.24927198e+01] [-1.69055724e-03 1.18609655e-05 9.99998571e-01 -6.41239792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.25, Y:-32.50, Z:-0.64 [[ 9.81859933e-01 1.89600433e-01 1.65744606e-03 2.70245949e+02] [-1.89600140e-01 9.81861332e-01 -3.33162144e-04 -3.25015101e+01] [-1.69054988e-03 1.28665548e-05 9.99998571e-01 -6.42451817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:-32.51, Z:-0.64 [[ 9.81949188e-01 1.89137634e-01 1.65745776e-03 2.70274829e+02] [-1.89137341e-01 9.81950587e-01 -3.33103930e-04 -3.25100915e+01] [-1.69054411e-03 1.36039799e-05 9.99998571e-01 -6.42807880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:-32.52, Z:-0.64 [[ 9.82057843e-01 1.88572654e-01 1.65746545e-03 2.70301706e+02] [-1.88572361e-01 9.82059242e-01 -3.33065648e-04 -3.25198107e+01] [-1.69053634e-03 1.45375589e-05 9.99998571e-01 -6.39811203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.33, Y:-32.53, Z:-0.64 [[ 9.82015420e-01 1.88793452e-01 1.65747696e-03 2.70330556e+02] [-1.88793158e-01 9.82016819e-01 -3.33008376e-04 -3.25268855e+01] [-1.69054005e-03 1.40990498e-05 9.99998571e-01 -6.37289132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:-32.53, Z:-0.63 [[ 9.81697311e-01 1.90440654e-01 1.65748448e-03 2.70359695e+02] [-1.90440363e-01 9.81698710e-01 -3.32970911e-04 -3.25337000e+01] [-1.69056158e-03 1.12247011e-05 9.99998571e-01 -6.33698824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:-32.54, Z:-0.63 [[ 9.81582848e-01 1.91029749e-01 1.65749211e-03 2.70388634e+02] [-1.91029459e-01 9.81584248e-01 -3.32932965e-04 -3.25387356e+01] [-1.69056824e-03 1.01714681e-05 9.99998571e-01 -6.34455933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.42, Y:-32.54, Z:-0.64 [[ 9.81414919e-01 1.91890618e-01 1.65749994e-03 2.70416667e+02] [-1.91890329e-01 9.81416319e-01 -3.32893962e-04 -3.25441928e+01] [-1.69057672e-03 8.64889127e-06 9.99998571e-01 -6.37420397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.45, Y:-32.55, Z:-0.64 [[ 9.81417577e-01 1.91877025e-01 1.65751157e-03 2.70445580e+02] [-1.91876736e-01 9.81418976e-01 -3.32836026e-04 -3.25519843e+01] [-1.69057690e-03 8.61321467e-06 9.99998571e-01 -6.42591326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.47, Y:-32.56, Z:-0.64 [[ 9.81768706e-01 1.90072253e-01 1.65751938e-03 2.70473332e+02] [-1.90071962e-01 9.81770105e-01 -3.32797124e-04 -3.25614489e+01] [-1.69055848e-03 1.16818408e-05 9.99998571e-01 -6.42412965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:-32.57, Z:-0.64 [[ 9.82019909e-01 1.88770102e-01 1.65752327e-03 2.70502500e+02] [-1.88769809e-01 9.82021308e-01 -3.32777760e-04 -3.25689442e+01] [-1.69054166e-03 1.39040342e-05 9.99998571e-01 -6.38033447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:-32.58, Z:-0.63 [[ 9.82233493e-01 1.87655585e-01 1.65752327e-03 2.70532025e+02] [-1.87655291e-01 9.82234891e-01 -3.32777760e-04 -3.25765437e+01] [-1.69052480e-03 1.58224496e-05 9.99998571e-01 -6.34596744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:-32.59, Z:-0.63 [[ 9.82234586e-01 1.87649861e-01 1.65752327e-03 2.70561241e+02] [-1.87649566e-01 9.82235985e-01 -3.32777760e-04 -3.25864098e+01] [-1.69052470e-03 1.58323025e-05 9.99998571e-01 -6.29471751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:-32.59, Z:-0.63 [[ 9.81830787e-01 1.89751308e-01 1.65751934e-03 2.70590538e+02] [-1.89751016e-01 9.81832186e-01 -3.32797349e-04 -3.25930996e+01] [-1.69055457e-03 1.22347035e-05 9.99998571e-01 -6.28593301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.62, Y:-32.60, Z:-0.63 [[ 9.80344487e-01 1.97286441e-01 1.65751934e-03 2.70621349e+02] [-1.97286160e-01 9.80345888e-01 -3.32797349e-04 -3.25967642e+01] [-1.69059867e-03 -7.49579835e-07 9.99998571e-01 -6.32189665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:-32.60, Z:-0.64 [[ 9.79492625e-01 2.01473198e-01 1.65751934e-03 2.70650604e+02] [-2.01472923e-01 9.79494028e-01 -3.32797349e-04 -3.26010769e+01] [-1.69058004e-03 -7.97271734e-06 9.99998571e-01 -6.36013253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.68, Y:-32.61, Z:-0.64 [[ 9.78780016e-01 2.04907132e-01 1.65752333e-03 2.70678579e+02] [-2.04906863e-01 9.78781419e-01 -3.32777458e-04 -3.26054922e+01] [-1.69054151e-03 -1.39219804e-05 9.99998571e-01 -6.39772547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-32.61, Z:-0.64 [[ 9.77932650e-01 2.08913822e-01 1.65753498e-03 2.70707342e+02] [-2.08913558e-01 9.77934054e-01 -3.32719418e-04 -3.26086891e+01] [-1.69046959e-03 -2.09043498e-05 9.99998571e-01 -6.40096106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:-32.61, Z:-0.64 [[ 9.77764678e-01 2.09698564e-01 1.65754983e-03 2.70735669e+02] [-2.09698301e-01 9.77766082e-01 -3.32645461e-04 -3.26119133e+01] [-1.69045127e-03 -2.23363999e-05 9.99998571e-01 -6.38268579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.77, Y:-32.61, Z:-0.64 [[ 9.78011855e-01 2.08542714e-01 1.65756552e-03 2.70765163e+02] [-2.08542449e-01 9.78013260e-01 -3.32567238e-04 -3.26131670e+01] [-1.69047553e-03 -2.04180720e-05 9.99998571e-01 -6.36144604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:-32.62, Z:-0.64 [[ 9.78504516e-01 2.06218729e-01 1.65757721e-03 2.70794347e+02] [-2.06218462e-01 9.78505920e-01 -3.32508953e-04 -3.26168062e+01] [-1.69051869e-03 -1.64615113e-05 9.99998571e-01 -6.35379218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.82, Y:-32.62, Z:-0.64 [[ 9.80193498e-01 1.98035246e-01 1.65758500e-03 2.70822984e+02] [-1.98034966e-01 9.80194900e-01 -3.32470098e-04 -3.26184133e+01] [-1.69059717e-03 -2.37476289e-06 9.99998571e-01 -6.37090297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:-32.62, Z:-0.64 [[ 9.80202664e-01 1.97989872e-01 1.65759663e-03 2.70851763e+02] [-1.97989593e-01 9.80204066e-01 -3.32412139e-04 -3.26240904e+01] [-1.69059719e-03 -2.35561838e-06 9.99998571e-01 -6.37139883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:-32.63, Z:-0.64 [[ 9.81061558e-01 1.93689109e-01 1.65761201e-03 2.70881261e+02] [-1.93688824e-01 9.81062959e-01 -3.32335408e-04 -3.26294977e+01] [-1.69059149e-03 4.98057311e-06 9.99998571e-01 -6.38567700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:-32.64, Z:-0.64 [[ 9.81860892e-01 1.89595465e-01 1.65761968e-03 2.70910217e+02] [-1.89595174e-01 9.81862292e-01 -3.32297156e-04 -3.26365898e+01] [-1.69055629e-03 1.19928909e-05 9.99998571e-01 -6.39998628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:-32.65, Z:-0.64 [[ 9.83515207e-01 1.80817838e-01 1.65762737e-03 2.70939447e+02] [-1.80817535e-01 9.83516603e-01 -3.32258802e-04 -3.26472924e+01] [-1.69038236e-03 2.70534895e-05 9.99998571e-01 -6.40380720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:-32.66, Z:-0.64 [[ 9.84293842e-01 1.76530127e-01 1.65762353e-03 2.70968931e+02] [-1.76529817e-01 9.84295237e-01 -3.32277948e-04 -3.26550869e+01] [-1.69024801e-03 3.44391587e-05 9.99998571e-01 -6.40207331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:-32.67, Z:-0.64 [[ 9.85472287e-01 1.69828220e-01 1.65761973e-03 2.70999010e+02] [-1.69827901e-01 9.85473680e-01 -3.32296878e-04 -3.26653976e+01] [-1.68997401e-03 4.59592845e-05 9.99998571e-01 -6.39432800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.03, Y:-32.68, Z:-0.64 [[ 9.85800769e-01 1.67910977e-01 1.65761220e-03 2.71028955e+02] [-1.67910655e-01 9.85802161e-01 -3.32334459e-04 -3.26751371e+01] [-1.68988029e-03 4.92848142e-05 9.99998571e-01 -6.39151944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.06, Y:-32.69, Z:-0.64 [[ 9.85867046e-01 1.67521403e-01 1.65760470e-03 2.71058026e+02] [-1.67521081e-01 9.85868438e-01 -3.32371878e-04 -3.26883930e+01] [-1.68985956e-03 4.99907504e-05 9.99998571e-01 -6.37577206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:-32.70, Z:-0.64 [[ 9.85639411e-01 1.68855574e-01 1.65755601e-03 2.71089174e+02] [-1.68855253e-01 9.85640803e-01 -3.32614488e-04 -3.26971112e+01] [-1.68991865e-03 4.79509074e-05 9.99998571e-01 -6.38138326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.12, Y:-32.71, Z:-0.64 [[ 9.84723968e-01 1.74114790e-01 1.65750386e-03 2.71117767e+02] [-1.74114477e-01 9.84725362e-01 -3.32874175e-04 -3.27080242e+01] [-1.69014441e-03 3.91937609e-05 9.99998571e-01 -6.42667711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.15, Y:-32.72, Z:-0.64 [[ 9.84166767e-01 1.77237208e-01 1.65749645e-03 2.71147460e+02] [-1.77236898e-01 9.84168162e-01 -3.32911082e-04 -3.27173945e+01] [-1.69025946e-03 3.38704939e-05 9.99998571e-01 -6.44434128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.18, Y:-32.73, Z:-0.64 [[ 9.83609036e-01 1.80306733e-01 1.65748529e-03 2.71177110e+02] [-1.80306428e-01 9.83610432e-01 -3.32966622e-04 -3.27260688e+01] [-1.69035595e-03 2.86537259e-05 9.99998571e-01 -6.44903764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:-32.73, Z:-0.64 [[ 9.82473909e-01 1.86392787e-01 1.65748157e-03 2.71206815e+02] [-1.86392491e-01 9.82475307e-01 -3.32985146e-04 -3.27337838e+01] [-1.69050074e-03 1.82071002e-05 9.99998571e-01 -6.42208265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:-32.74, Z:-0.64 [[ 9.81845441e-01 1.89675466e-01 1.65747791e-03 2.71237232e+02] [-1.89675174e-01 9.81846840e-01 -3.33003384e-04 -3.27393806e+01] [-1.69055202e-03 1.25754444e-05 9.99998571e-01 -6.39781182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:-32.74, Z:-0.64 [[ 9.80500521e-01 1.96509495e-01 1.65747791e-03 2.71266786e+02] [-1.96509213e-01 9.80501922e-01 -3.33003384e-04 -3.27436815e+01] [-1.69059860e-03 8.00313315e-07 9.99998571e-01 -6.36560985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:-32.75, Z:-0.64 [[ 9.79873174e-01 1.99614169e-01 1.65748514e-03 2.71296772e+02] [-1.99613891e-01 9.79874575e-01 -3.32967388e-04 -3.27480854e+01] [-1.69059255e-03 -4.59124597e-06 9.99998571e-01 -6.38734139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:-32.75, Z:-0.64 [[ 9.78659530e-01 2.05481817e-01 1.65748514e-03 2.71327387e+02] [-2.05481548e-01 9.78660933e-01 -3.32967388e-04 -3.27470209e+01] [-1.69053469e-03 -1.47209040e-05 9.99998571e-01 -6.44471752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.36, Y:-32.75, Z:-0.64 [[ 9.78168837e-01 2.07805149e-01 1.65749292e-03 2.71357520e+02] [-2.07804883e-01 9.78170241e-01 -3.32928615e-04 -3.27492846e+01] [-1.69049453e-03 -1.87747267e-05 9.99998571e-01 -6.44949677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:-32.75, Z:-0.64 [[ 9.77800491e-01 2.09531506e-01 1.65750077e-03 2.71387034e+02] [-2.09531243e-01 9.77801896e-01 -3.32889566e-04 -3.27524490e+01] [-1.69045824e-03 -2.17986143e-05 9.99998571e-01 -6.44973702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.42, Y:-32.75, Z:-0.64 [[ 9.77716610e-01 2.09922567e-01 1.65750864e-03 2.71417680e+02] [-2.09922304e-01 9.77718014e-01 -3.32850337e-04 -3.27515466e+01] [-1.69044886e-03 -2.25147312e-05 9.99998571e-01 -6.43877925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:-32.75, Z:-0.64 [[ 9.77906257e-01 2.09037331e-01 1.65751655e-03 2.71446335e+02] [-2.09037067e-01 9.77907661e-01 -3.32810990e-04 -3.27525185e+01] [-1.69046805e-03 -2.10244479e-05 9.99998571e-01 -6.44300034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:-32.75, Z:-0.64 [[ 9.78779996e-01 2.04907228e-01 1.65752595e-03 2.71474572e+02] [-2.04906959e-01 9.78781399e-01 -3.32764123e-04 -3.27520935e+01] [-1.69054135e-03 -1.39357354e-05 9.99998571e-01 -6.43564300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:-32.76, Z:-0.64 [[ 9.79426184e-01 2.01795942e-01 1.65754468e-03 2.71503135e+02] [-2.01795668e-01 9.79427587e-01 -3.32670823e-04 -3.27566292e+01] [-1.69057661e-03 -8.65882143e-06 9.99998571e-01 -6.44110045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:-32.76, Z:-0.65 [[ 9.80076973e-01 1.98611125e-01 1.65755983e-03 2.71530658e+02] [-1.98610847e-01 9.80078375e-01 -3.32595343e-04 -3.27605107e+01] [-1.69059568e-03 -3.24032333e-06 9.99998571e-01 -6.46050778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:-32.76, Z:-0.65 [[ 9.81007553e-01 1.93962453e-01 1.65757868e-03 2.71559415e+02] [-1.93962168e-01 9.81008953e-01 -3.32501370e-04 -3.27614870e+01] [-1.69059230e-03 4.67880130e-06 9.99998571e-01 -6.48827466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:-32.77, Z:-0.65 [[ 9.81328195e-01 1.92333631e-01 1.65759421e-03 2.71587751e+02] [-1.92333344e-01 9.81329595e-01 -3.32423934e-04 -3.27656520e+01] [-1.69058255e-03 7.40634314e-06 9.99998571e-01 -6.48537732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:-32.77, Z:-0.64 [[ 9.81975799e-01 1.88999425e-01 1.65760974e-03 2.71615455e+02] [-1.88999133e-01 9.81977198e-01 -3.32346477e-04 -3.27703145e+01] [-1.69054826e-03 1.30693939e-05 9.99998571e-01 -6.43254259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.64, Y:-32.78, Z:-0.64 [[ 9.82326119e-01 1.87170107e-01 1.65762907e-03 2.71643548e+02] [-1.87169813e-01 9.82327517e-01 -3.32250020e-04 -3.27761305e+01] [-1.69052192e-03 1.61197496e-05 9.99998571e-01 -6.41692273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.67, Y:-32.79, Z:-0.64 [[ 9.83205501e-01 1.82494367e-01 1.65764449e-03 2.71671484e+02] [-1.82494067e-01 9.83206899e-01 -3.32173042e-04 -3.27852238e+01] [-1.69042721e-03 2.40840777e-05 9.99998571e-01 -6.41625647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.70, Y:-32.79, Z:-0.64 [[ 9.83706620e-01 1.79773576e-01 1.65765218e-03 2.71700396e+02] [-1.79773271e-01 9.83708016e-01 -3.32134667e-04 -3.27939018e+01] [-1.69035478e-03 2.87215148e-05 9.99998571e-01 -6.42663013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:-32.81, Z:-0.64 [[ 9.84271073e-01 1.76657032e-01 1.65765983e-03 2.71728651e+02] [-1.76656723e-01 9.84272468e-01 -3.32096506e-04 -3.28067611e+01] [-1.69025611e-03 3.40362315e-05 9.99998571e-01 -6.42909338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.76, Y:-32.82, Z:-0.64 [[ 9.84323018e-01 1.76367367e-01 1.65765983e-03 2.71758028e+02] [-1.76367058e-01 9.84324413e-01 -3.32096506e-04 -3.28155859e+01] [-1.69024602e-03 3.45336484e-05 9.99998571e-01 -6.42500926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.79, Y:-32.82, Z:-0.64 [[ 9.84158973e-01 1.77280478e-01 1.65765983e-03 2.71786293e+02] [-1.77280170e-01 9.84160369e-01 -3.32096506e-04 -3.28240227e+01] [-1.69027733e-03 3.29655408e-05 9.99998571e-01 -6.42697358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.82, Y:-32.83, Z:-0.64 [[ 9.83380652e-01 1.81548188e-01 1.65766369e-03 2.71816170e+02] [-1.81547886e-01 9.83382049e-01 -3.32077210e-04 -3.28346807e+01] [-1.69040474e-03 2.56129632e-05 9.99998571e-01 -6.43100954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:-32.84, Z:-0.64 [[ 9.82841032e-01 1.84447169e-01 1.65765571e-03 2.71845401e+02] [-1.84446872e-01 9.82842430e-01 -3.32117081e-04 -3.28422456e+01] [-1.69047242e-03 2.06688861e-05 9.99998571e-01 -6.44465061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.87, Y:-32.85, Z:-0.65 [[ 9.81674965e-01 1.90555807e-01 1.65765173e-03 2.71874946e+02] [-1.90555518e-01 9.81676364e-01 -3.32136930e-04 -3.28513782e+01] [-1.69056814e-03 1.01758248e-05 9.99998571e-01 -6.45149004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.90, Y:-32.86, Z:-0.65 [[ 9.81222562e-01 1.92871812e-01 1.65765173e-03 2.71904777e+02] [-1.92871526e-01 9.81223962e-01 -3.32136930e-04 -3.28591307e+01] [-1.69058745e-03 6.18643074e-06 9.99998571e-01 -6.46399869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.93, Y:-32.87, Z:-0.65 [[ 9.80909234e-01 1.94459063e-01 1.65764781e-03 2.71934562e+02] [-1.94458779e-01 9.80910634e-01 -3.32156467e-04 -3.28667226e+01] [-1.69059520e-03 3.47117525e-06 9.99998571e-01 -6.45797989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:-32.87, Z:-0.64 [[ 9.80913461e-01 1.94437737e-01 1.65764781e-03 2.71965563e+02] [-1.94437454e-01 9.80914862e-01 -3.32156467e-04 -3.28730044e+01] [-1.69059513e-03 3.50792997e-06 9.99998571e-01 -6.44318105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:-32.88, Z:-0.64 [[ 9.80745260e-01 1.95284377e-01 1.65763979e-03 2.71995428e+02] [-1.95284094e-01 9.80746661e-01 -3.32196483e-04 -3.28795171e+01] [-1.69059748e-03 2.08944043e-06 9.99998571e-01 -6.44346549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:-32.89, Z:-0.65 [[ 9.80061995e-01 1.98685022e-01 1.65763582e-03 2.72023624e+02] [-1.98684745e-01 9.80063397e-01 -3.32216313e-04 -3.28865817e+01] [-1.69059460e-03 -3.75436727e-06 9.99998571e-01 -6.49145653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:-32.89, Z:-0.65 [[ 9.79206685e-01 2.02858374e-01 1.65763971e-03 2.72051657e+02] [-2.02858102e-01 9.79208088e-01 -3.32196913e-04 -3.28903866e+01] [-1.69056313e-03 -1.09762073e-05 9.99998571e-01 -6.51993255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:-32.89, Z:-0.65 [[ 9.78757122e-01 2.05016457e-01 1.65765110e-03 2.72081367e+02] [-2.05016189e-01 9.78758526e-01 -3.32140035e-04 -3.28939569e+01] [-1.69053432e-03 -1.47608867e-05 9.99998571e-01 -6.50064030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:-32.90, Z:-0.65 [[ 9.78361731e-01 2.06895085e-01 1.65765874e-03 2.72111550e+02] [-2.06894819e-01 9.78363135e-01 -3.32101908e-04 -3.28980094e+01] [-1.69050246e-03 -1.80452087e-05 9.99998571e-01 -6.47370572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.14, Y:-32.90, Z:-0.64 [[ 9.77974210e-01 2.08719181e-01 1.65765874e-03 2.72140861e+02] [-2.08718917e-01 9.77975615e-01 -3.32101908e-04 -3.28998749e+01] [-1.69046587e-03 -2.11976369e-05 9.99998571e-01 -6.43379532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.17, Y:-32.90, Z:-0.64 [[ 9.77821326e-01 2.09434255e-01 1.65767066e-03 2.72170114e+02] [-2.09433993e-01 9.77822731e-01 -3.32042414e-04 -3.29038225e+01] [-1.69044911e-03 -2.24944312e-05 9.99998571e-01 -6.43489987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.20, Y:-32.91, Z:-0.65 [[ 9.77627282e-01 2.10338178e-01 1.65767849e-03 2.72198964e+02] [-2.10337917e-01 9.77628687e-01 -3.32003301e-04 -3.29057892e+01] [-1.69042702e-03 -2.40971564e-05 9.99998571e-01 -6.49989448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.23, Y:-32.91, Z:-0.65 [[ 9.77706838e-01 2.09968070e-01 1.65768707e-03 2.72228173e+02] [-2.09967809e-01 9.77708243e-01 -3.31960453e-04 -3.29103264e+01] [-1.69043541e-03 -2.35009177e-05 9.99998571e-01 -6.54071178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:-32.92, Z:-0.66 [[ 9.78007224e-01 2.08564431e-01 1.65769476e-03 2.72257285e+02] [-2.08564168e-01 9.78008629e-01 -3.31922089e-04 -3.29150663e+01] [-1.69046692e-03 -2.11135263e-05 9.99998571e-01 -6.56202825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.29, Y:-32.92, Z:-0.66 [[ 9.78828109e-01 2.04677272e-01 1.65770250e-03 2.72285644e+02] [-2.04677003e-01 9.78829512e-01 -3.31883415e-04 -3.29195662e+01] [-1.69053712e-03 -1.44367636e-05 9.99998571e-01 -6.57079796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.31, Y:-32.93, Z:-0.65 [[ 9.79574601e-01 2.01074249e-01 1.65771411e-03 2.72314524e+02] [-2.01073976e-01 9.79576003e-01 -3.31825405e-04 -3.29254052e+01] [-1.69057851e-03 -8.27542829e-06 9.99998571e-01 -6.54565278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.34, Y:-32.93, Z:-0.65 [[ 9.79631839e-01 2.00795197e-01 1.65772186e-03 2.72343324e+02] [-2.00794923e-01 9.79633242e-01 -3.31786674e-04 -3.29308810e+01] [-1.69058061e-03 -7.83334325e-06 9.99998571e-01 -6.52836156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.37, Y:-32.94, Z:-0.65 [[ 9.79451518e-01 2.01672944e-01 1.65772978e-03 2.72372116e+02] [-2.01672671e-01 9.79452921e-01 -3.31747119e-04 -3.29357277e+01] [-1.69057269e-03 -9.38857417e-06 9.99998571e-01 -6.52245964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:-32.94, Z:-0.65 [[ 9.78661916e-01 2.05470453e-01 1.65773768e-03 2.72400523e+02] [-2.05470186e-01 9.78663319e-01 -3.31707634e-04 -3.29363502e+01] [-1.69052318e-03 -1.59860397e-05 9.99998571e-01 -6.54049400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.43, Y:-32.94, Z:-0.65 [[ 9.78089337e-01 2.08179013e-01 1.65775724e-03 2.72429090e+02] [-2.08178750e-01 9.78090741e-01 -3.31609866e-04 -3.29397136e+01] [-1.69047122e-03 -2.07657557e-05 9.99998571e-01 -6.53594044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.46, Y:-32.94, Z:-0.65 [[ 9.77045288e-01 2.13025249e-01 1.65777260e-03 2.72458135e+02] [-2.13024993e-01 9.77046694e-01 -3.31533040e-04 -3.29426843e+01] [-1.69034615e-03 -2.92242026e-05 9.99998571e-01 -6.52267576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.49, Y:-32.95, Z:-0.65 [[ 9.76824241e-01 2.14036569e-01 1.65778816e-03 2.72486227e+02] [-2.14036315e-01 9.76825648e-01 -3.31455222e-04 -3.29464070e+01] [-1.69031353e-03 -3.10533734e-05 9.99998571e-01 -6.53387712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.51, Y:-32.95, Z:-0.66 [[ 9.76905893e-01 2.13663585e-01 1.65780877e-03 2.72514180e+02] [-2.13663330e-01 9.76907299e-01 -3.31352082e-04 -3.29493220e+01] [-1.69032337e-03 -3.05131416e-05 9.99998571e-01 -6.55298939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.54, Y:-32.95, Z:-0.65 [[ 9.77672574e-01 2.10127554e-01 1.65782793e-03 2.72543424e+02] [-2.10127294e-01 9.77673980e-01 -3.31256210e-04 -3.29516085e+01] [-1.69042129e-03 -2.44947859e-05 9.99998571e-01 -6.51053772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.57, Y:-32.96, Z:-0.65 [[ 9.78225763e-01 2.07537005e-01 1.65784332e-03 2.72571187e+02] [-2.07536742e-01 9.78227168e-01 -3.31179150e-04 -3.29563140e+01] [-1.69047931e-03 -2.00954253e-05 9.99998571e-01 -6.49134743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.905769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.60, Y:-32.96, Z:-0.65 [[ 9.79373330e-01 2.02052300e-01 1.65786393e-03 2.72599739e+02] [-2.02052029e-01 9.79374733e-01 -3.31075957e-04 -3.29619004e+01] [-1.69056470e-03 -1.07278089e-05 9.99998571e-01 -6.48027643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.63, Y:-32.97, Z:-0.65 [[ 9.79944611e-01 1.99263168e-01 1.65787901e-03 2.72627518e+02] [-1.99262893e-01 9.79946014e-01 -3.31000442e-04 -3.29678536e+01] [-1.69058812e-03 -5.99166764e-06 9.99998571e-01 -6.51126264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:-32.98, Z:-0.66 [[ 9.80784388e-01 1.95087766e-01 1.65789445e-03 2.72654257e+02] [-1.95087485e-01 9.80785789e-01 -3.30923104e-04 -3.29751132e+01] [-1.69059836e-03 1.12975627e-06 9.99998571e-01 -6.57018099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.68, Y:-32.98, Z:-0.66 [[ 9.80793245e-01 1.95043231e-01 1.65791363e-03 2.72683041e+02] [-1.95042951e-01 9.80794646e-01 -3.30826973e-04 -3.29807601e+01] [-1.69059837e-03 1.10849387e-06 9.99998571e-01 -6.57067679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.71, Y:-32.99, Z:-0.66 [[ 9.81060655e-01 1.93693684e-01 1.65792865e-03 2.72711133e+02] [-1.93693402e-01 9.81062055e-01 -3.30751692e-04 -3.29887022e+01] [-1.69059540e-03 3.35763210e-06 9.99998571e-01 -6.56240814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.74, Y:-33.00, Z:-0.65 [[ 9.81624161e-01 1.90817341e-01 1.65794420e-03 2.72738389e+02] [-1.90817055e-01 9.81625561e-01 -3.30673705e-04 -3.30007300e+01] [-1.69057868e-03 8.23326905e-06 9.99998571e-01 -6.54185555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08576923100003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.77, Y:-33.01, Z:-0.65 [[ 9.81844268e-01 1.89681535e-01 1.65795577e-03 2.72767297e+02] [-1.89681247e-01 9.81845668e-01 -3.30615686e-04 -3.30094681e+01] [-1.69056838e-03 1.01299978e-05 9.99998571e-01 -6.52946917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.79, Y:-33.02, Z:-0.66 [[ 9.81627810e-01 1.90798570e-01 1.65796344e-03 2.72794558e+02] [-1.90798283e-01 9.81629210e-01 -3.30577235e-04 -3.30203982e+01] [-1.69057900e-03 8.16722980e-06 9.99998571e-01 -6.55019195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.82, Y:-33.03, Z:-0.65 [[ 9.81290651e-01 1.92525089e-01 1.65797488e-03 2.72822849e+02] [-1.92524805e-01 9.81292051e-01 -3.30519829e-04 -3.30299939e+01] [-1.69059093e-03 5.13472723e-06 9.99998571e-01 -6.53887407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.85, Y:-33.04, Z:-0.65 [[ 9.80827225e-01 1.94872282e-01 1.65798249e-03 2.72850240e+02] [-1.94872002e-01 9.80828626e-01 -3.30481636e-04 -3.30401434e+01] [-1.69059840e-03 1.05101754e-06 9.99998571e-01 -6.51186038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.88, Y:-33.05, Z:-0.64 [[ 9.79846692e-01 1.99744116e-01 1.65799382e-03 2.72878141e+02] [-1.99743843e-01 9.79848094e-01 -3.30424796e-04 -3.30534683e+01] [-1.69058250e-03 -7.40841389e-06 9.99998571e-01 -6.42368554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23576923100006 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:272.91, Y:-33.06, Z:-0.64 [[ 9.79300700e-01 2.02404028e-01 1.65800128e-03 2.72906733e+02] [-2.02403759e-01 9.79302103e-01 -3.30387384e-04 -3.30611225e+01] [-1.69055587e-03 -1.20370933e-05 9.99998571e-01 -6.42201776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:272.93, Y:-33.07, Z:-0.65 [[ 9.78021741e-01 2.08496343e-01 1.65800869e-03 2.72934403e+02] [-2.08496083e-01 9.78023146e-01 -3.30350197e-04 -3.30686583e+01] [-1.69044768e-03 -2.25986416e-05 9.99998571e-01 -6.49964430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:272.96, Y:-33.08, Z:-0.65 [[ 9.77338956e-01 2.11673842e-01 1.65801635e-03 2.72963687e+02] [-2.11673586e-01 9.77340362e-01 -3.30311748e-04 -3.30751379e+01] [-1.69036465e-03 -2.81317266e-05 9.99998571e-01 -6.53949366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:272.99, Y:-33.08, Z:-0.66 [[ 9.76690625e-01 2.14645463e-01 1.65802367e-03 2.72992016e+02] [-2.14645212e-01 9.76692031e-01 -3.30274979e-04 -3.30806605e+01] [-1.69027053e-03 -3.33103656e-05 9.99998571e-01 -6.56585499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.02, Y:-33.08, Z:-0.65 [[ 9.75824272e-01 2.18550317e-01 1.65803822e-03 2.73020552e+02] [-2.18550071e-01 9.75825680e-01 -3.30201931e-04 -3.30836486e+01] [-1.69012201e-03 -4.01453125e-05 9.99998571e-01 -6.54794219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.05, Y:-33.09, Z:-0.65 [[ 9.75676204e-01 2.19210394e-01 1.65805266e-03 2.73050206e+02] [-2.19210149e-01 9.75677612e-01 -3.30129393e-04 -3.30885644e+01] [-1.69009265e-03 -4.13625783e-05 9.99998571e-01 -6.50949509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41576923100007 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:273.08, Y:-33.09, Z:-0.65 [[ 9.75476937e-01 2.20095427e-01 1.65806048e-03 2.73079027e+02] [-2.20095184e-01 9.75478345e-01 -3.30090129e-04 -3.30925860e+01] [-1.69005342e-03 -4.29358174e-05 9.99998571e-01 -6.47204321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.11, Y:-33.10, Z:-0.65 [[ 9.75547371e-01 2.19783026e-01 1.65807030e-03 2.73108048e+02] [-2.19782783e-01 9.75548779e-01 -3.30040799e-04 -3.30960698e+01] [-1.69006582e-03 -4.24448697e-05 9.99998571e-01 -6.46237624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4757692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.14, Y:-33.10, Z:-0.65 [[ 9.75979632e-01 2.17855477e-01 1.65808159e-03 2.73136262e+02] [-2.17855231e-01 9.75981039e-01 -3.29984071e-04 -3.30962803e+01] [-1.69014503e-03 -3.91640153e-05 9.99998571e-01 -6.46789097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.17, Y:-33.10, Z:-0.65 [[ 9.76464831e-01 2.15670313e-01 1.65810031e-03 2.73166015e+02] [-2.15670064e-01 9.76466238e-01 -3.29889961e-04 -3.31003791e+01] [-1.69022644e-03 -3.54766547e-05 9.99998571e-01 -6.47188853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5357692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.19, Y:-33.10, Z:-0.65 [[ 9.77112982e-01 2.12714529e-01 1.65810807e-03 2.73194396e+02] [-2.12714276e-01 9.77114388e-01 -3.29850930e-04 -3.31045404e+01] [-1.69032534e-03 -3.04016321e-05 9.99998571e-01 -6.50471428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.22, Y:-33.11, Z:-0.65 [[ 9.78322936e-01 2.07078449e-01 1.65811969e-03 2.73224184e+02] [-2.07078187e-01 9.78324341e-01 -3.29792541e-04 -3.31080338e+01] [-1.69047178e-03 -2.07168122e-05 9.99998571e-01 -6.50739321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.25, Y:-33.11, Z:-0.65 [[ 9.78780927e-01 2.04902776e-01 1.65812730e-03 2.73253662e+02] [-2.04902511e-01 9.78782331e-01 -3.29754277e-04 -3.31129666e+01] [-1.69051327e-03 -1.69972500e-05 9.99998571e-01 -6.50081085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.28, Y:-33.12, Z:-0.65 [[ 9.79638460e-01 2.00762893e-01 1.65813513e-03 2.73282247e+02] [-2.00762622e-01 9.79639863e-01 -3.29714880e-04 -3.31177608e+01] [-1.69056979e-03 -9.89018018e-06 9.99998571e-01 -6.49201405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.655769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.31, Y:-33.12, Z:-0.65 [[ 9.79923623e-01 1.99366353e-01 1.65814685e-03 2.73311526e+02] [-1.99366081e-01 9.79925026e-01 -3.29655961e-04 -3.31225349e+01] [-1.69058190e-03 -7.54057453e-06 9.99998571e-01 -6.48429669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.34, Y:-33.13, Z:-0.65 [[ 9.80040128e-01 1.98792854e-01 1.65815438e-03 2.73341220e+02] [-1.98792581e-01 9.80041530e-01 -3.29618077e-04 -3.31275032e+01] [-1.69058587e-03 -6.58984588e-06 9.99998571e-01 -6.48570306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.715769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.37, Y:-33.13, Z:-0.65 [[ 9.79948070e-01 1.99246158e-01 1.65816210e-03 2.73369650e+02] [-1.99245886e-01 9.79949472e-01 -3.29579243e-04 -3.31342446e+01] [-1.69058247e-03 -7.41143248e-06 9.99998571e-01 -6.48001352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:273.40, Y:-33.14, Z:-0.65 [[ 9.79300232e-01 2.02406291e-01 1.65816980e-03 2.73398496e+02] [-2.02406023e-01 9.79301635e-01 -3.29540478e-04 -3.31409451e+01] [-1.69054946e-03 -1.29044879e-05 9.99998571e-01 -6.48189079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.775769231 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:273.43, Y:-33.14, Z:-0.65 [[ 9.78817686e-01 2.04727106e-01 1.65817746e-03 2.73426767e+02] [-2.04726841e-01 9.78819091e-01 -3.29501930e-04 -3.31446818e+01] [-1.69051373e-03 -1.69511161e-05 9.99998571e-01 -6.48792592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.46, Y:-33.15, Z:-0.65 [[ 9.78334152e-01 2.07025453e-01 1.65819296e-03 2.73455560e+02] [-2.07025192e-01 9.78335557e-01 -3.29423910e-04 -3.31484152e+01] [-1.69046827e-03 -2.10010537e-05 9.99998571e-01 -6.48026970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:273.48, Y:-33.15, Z:-0.64 [[ 9.77561209e-01 2.10645042e-01 1.65820834e-03 2.73482323e+02] [-2.10644786e-01 9.77562615e-01 -3.29346473e-04 -3.31538817e+01] [-1.69037768e-03 -2.73366053e-05 9.99998571e-01 -6.43725129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:273.51, Y:-33.16, Z:-0.64 [[ 9.77435988e-01 2.11225331e-01 1.65822183e-03 2.73510547e+02] [-2.11225076e-01 9.77437394e-01 -3.29278522e-04 -3.31604854e+01] [-1.69035999e-03 -2.84093550e-05 9.99998571e-01 -6.44376323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.54, Y:-33.16, Z:-0.65 [[ 9.77402041e-01 2.11382356e-01 1.65823693e-03 2.73538917e+02] [-2.11382102e-01 9.77403447e-01 -3.29202481e-04 -3.31637165e+01] [-1.69035409e-03 -2.87584299e-05 9.99998571e-01 -6.50248261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:273.57, Y:-33.17, Z:-0.65 [[ 9.77363071e-01 2.11562469e-01 1.65825234e-03 2.73566778e+02] [-2.11562215e-01 9.77364477e-01 -3.29124834e-04 -3.31676021e+01] [-1.69034739e-03 -2.91490793e-05 9.99998571e-01 -6.52930951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.60, Y:-33.17, Z:-0.65 [[ 9.77459024e-01 2.11118705e-01 1.65827159e-03 2.73595384e+02] [-2.11118450e-01 9.77460430e-01 -3.29027796e-04 -3.31726080e+01] [-1.69035879e-03 -2.84805413e-05 9.99998571e-01 -6.51473726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:273.62, Y:-33.18, Z:-0.65 [[ 9.77729102e-01 2.09864369e-01 1.65828681e-03 2.73622575e+02] [-2.09864113e-01 9.77730508e-01 -3.28951081e-04 -3.31790580e+01] [-1.69039272e-03 -2.63898453e-05 9.99998571e-01 -6.48204335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.65, Y:-33.18, Z:-0.65 [[ 9.77872918e-01 2.09193228e-01 1.65830576e-03 2.73651042e+02] [-2.09192971e-01 9.77874324e-01 -3.28855519e-04 -3.31843424e+01] [-1.69040897e-03 -2.53270022e-05 9.99998571e-01 -6.45923950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.68, Y:-33.19, Z:-0.64 [[ 9.77874624e-01 2.09185251e-01 1.65832092e-03 2.73678350e+02] [-2.09184994e-01 9.77876030e-01 -3.28779047e-04 -3.31889853e+01] [-1.69040801e-03 -2.53911652e-05 9.99998571e-01 -6.44681409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.71, Y:-33.20, Z:-0.64 [[ 9.77836760e-01 2.09362174e-01 1.65833979e-03 2.73706726e+02] [-2.09361918e-01 9.77838166e-01 -3.28683851e-04 -3.31954361e+01] [-1.69040191e-03 -2.57940470e-05 9.99998571e-01 -6.43011565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.74, Y:-33.20, Z:-0.64 [[ 9.78206146e-01 2.07629443e-01 1.65835454e-03 2.73735735e+02] [-2.07629184e-01 9.78207552e-01 -3.28609415e-04 -3.32020002e+01] [-1.69044392e-03 -2.28750504e-05 9.99998571e-01 -6.40552042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.76, Y:-33.21, Z:-0.64 [[ 9.78439174e-01 2.06528529e-01 1.65836233e-03 2.73763950e+02] [-2.06528268e-01 9.78440579e-01 -3.28570095e-04 -3.32067777e+01] [-1.69046810e-03 -2.10128480e-05 9.99998571e-01 -6.42008609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.79, Y:-33.21, Z:-0.64 [[ 9.78619330e-01 2.05673181e-01 1.65837395e-03 2.73792209e+02] [-2.05672920e-01 9.78620735e-01 -3.28511467e-04 -3.32120315e+01] [-1.69048513e-03 -1.95949400e-05 9.99998571e-01 -6.44799610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:273.82, Y:-33.22, Z:-0.65 [[ 9.79312565e-01 2.02346609e-01 1.65838914e-03 2.73821124e+02] [-2.02346343e-01 9.79313969e-01 -3.28434721e-04 -3.32203746e+01] [-1.69054131e-03 -1.39287295e-05 9.99998571e-01 -6.46147548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2257692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.85, Y:-33.23, Z:-0.64 [[ 9.79815617e-01 1.99896491e-01 1.65839687e-03 2.73848484e+02] [-1.99896222e-01 9.79817020e-01 -3.28395718e-04 -3.32276652e+01] [-1.69057063e-03 -9.74001502e-06 9.99998571e-01 -6.44450239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.88, Y:-33.23, Z:-0.64 [[ 9.80625899e-01 1.95882861e-01 1.65840841e-03 2.73877387e+02] [-1.95882586e-01 9.80627302e-01 -3.28337423e-04 -3.32330685e+01] [-1.69059624e-03 -2.87714697e-06 9.99998571e-01 -6.41456655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.91, Y:-33.24, Z:-0.64 [[ 9.80967856e-01 1.94163113e-01 1.65841585e-03 2.73905421e+02] [-1.94162836e-01 9.80969258e-01 -3.28299840e-04 -3.32376762e+01] [-1.69059868e-03 4.88663531e-08 9.99998571e-01 -6.42919340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.94, Y:-33.24, Z:-0.64 [[ 9.81272913e-01 1.92615474e-01 1.65842690e-03 2.73935166e+02] [-1.92615194e-01 9.81274314e-01 -3.28243995e-04 -3.32440202e+01] [-1.69059659e-03 2.65872060e-06 9.99998571e-01 -6.43862737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3457692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:273.96, Y:-33.25, Z:-0.65 [[ 9.81948433e-01 1.89141545e-01 1.65842690e-03 2.73964186e+02] [-1.89141261e-01 9.81949834e-01 -3.28243995e-04 -3.32548553e+01] [-1.69057660e-03 8.64172092e-06 9.99998571e-01 -6.48245332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:273.99, Y:-33.26, Z:-0.65 [[ 9.82297308e-01 1.87321243e-01 1.65840657e-03 2.73994632e+02] [-1.87320956e-01 9.82298708e-01 -3.28346714e-04 -3.32641407e+01] [-1.69055694e-03 1.18797897e-05 9.99998571e-01 -6.49066458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.405769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:274.02, Y:-33.27, Z:-0.65 [[ 9.82478714e-01 1.86367450e-01 1.65839881e-03 2.74023693e+02] [-1.86367161e-01 9.82480113e-01 -3.28385870e-04 -3.32723527e+01] [-1.69054429e-03 1.35610481e-05 9.99998571e-01 -6.49362974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:274.05, Y:-33.28, Z:-0.65 [[ 9.82080313e-01 1.88455587e-01 1.65839495e-03 2.74052142e+02] [-1.88455302e-01 9.82081713e-01 -3.28405381e-04 -3.32823811e+01] [-1.69056918e-03 9.98713941e-06 9.99998571e-01 -6.47686632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.465769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.08, Y:-33.29, Z:-0.65 [[ 9.81385174e-01 1.92042679e-01 1.65837744e-03 2.74080153e+02] [-1.92042398e-01 9.81386575e-01 -3.28493754e-04 -3.32919203e+01] [-1.69059418e-03 3.90011906e-06 9.99998571e-01 -6.46873213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:274.11, Y:-33.30, Z:-0.64 [[ 9.81049034e-01 1.93752530e-01 1.65838125e-03 2.74110765e+02] [-1.93752251e-01 9.81050436e-01 -3.28474546e-04 -3.32984943e+01] [-1.69059842e-03 9.34536595e-07 9.99998571e-01 -6.44940508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.525769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:274.14, Y:-33.30, Z:-0.64 [[ 9.80679939e-01 1.95612134e-01 1.65837351e-03 2.74140272e+02] [-1.95611858e-01 9.80681341e-01 -3.28513607e-04 -3.33046033e+01] [-1.69059721e-03 -2.23081975e-06 9.99998571e-01 -6.44040294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.17, Y:-33.31, Z:-0.64 [[ 9.80036024e-01 1.98813081e-01 1.65835592e-03 2.74171283e+02] [-1.98812809e-01 9.80037427e-01 -3.28602369e-04 -3.33114390e+01] [-1.69058132e-03 -7.66024067e-06 9.99998571e-01 -6.40701478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:274.20, Y:-33.32, Z:-0.64 [[ 9.79757837e-01 2.00179495e-01 1.65834821e-03 2.74200759e+02] [-2.00179226e-01 9.79759241e-01 -3.28641268e-04 -3.33174007e+01] [-1.69056923e-03 -9.97800356e-06 9.99998571e-01 -6.40152904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.23, Y:-33.32, Z:-0.64 [[ 9.79751027e-01 2.00212824e-01 1.65833038e-03 2.74230793e+02] [-2.00212554e-01 9.79752430e-01 -3.28731231e-04 -3.33217493e+01] [-1.69056943e-03 -9.94379996e-06 9.99998571e-01 -6.41618631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.26, Y:-33.33, Z:-0.64 [[ 9.80012290e-01 1.98930039e-01 1.65833038e-03 2.74261609e+02] [-1.98929768e-01 9.80013694e-01 -3.28731231e-04 -3.33273079e+01] [-1.69058100e-03 -7.73063064e-06 9.99998571e-01 -6.42958142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.29, Y:-33.33, Z:-0.65 [[ 9.80436076e-01 1.96830768e-01 1.65832275e-03 2.74291635e+02] [-1.96830493e-01 9.80437478e-01 -3.28769702e-04 -3.33331638e+01] [-1.69059377e-03 -4.07080858e-06 9.99998571e-01 -6.45822489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:274.32, Y:-33.34, Z:-0.65 [[ 9.81306059e-01 1.92446532e-01 1.65831897e-03 2.74322552e+02] [-1.92446251e-01 9.81307461e-01 -3.28788783e-04 -3.33402350e+01] [-1.69059504e-03 3.50515713e-06 9.99998571e-01 -6.47921755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.35, Y:-33.35, Z:-0.64 [[ 9.81770247e-01 1.90064282e-01 1.65831141e-03 2.74352544e+02] [-1.90063998e-01 9.81771648e-01 -3.28826885e-04 -3.33454215e+01] [-1.69058138e-03 7.64715574e-06 9.99998571e-01 -6.44444849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:274.38, Y:-33.35, Z:-0.64 [[ 9.81659793e-01 1.90633943e-01 1.65830387e-03 2.74383315e+02] [-1.90633659e-01 9.81661194e-01 -3.28864918e-04 -3.33512325e+01] [-1.69058537e-03 6.70493265e-06 9.99998571e-01 -6.41100492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:274.41, Y:-33.36, Z:-0.64 [[ 9.81395293e-01 1.91990960e-01 1.65829609e-03 2.74413268e+02] [-1.91990679e-01 9.81396694e-01 -3.28904145e-04 -3.33569294e+01] [-1.69059292e-03 4.40758828e-06 9.99998571e-01 -6.38779296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.44, Y:-33.36, Z:-0.64 [[ 9.80645496e-01 1.95784734e-01 1.65829223e-03 2.74443362e+02] [-1.95784457e-01 9.80646898e-01 -3.28923627e-04 -3.33604456e+01] [-1.69059735e-03 -2.11037068e-06 9.99998571e-01 -6.37821635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:274.47, Y:-33.36, Z:-0.64 [[ 9.80169848e-01 1.98152261e-01 1.65829223e-03 2.74472881e+02] [-1.98151988e-01 9.80171251e-01 -3.28923627e-04 -3.33631099e+01] [-1.69058733e-03 -6.19287973e-06 9.99998571e-01 -6.39544180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:274.50, Y:-33.36, Z:-0.64 [[ 9.79233557e-01 2.02728613e-01 1.65829615e-03 2.74501849e+02] [-2.02728347e-01 9.79234961e-01 -3.28903854e-04 -3.33635359e+01] [-1.69053979e-03 -1.41099469e-05 9.99998571e-01 -6.42292886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:274.53, Y:-33.37, Z:-0.64 [[ 9.79238134e-01 2.02706505e-01 1.65831106e-03 2.74531449e+02] [-2.02706238e-01 9.79239538e-01 -3.28828641e-04 -3.33693581e+01] [-1.69053946e-03 -1.41484529e-05 9.99998571e-01 -6.42343878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:274.56, Y:-33.37, Z:-0.64 [[ 9.79024967e-01 2.03733563e-01 1.65831849e-03 2.74561596e+02] [-2.03733298e-01 9.79026371e-01 -3.28791200e-04 -3.33747027e+01] [-1.69052333e-03 -1.59599011e-05 9.99998571e-01 -6.42560544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:274.59, Y:-33.38, Z:-0.64 [[ 9.79232605e-01 2.02733213e-01 1.65831849e-03 2.74590474e+02] [-2.02732947e-01 9.79234009e-01 -3.28791200e-04 -3.33802041e+01] [-1.69053876e-03 -1.42327304e-05 9.99998571e-01 -6.43383695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.62, Y:-33.39, Z:-0.64 [[ 9.80454368e-01 1.96739632e-01 1.65831410e-03 2.74621178e+02] [-1.96739357e-01 9.80455770e-01 -3.28813312e-04 -3.33861342e+01] [-1.69059424e-03 -3.86920293e-06 9.99998571e-01 -6.41728806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.65, Y:-33.39, Z:-0.64 [[ 9.81104862e-01 1.93469633e-01 1.65830627e-03 2.74652078e+02] [-1.93469354e-01 9.81106264e-01 -3.28852822e-04 -3.33929471e+01] [-1.69059770e-03 1.80766071e-06 9.99998571e-01 -6.41539530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:274.68, Y:-33.40, Z:-0.64 [[ 9.82180791e-01 1.87931221e-01 1.65829841e-03 2.74681423e+02] [-1.87930933e-01 9.82182191e-01 -3.28892418e-04 -3.34009972e+01] [-1.69056032e-03 1.13862472e-05 9.99998571e-01 -6.44458213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:274.71, Y:-33.41, Z:-0.65 [[ 9.82481803e-01 1.86351166e-01 1.65829058e-03 2.74711260e+02] [-1.86350876e-01 9.82483202e-01 -3.28931906e-04 -3.34078764e+01] [-1.69053948e-03 1.41457098e-05 9.99998571e-01 -6.46073700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:274.74, Y:-33.41, Z:-0.65 [[ 9.82535350e-01 1.86068633e-01 1.65829058e-03 2.74739837e+02] [-1.86068342e-01 9.82536749e-01 -3.28931906e-04 -3.34139837e+01] [-1.69053535e-03 1.46318457e-05 9.99998571e-01 -6.48663575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.155769231 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.77, Y:-33.42, Z:-0.65 [[ 9.82235937e-01 1.87642785e-01 1.65829797e-03 2.74769264e+02] [-1.87642498e-01 9.82237336e-01 -3.28894646e-04 -3.34227267e+01] [-1.69055689e-03 1.18849678e-05 9.99998571e-01 -6.51304570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:274.80, Y:-33.43, Z:-0.65 [[ 9.82059294e-01 1.88565088e-01 1.65829797e-03 2.74799904e+02] [-1.88564801e-01 9.82060694e-01 -3.28894646e-04 -3.34312693e+01] [-1.69056730e-03 1.02974171e-05 9.99998571e-01 -6.51417700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.215769231 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:274.83, Y:-33.44, Z:-0.65 [[ 9.81806769e-01 1.89875536e-01 1.65829024e-03 2.74828768e+02] [-1.89875252e-01 9.81808169e-01 -3.28933635e-04 -3.34426203e+01] [-1.69057935e-03 8.08099319e-06 9.99998571e-01 -6.47286940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:274.86, Y:-33.45, Z:-0.64 [[ 9.81744059e-01 1.90199507e-01 1.65828639e-03 2.74859124e+02] [-1.90199223e-01 9.81745460e-01 -3.28953052e-04 -3.34503244e+01] [-1.69058184e-03 7.54292326e-06 9.99998571e-01 -6.44995731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.275769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:274.89, Y:-33.46, Z:-0.64 [[ 9.81637324e-01 1.90749611e-01 1.65827876e-03 2.74888142e+02] [-1.90749327e-01 9.81638725e-01 -3.28991512e-04 -3.34573850e+01] [-1.69058565e-03 6.63479079e-06 9.99998571e-01 -6.43661156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:274.92, Y:-33.47, Z:-0.64 [[ 9.81295464e-01 1.92500551e-01 1.65827876e-03 2.74918224e+02] [-1.92500270e-01 9.81296865e-01 -3.28991512e-04 -3.34658866e+01] [-1.69059479e-03 3.61877002e-06 9.99998571e-01 -6.42025434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:274.95, Y:-33.47, Z:-0.64 [[ 9.81090813e-01 1.93540868e-01 1.65827133e-03 2.74948851e+02] [-1.93540588e-01 9.81092214e-01 -3.29028923e-04 -3.34729052e+01] [-1.69059764e-03 1.86444456e-06 9.99998571e-01 -6.43868983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:274.98, Y:-33.48, Z:-0.65 [[ 9.80590887e-01 1.96058057e-01 1.65826369e-03 2.74978439e+02] [-1.96057781e-01 9.80592289e-01 -3.29067419e-04 -3.34790329e+01] [-1.69059691e-03 -2.43498787e-06 9.99998571e-01 -6.50327840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39576923100003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:275.01, Y:-33.48, Z:-0.65 [[ 9.80276035e-01 1.97626277e-01 1.65825988e-03 2.75010388e+02] [-1.97626003e-01 9.80277438e-01 -3.29086635e-04 -3.34848454e+01] [-1.69059091e-03 -5.11952949e-06 9.99998571e-01 -6.49339146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.04, Y:-33.49, Z:-0.65 [[ 9.80023822e-01 1.98873223e-01 1.65820525e-03 2.75040171e+02] [-1.98872950e-01 9.80025225e-01 -3.29361679e-04 -3.34899986e+01] [-1.69058419e-03 -6.98987867e-06 9.99998571e-01 -6.48277977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:275.07, Y:-33.50, Z:-0.64 [[ 9.79926506e-01 1.99352185e-01 1.65820136e-03 2.75072216e+02] [-1.99351913e-01 9.79927909e-01 -3.29381265e-04 -3.34954866e+01] [-1.69058066e-03 -7.79618154e-06 9.99998571e-01 -6.42150499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.10, Y:-33.50, Z:-0.64 [[ 9.79950009e-01 1.99236619e-01 1.65814552e-03 2.75103122e+02] [-1.99236346e-01 9.79951412e-01 -3.29662146e-04 -3.35026183e+01] [-1.69058281e-03 -7.31043086e-06 9.99998571e-01 -6.41377235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:275.13, Y:-33.51, Z:-0.64 [[ 9.80130967e-01 1.98344495e-01 1.65810571e-03 2.75133338e+02] [-1.98344221e-01 9.80132369e-01 -3.29862230e-04 -3.35099090e+01] [-1.69058944e-03 -5.56749904e-06 9.99998571e-01 -6.40680781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.16, Y:-33.52, Z:-0.64 [[ 9.80768056e-01 1.95169851e-01 1.65807478e-03 2.75163645e+02] [-1.95169572e-01 9.80769458e-01 -3.30017609e-04 -3.35185455e+01] [-1.69059859e-03 6.49836877e-08 9.99998571e-01 -6.40578950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:275.19, Y:-33.53, Z:-0.64 [[ 9.81006383e-01 1.93968368e-01 1.65802499e-03 2.75194691e+02] [-1.93968087e-01 9.81007784e-01 -3.30267599e-04 -3.35251788e+01] [-1.69059689e-03 2.39068705e-06 9.99998571e-01 -6.40368063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:275.23, Y:-33.53, Z:-0.64 [[ 9.81146558e-01 1.93258075e-01 1.65797171e-03 2.75225448e+02] [-1.93257792e-01 9.81147959e-01 -3.30534823e-04 -3.35316806e+01] [-1.69059409e-03 3.88715128e-06 9.99998571e-01 -6.40720374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.26, Y:-33.54, Z:-0.64 [[ 9.80991838e-01 1.94041918e-01 1.65792228e-03 2.75257248e+02] [-1.94041636e-01 9.80993239e-01 -3.30782602e-04 -3.35385980e+01] [-1.69059624e-03 2.78908091e-06 9.99998571e-01 -6.41494982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.29, Y:-33.55, Z:-0.64 [[ 9.80737543e-01 1.95323126e-01 1.65785928e-03 2.75288129e+02] [-1.95322846e-01 9.80738944e-01 -3.31098055e-04 -3.35450322e+01] [-1.69059826e-03 9.02500597e-07 9.99998571e-01 -6.43581030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69576923100004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:275.32, Y:-33.55, Z:-0.64 [[ 9.80460306e-01 1.96710043e-01 1.65780052e-03 2.75319999e+02] [-1.96709764e-01 9.80461707e-01 -3.31391993e-04 -3.35516897e+01] [-1.69059806e-03 -1.18885332e-06 9.99998571e-01 -6.44737847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7257692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:275.35, Y:-33.56, Z:-0.64 [[ 9.80007527e-01 1.98953511e-01 1.65774585e-03 2.75351458e+02] [-1.98953235e-01 9.80008929e-01 -3.31665270e-04 -3.35586187e+01] [-1.69059170e-03 -4.77943792e-06 9.99998571e-01 -6.42929173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.38, Y:-33.57, Z:-0.64 [[ 9.79805214e-01 1.99947479e-01 1.65769113e-03 2.75381716e+02] [-1.99947204e-01 9.79806616e-01 -3.31938497e-04 -3.35650074e+01] [-1.69058701e-03 -6.21563735e-06 9.99998571e-01 -6.41797301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:275.41, Y:-33.57, Z:-0.64 [[ 9.79653740e-01 2.00688321e-01 1.65764061e-03 2.75412083e+02] [-2.00688046e-01 9.79655142e-01 -3.32190628e-04 -3.35721799e+01] [-1.69058292e-03 -7.23686385e-06 9.99998571e-01 -6.42272066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:275.44, Y:-33.58, Z:-0.64 [[ 9.79561366e-01 2.01138715e-01 1.65763293e-03 2.75444655e+02] [-2.01138441e-01 9.79562768e-01 -3.32228950e-04 -3.35794726e+01] [-1.69057960e-03 -7.97505777e-06 9.99998571e-01 -6.44982506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.48, Y:-33.59, Z:-0.65 [[ 9.79205465e-01 2.02864264e-01 1.65756836e-03 2.75476246e+02] [-2.02863992e-01 9.79206868e-01 -3.32550780e-04 -3.35855329e+01] [-1.69056499e-03 -1.06253927e-05 9.99998571e-01 -6.49972492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:275.51, Y:-33.59, Z:-0.65 [[ 9.78866308e-01 2.04494508e-01 1.65751173e-03 2.75507177e+02] [-2.04494237e-01 9.78867711e-01 -3.32832815e-04 -3.35915525e+01] [-1.69054719e-03 -1.31527681e-05 9.99998571e-01 -6.50247051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:-33.60, Z:-0.65 [[ 9.78454640e-01 2.06455251e-01 1.65745113e-03 2.75537590e+02] [-2.06454983e-01 9.78456043e-01 -3.33134315e-04 -3.35983014e+01] [-1.69052040e-03 -1.62322285e-05 9.99998571e-01 -6.49584797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.57, Y:-33.61, Z:-0.65 [[ 9.77777100e-01 2.09640636e-01 1.65739972e-03 2.75567697e+02] [-2.09640372e-01 9.77778504e-01 -3.33389871e-04 -3.36068854e+01] [-1.69046188e-03 -2.14769123e-05 9.99998571e-01 -6.45556740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:-33.61, Z:-0.64 [[ 9.77551377e-01 2.10690670e-01 1.65739204e-03 2.75597256e+02] [-2.10690407e-01 9.77552782e-01 -3.33428030e-04 -3.36138808e+01] [-1.69043838e-03 -2.32535753e-05 9.99998571e-01 -6.44384205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.63, Y:-33.62, Z:-0.64 [[ 9.77349413e-01 2.11625562e-01 1.65738824e-03 2.75627450e+02] [-2.11625301e-01 9.77350818e-01 -3.33446951e-04 -3.36208950e+01] [-1.69041565e-03 -2.48511034e-05 9.99998571e-01 -6.39723254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.025769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.66, Y:-33.63, Z:-0.64 [[ 9.77287252e-01 2.11912437e-01 1.65738045e-03 2.75658269e+02] [-2.11912176e-01 9.77288657e-01 -3.33485664e-04 -3.36273703e+01] [-1.69040887e-03 -2.53078096e-05 9.99998571e-01 -6.37408487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:275.69, Y:-33.63, Z:-0.64 [[ 9.77200110e-01 2.12313916e-01 1.65733026e-03 2.75688892e+02] [-2.12313655e-01 9.77201515e-01 -3.33734920e-04 -3.36337894e+01] [-1.69040220e-03 -2.57480433e-05 9.99998571e-01 -6.35955840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.72, Y:-33.64, Z:-0.64 [[ 9.77148414e-01 2.12551710e-01 1.65732257e-03 2.75719893e+02] [-2.12551449e-01 9.77149820e-01 -3.33773100e-04 -3.36412624e+01] [-1.69039649e-03 -2.61204579e-05 9.99998571e-01 -6.39886255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.75, Y:-33.65, Z:-0.64 [[ 9.77125333e-01 2.12657794e-01 1.65726789e-03 2.75750423e+02] [-2.12657533e-01 9.77126738e-01 -3.34044346e-04 -3.36486650e+01] [-1.69039790e-03 -2.60273092e-05 9.99998571e-01 -6.42757570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:275.78, Y:-33.66, Z:-0.65 [[ 9.77093874e-01 2.12802293e-01 1.65721745e-03 2.75782719e+02] [-2.12802032e-01 9.77095279e-01 -3.34294401e-04 -3.36574280e+01] [-1.69039796e-03 -2.60222293e-05 9.99998571e-01 -6.45030228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.81, Y:-33.66, Z:-0.65 [[ 9.76995585e-01 2.13253090e-01 1.65715407e-03 2.75814388e+02] [-2.13252829e-01 9.76996990e-01 -3.34608294e-04 -3.36643856e+01] [-1.69039079e-03 -2.64819680e-05 9.99998571e-01 -6.45078891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.85, Y:-33.67, Z:-0.64 [[ 9.76922452e-01 2.13587868e-01 1.65709481e-03 2.75845956e+02] [-2.13587607e-01 9.76923857e-01 -3.34901531e-04 -3.36714300e+01] [-1.69038635e-03 -2.67620893e-05 9.99998571e-01 -6.44810659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:275.88, Y:-33.68, Z:-0.64 [[ 9.76816956e-01 2.14069822e-01 1.65704087e-03 2.75877947e+02] [-2.14069562e-01 9.76818361e-01 -3.35168214e-04 -3.36787650e+01] [-1.69037734e-03 -2.73240170e-05 9.99998571e-01 -6.42276601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:275.91, Y:-33.69, Z:-0.64 [[ 9.76585774e-01 2.15122014e-01 1.65697620e-03 2.75909289e+02] [-2.15121755e-01 9.76587179e-01 -3.35487615e-04 -3.36860093e+01] [-1.69035248e-03 -2.88191948e-05 9.99998571e-01 -6.40913598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29576923100007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:275.94, Y:-33.69, Z:-0.64 [[ 9.76129209e-01 2.17184304e-01 1.65691578e-03 2.75940481e+02] [-2.17184047e-01 9.76130615e-01 -3.35785752e-04 -3.36936243e+01] [-1.69029361e-03 -3.20853938e-05 9.99998571e-01 -6.39319422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:275.97, Y:-33.70, Z:-0.64 [[ 9.75821028e-01 2.18564809e-01 1.65686192e-03 2.75972358e+02] [-2.18564554e-01 9.75822434e-01 -3.36051279e-04 -3.37007372e+01] [-1.69025202e-03 -3.42053823e-05 9.99998571e-01 -6.39683932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:276.00, Y:-33.71, Z:-0.64 [[ 9.75385082e-01 2.20502147e-01 1.65680767e-03 2.76002413e+02] [-2.20501894e-01 9.75386488e-01 -3.36318551e-04 -3.37073870e+01] [-1.69018678e-03 -3.72891310e-05 9.99998571e-01 -6.40670445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:276.03, Y:-33.71, Z:-0.64 [[ 9.74377189e-01 2.24914091e-01 1.65675766e-03 2.76034389e+02] [-2.24913843e-01 9.74378597e-01 -3.36564709e-04 -3.37124838e+01] [-1.69000735e-03 -4.46867582e-05 9.99998571e-01 -6.44248957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.07, Y:-33.72, Z:-0.65 [[ 9.73806173e-01 2.27373684e-01 1.65670174e-03 2.76066103e+02] [-2.27373439e-01 9.73807581e-01 -3.36839752e-04 -3.37175156e+01] [-1.68989721e-03 -4.86733432e-05 9.99998571e-01 -6.46207646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.10, Y:-33.72, Z:-0.65 [[ 9.73262128e-01 2.29691283e-01 1.65664548e-03 2.76096876e+02] [-2.29691042e-01 9.73263537e-01 -3.37116247e-04 -3.37225516e+01] [-1.68978530e-03 -5.24141496e-05 9.99998571e-01 -6.47804333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.13, Y:-33.73, Z:-0.65 [[ 9.72457394e-01 2.33074821e-01 1.65659358e-03 2.76126667e+02] [-2.33074584e-01 9.72458803e-01 -3.37371058e-04 -3.37286113e+01] [-1.68960171e-03 -5.80308806e-05 9.99998571e-01 -6.45039877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.16, Y:-33.73, Z:-0.64 [[ 9.72266816e-01 2.33868538e-01 1.65658966e-03 2.76157539e+02] [-2.33868303e-01 9.72268226e-01 -3.37390318e-04 -3.37343742e+01] [-1.68955447e-03 -5.93904020e-05 9.99998571e-01 -6.42443481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.19, Y:-33.74, Z:-0.64 [[ 9.72222353e-01 2.34053311e-01 1.65658173e-03 2.76188413e+02] [-2.34053075e-01 9.72223762e-01 -3.37429258e-04 -3.37359865e+01] [-1.68954456e-03 -5.96717804e-05 9.99998571e-01 -6.43465328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:276.22, Y:-33.74, Z:-0.64 [[ 9.72336872e-01 2.33577102e-01 1.65656347e-03 2.76218415e+02] [-2.33576865e-01 9.72338282e-01 -3.37518891e-04 -3.37407456e+01] [-1.68957676e-03 -5.87528389e-05 9.99998571e-01 -6.43621724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5957692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:276.25, Y:-33.75, Z:-0.64 [[ 9.72522437e-01 2.32803276e-01 1.65656347e-03 2.76247796e+02] [-2.32803038e-01 9.72523846e-01 -3.37518891e-04 -3.37464158e+01] [-1.68962298e-03 -5.74083137e-05 9.99998571e-01 -6.43986621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:276.28, Y:-33.75, Z:-0.64 [[ 9.72717070e-01 2.31988702e-01 1.65656732e-03 2.76276376e+02] [-2.31988463e-01 9.72718479e-01 -3.37499972e-04 -3.37517853e+01] [-1.68966982e-03 -5.60125230e-05 9.99998571e-01 -6.44205295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.655769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:276.31, Y:-33.75, Z:-0.65 [[ 9.73217027e-01 2.29882306e-01 1.65657885e-03 2.76305824e+02] [-2.29882064e-01 9.73218435e-01 -3.37443360e-04 -3.37548638e+01] [-1.68978534e-03 -5.24121425e-05 9.99998571e-01 -6.46708684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:276.34, Y:-33.76, Z:-0.65 [[ 9.73506048e-01 2.28655263e-01 1.65658654e-03 2.76335123e+02] [-2.28655020e-01 9.73507457e-01 -3.37405622e-04 -3.37587252e+01] [-1.68984892e-03 -5.03204134e-05 9.99998571e-01 -6.48344453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.715769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:276.36, Y:-33.76, Z:-0.65 [[ 9.73974831e-01 2.26650135e-01 1.65659425e-03 2.76363310e+02] [-2.26649889e-01 9.73976239e-01 -3.37367763e-04 -3.37625585e+01] [-1.68994788e-03 -4.68791921e-05 9.99998571e-01 -6.50733240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:276.39, Y:-33.77, Z:-0.65 [[ 9.74275056e-01 2.25356099e-01 1.65660576e-03 2.76392313e+02] [-2.25355851e-01 9.74276463e-01 -3.37311248e-04 -3.37676058e+01] [-1.69000714e-03 -4.46918656e-05 9.99998571e-01 -6.52062617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.775769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.42, Y:-33.77, Z:-0.65 [[ 9.74678123e-01 2.23606379e-01 1.65661335e-03 2.76421686e+02] [-2.23606128e-01 9.74679530e-01 -3.37273940e-04 -3.37728108e+01] [-1.69008373e-03 -4.16953671e-05 9.99998571e-01 -6.52163852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.45, Y:-33.78, Z:-0.65 [[ 9.74683176e-01 2.23584352e-01 1.65662100e-03 2.76451256e+02] [-2.23584102e-01 9.74684583e-01 -3.37236375e-04 -3.37787840e+01] [-1.69008372e-03 -4.16954970e-05 9.99998571e-01 -6.52214847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.48, Y:-33.78, Z:-0.65 [[ 9.75781002e-01 2.18743437e-01 1.65662862e-03 2.76479423e+02] [-2.18743180e-01 9.75782408e-01 -3.37198938e-04 -3.37841390e+01] [-1.69026912e-03 -3.33438940e-05 9.99998571e-01 -6.52300808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.51, Y:-33.79, Z:-0.65 [[ 9.76430423e-01 2.15826050e-01 1.65663620e-03 2.76508505e+02] [-2.15825788e-01 9.76431828e-01 -3.37161693e-04 -3.37901696e+01] [-1.69036059e-03 -2.83298788e-05 9.99998571e-01 -6.52423003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.54, Y:-33.80, Z:-0.65 [[ 9.77044654e-01 2.13028169e-01 1.65664367e-03 2.76536867e+02] [-2.13027903e-01 9.77046058e-01 -3.37124965e-04 -3.37955153e+01] [-1.69043428e-03 -2.35251835e-05 9.99998571e-01 -6.52680501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.57, Y:-33.80, Z:-0.65 [[ 9.77868128e-01 2.09215629e-01 1.65665483e-03 2.76566186e+02] [-2.09215358e-01 9.77869531e-01 -3.37070119e-04 -3.38005449e+01] [-1.69051262e-03 -1.69875079e-05 9.99998571e-01 -6.49411622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.59, Y:-33.81, Z:-0.65 [[ 9.78246587e-01 2.07438835e-01 1.65666224e-03 2.76594810e+02] [-2.07438562e-01 9.78247990e-01 -3.37033699e-04 -3.38072547e+01] [-1.69054039e-03 -1.39535672e-05 9.99998571e-01 -6.45923642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:276.62, Y:-33.82, Z:-0.64 [[ 9.78972528e-01 2.03985404e-01 1.65666974e-03 2.76623310e+02] [-2.03985126e-01 9.78973930e-01 -3.36996833e-04 -3.38167371e+01] [-1.69057892e-03 -8.02534369e-06 9.99998571e-01 -6.43717673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.65, Y:-33.82, Z:-0.65 [[ 9.79208582e-01 2.02849227e-01 1.65666566e-03 2.76652807e+02] [-2.02848947e-01 9.79209983e-01 -3.37016913e-04 -3.38239042e+01] [-1.69058717e-03 -6.04303101e-06 9.99998571e-01 -6.47059390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.68, Y:-33.83, Z:-0.65 [[ 9.79250344e-01 2.02647525e-01 1.65666566e-03 2.76682526e+02] [-2.02647245e-01 9.79251745e-01 -3.37016913e-04 -3.38296813e+01] [-1.69058838e-03 -5.69480288e-06 9.99998571e-01 -6.51847728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:276.71, Y:-33.83, Z:-0.65 [[ 9.79083092e-01 2.03454059e-01 1.65666566e-03 2.76711762e+02] [-2.03453780e-01 9.79084494e-01 -3.37016913e-04 -3.38340059e+01] [-1.69058311e-03 -7.08732880e-06 9.99998571e-01 -6.53338819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:276.74, Y:-33.84, Z:-0.65 [[ 9.78983451e-01 2.03932975e-01 1.65666935e-03 2.76740797e+02] [-2.03932697e-01 9.78984853e-01 -3.36998763e-04 -3.38397072e+01] [-1.69057936e-03 -7.93283547e-06 9.99998571e-01 -6.49388420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:276.77, Y:-33.85, Z:-0.64 [[ 9.78656655e-01 2.05495518e-01 1.65667671e-03 2.76768677e+02] [-2.05495242e-01 9.78658057e-01 -3.36962555e-04 -3.38468721e+01] [-1.69056431e-03 -1.06685345e-05 9.99998571e-01 -6.44736037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.80, Y:-33.85, Z:-0.65 [[ 9.78466285e-01 2.06400060e-01 1.65668768e-03 2.76797213e+02] [-2.06399785e-01 9.78467687e-01 -3.36908615e-04 -3.38534772e+01] [-1.69055332e-03 -1.22862608e-05 9.99998571e-01 -6.46332058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.83, Y:-33.86, Z:-0.65 [[ 9.78275584e-01 2.07302044e-01 1.65669493e-03 2.76826247e+02] [-2.07301770e-01 9.78276987e-01 -3.36872990e-04 -3.38601997e+01] [-1.69054098e-03 -1.38811697e-05 9.99998571e-01 -6.48808147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:-33.87, Z:-0.65 [[ 9.78121206e-01 2.08029231e-01 1.65670213e-03 2.76854979e+02] [-2.08028958e-01 9.78122609e-01 -3.36837571e-04 -3.38677111e+01] [-1.69052987e-03 -1.51740459e-05 9.99998571e-01 -6.50386198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.88, Y:-33.87, Z:-0.65 [[ 9.78122500e-01 2.08023148e-01 1.65670930e-03 2.76884372e+02] [-2.08022876e-01 9.78123903e-01 -3.36802268e-04 -3.38742018e+01] [-1.69052964e-03 -1.51995583e-05 9.99998571e-01 -6.49578766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:-33.88, Z:-0.65 [[ 9.78156445e-01 2.07863477e-01 1.65671644e-03 2.76912153e+02] [-2.07863205e-01 9.78157847e-01 -3.36767164e-04 -3.38801371e+01] [-1.69053178e-03 -1.49594173e-05 9.99998571e-01 -6.48229228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.94, Y:-33.89, Z:-0.65 [[ 9.78096481e-01 2.08145451e-01 1.65672436e-03 2.76941399e+02] [-2.08145179e-01 9.78097884e-01 -3.36728218e-04 -3.38864154e+01] [-1.69052703e-03 -1.54865027e-05 9.99998571e-01 -6.47795000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:276.97, Y:-33.89, Z:-0.65 [[ 9.78046598e-01 2.08379721e-01 1.65673142e-03 2.76969719e+02] [-2.08379449e-01 9.78048001e-01 -3.36693451e-04 -3.38926053e+01] [-1.69052294e-03 -1.59268968e-05 9.99998571e-01 -6.48583446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:277.00, Y:-33.90, Z:-0.65 [[ 9.78262313e-01 2.07364659e-01 1.65674197e-03 2.76998667e+02] [-2.07364387e-01 9.78263716e-01 -3.36641535e-04 -3.38992518e+01] [-1.69053811e-03 -1.42255554e-05 9.99998571e-01 -6.48792704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.405769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:277.03, Y:-33.91, Z:-0.65 [[ 9.78455217e-01 2.06452520e-01 1.65674897e-03 2.77027873e+02] [-2.06452246e-01 9.78456620e-01 -3.36607089e-04 -3.39052608e+01] [-1.69055038e-03 -1.26845821e-05 9.99998571e-01 -6.49188194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.06, Y:-33.91, Z:-0.65 [[ 9.79020958e-01 2.03752836e-01 1.65675595e-03 2.77057653e+02] [-2.03752559e-01 9.79022360e-01 -3.36572735e-04 -3.39101890e+01] [-1.69057877e-03 -8.05650126e-06 9.99998571e-01 -6.50092586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.465769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:277.09, Y:-33.92, Z:-0.65 [[ 9.79221996e-01 2.02784461e-01 1.65675944e-03 2.77089933e+02] [-2.02784182e-01 9.79223398e-01 -3.36555565e-04 -3.39150505e+01] [-1.69058584e-03 -6.40199371e-06 9.99998571e-01 -6.49436329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:-33.92, Z:-0.65 [[ 9.79345227e-01 2.02188482e-01 1.65670482e-03 2.77121297e+02] [-2.02188201e-01 9.79346628e-01 -3.36824200e-04 -3.39194615e+01] [-1.69059025e-03 -5.09899440e-06 9.99998571e-01 -6.50167269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.15, Y:-33.92, Z:-0.65 [[ 9.79514976e-01 2.01364512e-01 1.65669704e-03 2.77152443e+02] [-2.01364230e-01 9.79516377e-01 -3.36862454e-04 -3.39233098e+01] [-1.69059403e-03 -3.63770609e-06 9.99998571e-01 -6.51830938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:-33.93, Z:-0.65 [[ 9.79545190e-01 2.01217487e-01 1.65668908e-03 2.77182421e+02] [-2.01217205e-01 9.79546590e-01 -3.36901616e-04 -3.39282475e+01] [-1.69059463e-03 -3.34398849e-06 9.99998571e-01 -6.53221342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:-33.93, Z:-0.65 [[ 9.79578932e-01 2.01053157e-01 1.65668512e-03 2.77212846e+02] [-2.01052875e-01 9.79580333e-01 -3.36921095e-04 -3.39321995e+01] [-1.69059521e-03 -3.04049914e-06 9.99998571e-01 -6.53148584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:-33.93, Z:-0.65 [[ 9.79461135e-01 2.01626237e-01 1.65668125e-03 2.77244640e+02] [-2.01625956e-01 9.79462537e-01 -3.36940102e-04 -3.39339501e+01] [-1.69059318e-03 -4.01020544e-06 9.99998571e-01 -6.48454861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.27, Y:-33.94, Z:-0.65 [[ 9.79368545e-01 2.02075504e-01 1.65667342e-03 2.77274007e+02] [-2.02075223e-01 9.79369946e-01 -3.36978572e-04 -3.39376199e+01] [-1.69059128e-03 -4.74643867e-06 9.99998571e-01 -6.47607070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.31, Y:-33.94, Z:-0.65 [[ 9.79285015e-01 2.02479910e-01 1.65667732e-03 2.77305015e+02] [-2.02479630e-01 9.79286417e-01 -3.36959416e-04 -3.39416004e+01] [-1.69058911e-03 -5.46410294e-06 9.99998571e-01 -6.47077074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.34, Y:-33.94, Z:-0.65 [[ 9.79418527e-01 2.01833109e-01 1.65666933e-03 2.77336189e+02] [-2.01832827e-01 9.79419928e-01 -3.36998723e-04 -3.39436976e+01] [-1.69059245e-03 -4.30746157e-06 9.99998571e-01 -6.47500317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.37, Y:-33.95, Z:-0.65 [[ 9.79451563e-01 2.01672734e-01 1.65666933e-03 2.77365571e+02] [-2.01672452e-01 9.79452964e-01 -3.36998723e-04 -3.39484481e+01] [-1.69059313e-03 -4.03063959e-06 9.99998571e-01 -6.47558341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.39, Y:-33.95, Z:-0.65 [[ 9.79636386e-01 2.00773021e-01 1.65666492e-03 2.77393920e+02] [-2.00772738e-01 9.79637787e-01 -3.37020381e-04 -3.39511571e+01] [-1.69059616e-03 -2.45572435e-06 9.99998571e-01 -6.47132299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.42, Y:-33.96, Z:-0.65 [[ 9.79782935e-01 2.00056630e-01 1.65667423e-03 2.77424037e+02] [-2.00056346e-01 9.79784336e-01 -3.36974600e-04 -3.39558974e+01] [-1.69059746e-03 -1.26623156e-06 9.99998571e-01 -6.45646310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82576923100004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.45, Y:-33.96, Z:-0.65 [[ 9.79761206e-01 2.00163022e-01 1.65667423e-03 2.77454116e+02] [-2.00162738e-01 9.79762606e-01 -3.36974600e-04 -3.39605498e+01] [-1.69059732e-03 -1.44981001e-06 9.99998571e-01 -6.45118905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.48, Y:-33.96, Z:-0.65 [[ 9.79476009e-01 2.01553972e-01 1.65667423e-03 2.77483797e+02] [-2.01553690e-01 9.79477410e-01 -3.36974600e-04 -3.39628522e+01] [-1.69059355e-03 -3.85026829e-06 9.99998571e-01 -6.46164830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.51, Y:-33.97, Z:-0.65 [[ 9.79333262e-01 2.02246429e-01 1.65667838e-03 2.77512525e+02] [-2.02246148e-01 9.79334663e-01 -3.36954189e-04 -3.39669718e+01] [-1.69059035e-03 -5.06637714e-06 9.99998571e-01 -6.45911137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.54, Y:-33.97, Z:-0.64 [[ 9.79210114e-01 2.02841829e-01 1.65669043e-03 2.77541486e+02] [-2.02841549e-01 9.79211516e-01 -3.36894926e-04 -3.39713296e+01] [-1.69058673e-03 -6.15473520e-06 9.99998571e-01 -6.44916928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.57, Y:-33.97, Z:-0.64 [[ 9.79060351e-01 2.03563465e-01 1.65669840e-03 2.77570693e+02] [-2.03563186e-01 9.79061753e-01 -3.36855763e-04 -3.39732076e+01] [-1.69058156e-03 -7.44068223e-06 9.99998571e-01 -6.44279860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.60, Y:-33.98, Z:-0.65 [[ 9.79104520e-01 2.03350915e-01 1.65671439e-03 2.77598676e+02] [-2.03350636e-01 9.79105921e-01 -3.36777084e-04 -3.39768752e+01] [-1.69058280e-03 -7.15396023e-06 9.99998571e-01 -6.46100843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:-33.98, Z:-0.65 [[ 9.79688044e-01 2.00520803e-01 1.65673419e-03 2.77625986e+02] [-2.00520520e-01 9.79689445e-01 -3.36679666e-04 -3.39816239e+01] [-1.69059627e-03 -2.36815728e-06 9.99998571e-01 -6.52513648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.65, Y:-33.99, Z:-0.66 [[ 9.80151214e-01 1.98244425e-01 1.65675387e-03 2.77653991e+02] [-1.98244140e-01 9.80152615e-01 -3.36582803e-04 -3.39888655e+01] [-1.69059730e-03 1.46029858e-06 9.99998571e-01 -6.56251751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.68, Y:-34.00, Z:-0.66 [[ 9.80711770e-01 1.95452496e-01 1.65676950e-03 2.77682422e+02] [-1.95452207e-01 9.80713170e-01 -3.36505840e-04 -3.39958667e+01] [-1.69058657e-03 6.19598305e-06 9.99998571e-01 -6.59172974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:-34.00, Z:-0.66 [[ 9.81932939e-01 1.89221983e-01 1.65677742e-03 2.77712327e+02] [-1.89221685e-01 9.81934336e-01 -3.36466851e-04 -3.40029825e+01] [-1.69051356e-03 1.68896695e-05 9.99998571e-01 -6.59039927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-34.01, Z:-0.66 [[ 9.82395012e-01 1.86808180e-01 1.65677742e-03 2.77741426e+02] [-1.86807879e-01 9.82396408e-01 -3.36466851e-04 -3.40102589e+01] [-1.69046694e-03 2.10442811e-05 9.99998571e-01 -6.57990750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:-34.02, Z:-0.66 [[ 9.82816163e-01 1.84579641e-01 1.65678541e-03 2.77770251e+02] [-1.84579336e-01 9.82817560e-01 -3.36427472e-04 -3.40189827e+01] [-1.69041546e-03 2.48380051e-05 9.99998571e-01 -6.58170311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.80, Y:-34.03, Z:-0.66 [[ 9.83385934e-01 1.81519583e-01 1.65678938e-03 2.77799448e+02] [-1.81519273e-01 9.83387330e-01 -3.36407937e-04 -3.40339087e+01] [-1.69033031e-03 3.00796288e-05 9.99998571e-01 -6.59786761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.83, Y:-34.04, Z:-0.66 [[ 9.83415012e-01 1.81361984e-01 1.65678162e-03 2.77828808e+02] [-1.81361674e-01 9.83416407e-01 -3.36446159e-04 -3.40434331e+01] [-1.69032477e-03 3.03895146e-05 9.99998571e-01 -6.62118141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:-34.05, Z:-0.67 [[ 9.82904831e-01 1.84106891e-01 1.65676125e-03 2.77857964e+02] [-1.84106586e-01 9.82906227e-01 -3.36546408e-04 -3.40525460e+01] [-1.69040147e-03 2.57724329e-05 9.99998571e-01 -6.66396960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:-34.06, Z:-0.67 [[ 9.82401246e-01 1.86775392e-01 1.65676125e-03 2.77887821e+02] [-1.86775090e-01 9.82402643e-01 -3.36546408e-04 -3.40602963e+01] [-1.69046522e-03 2.11818778e-05 9.99998571e-01 -6.66566228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:-34.07, Z:-0.66 [[ 9.81756103e-01 1.90137343e-01 1.65674324e-03 2.77917645e+02] [-1.90137046e-01 9.81757501e-01 -3.36635048e-04 -3.40679421e+01] [-1.69052700e-03 1.54852472e-05 9.99998571e-01 -6.63742960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:-34.07, Z:-0.66 [[ 9.81028060e-01 1.93858713e-01 1.65674324e-03 2.77946139e+02] [-1.93858421e-01 9.81029459e-01 -3.36635048e-04 -3.40747644e+01] [-1.69057356e-03 9.07479902e-06 9.99998571e-01 -6.60062432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.97, Y:-34.08, Z:-0.66 [[ 9.79723752e-01 2.00346264e-01 1.65674711e-03 2.77974257e+02] [-2.00345981e-01 9.79725153e-01 -3.36616016e-04 -3.40786399e+01] [-1.69059658e-03 -2.13191921e-06 9.99998571e-01 -6.57125277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:-34.08, Z:-0.66 [[ 9.79324533e-01 2.02288690e-01 1.65675549e-03 2.78002598e+02] [-2.02288410e-01 9.79325934e-01 -3.36574775e-04 -3.40834262e+01] [-1.69058889e-03 -5.52649913e-06 9.99998571e-01 -6.58195143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:-34.09, Z:-0.66 [[ 9.79215273e-01 2.02816925e-01 1.65676680e-03 2.78030877e+02] [-2.02816646e-01 9.79216674e-01 -3.36519062e-04 -3.40904184e+01] [-1.69058544e-03 -6.49528148e-06 9.99998571e-01 -6.59630740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.06, Y:-34.10, Z:-0.66 [[ 9.79408708e-01 2.01880754e-01 1.65677794e-03 2.78059993e+02] [-2.01880473e-01 9.79410109e-01 -3.36464227e-04 -3.40974956e+01] [-1.69059071e-03 -4.93512125e-06 9.99998571e-01 -6.57361206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.09, Y:-34.10, Z:-0.65 [[ 9.79624901e-01 2.00829054e-01 1.65678545e-03 2.78088050e+02] [-2.00828773e-01 9.79626302e-01 -3.36427267e-04 -3.41040485e+01] [-1.69059497e-03 -3.15765982e-06 9.99998571e-01 -6.54660155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.12, Y:-34.11, Z:-0.65 [[ 9.79935414e-01 1.99308404e-01 1.65679663e-03 2.78116774e+02] [-1.99308120e-01 9.79936814e-01 -3.36372199e-04 -3.41126667e+01] [-1.69059781e-03 -5.89990554e-07 9.99998571e-01 -6.48769262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:-34.12, Z:-0.65 [[ 9.80096908e-01 1.98512735e-01 1.65680032e-03 2.78145707e+02] [-1.98512450e-01 9.80098308e-01 -3.36353986e-04 -3.41213955e+01] [-1.69059774e-03 7.64009764e-07 9.99998571e-01 -6.47658605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:-34.13, Z:-0.65 [[ 9.80151700e-01 1.98242024e-01 1.65680032e-03 2.78172993e+02] [-1.98241738e-01 9.80153100e-01 -3.36353986e-04 -3.41349045e+01] [-1.69059747e-03 1.23095513e-06 9.99998571e-01 -6.49051727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:-34.14, Z:-0.65 [[ 9.80011463e-01 1.98934130e-01 1.65680400e-03 2.78201870e+02] [-1.98933846e-01 9.80012863e-01 -3.36335870e-04 -3.41441828e+01] [-1.69059792e-03 1.86162714e-08 9.99998571e-01 -6.50056706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-34.16, Z:-0.65 [[ 9.79336820e-01 2.02229195e-01 1.65680036e-03 2.78231077e+02] [-2.02228915e-01 9.79338222e-01 -3.36353814e-04 -3.41560848e+01] [-1.69058848e-03 -5.64926516e-06 9.99998571e-01 -6.51232348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:-34.17, Z:-0.65 [[ 9.78969441e-01 2.04000218e-01 1.65679281e-03 2.78260971e+02] [-2.03999941e-01 9.78970843e-01 -3.36390977e-04 -3.41655317e+01] [-1.69057569e-03 -8.66914890e-06 9.99998571e-01 -6.51583673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.29, Y:-34.17, Z:-0.65 [[ 9.78699774e-01 2.05290056e-01 1.65674412e-03 2.78291325e+02] [-2.05289781e-01 9.78701176e-01 -3.36630615e-04 -3.41745140e+01] [-1.69056434e-03 -1.06523306e-05 9.99998571e-01 -6.52232632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.32, Y:-34.18, Z:-0.65 [[ 9.78695401e-01 2.05310902e-01 1.65673693e-03 2.78322510e+02] [-2.05310626e-01 9.78696804e-01 -3.36665980e-04 -3.41808999e+01] [-1.69056434e-03 -1.06522516e-05 9.99998571e-01 -6.52286453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.35, Y:-34.19, Z:-0.65 [[ 9.78231327e-01 2.07510787e-01 1.65672976e-03 2.78351895e+02] [-2.07510514e-01 9.78232730e-01 -3.36701268e-04 -3.41910954e+01] [-1.69053642e-03 -1.44171172e-05 9.99998571e-01 -6.52936559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.38, Y:-34.20, Z:-0.65 [[ 9.77939019e-01 2.08884010e-01 1.65672619e-03 2.78381749e+02] [-2.08883739e-01 9.77940423e-01 -3.36718829e-04 -3.42001024e+01] [-1.69051469e-03 -1.67726805e-05 9.99998571e-01 -6.51812574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:-34.21, Z:-0.65 [[ 9.77347815e-01 2.11632948e-01 1.65671912e-03 2.78411132e+02] [-2.11632681e-01 9.77349218e-01 -3.36753652e-04 -3.42120517e+01] [-1.69046130e-03 -2.14904624e-05 9.99998571e-01 -6.50434273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:-34.22, Z:-0.65 [[ 9.76940376e-01 2.13505872e-01 1.65671209e-03 2.78443254e+02] [-2.13505608e-01 9.76941780e-01 -3.36788219e-04 -3.42206461e+01] [-1.69041752e-03 -2.46953119e-05 9.99998571e-01 -6.50545249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.47, Y:-34.23, Z:-0.65 [[ 9.76422137e-01 2.15863537e-01 1.65664790e-03 2.78474514e+02] [-2.15863275e-01 9.76423542e-01 -3.37103675e-04 -3.42277836e+01] [-1.69035840e-03 -2.84539506e-05 9.99998571e-01 -6.54940462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:-34.23, Z:-0.66 [[ 9.75906421e-01 2.18183210e-01 1.65658791e-03 2.78504944e+02] [-2.18182952e-01 9.75907826e-01 -3.37398197e-04 -3.42342366e+01] [-1.69029173e-03 -3.21701741e-05 9.99998571e-01 -6.57361941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-34.24, Z:-0.66 [[ 9.74851652e-01 2.22848630e-01 1.65658066e-03 2.78535813e+02] [-2.22848378e-01 9.74853059e-01 -3.37433818e-04 -3.42404697e+01] [-1.69011938e-03 -4.02183975e-05 9.99998571e-01 -6.58642166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-34.25, Z:-0.66 [[ 9.74438224e-01 2.24649511e-01 1.65657325e-03 2.78566495e+02] [-2.24649262e-01 9.74439631e-01 -3.37470176e-04 -3.42454567e+01] [-1.69004314e-03 -4.33041178e-05 9.99998571e-01 -6.57523950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.60, Y:-34.25, Z:-0.65 [[ 9.73938185e-01 2.26807555e-01 1.65656587e-03 2.78597036e+02] [-2.26807309e-01 9.73939593e-01 -3.37506392e-04 -3.42479186e+01] [-1.68994409e-03 -4.70108845e-05 9.99998571e-01 -6.52660236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:-34.25, Z:-0.65 [[ 9.73876060e-01 2.27074164e-01 1.65656220e-03 2.78628709e+02] [-2.27073918e-01 9.73877467e-01 -3.37524419e-04 -3.42525717e+01] [-1.68993167e-03 -4.74551186e-05 9.99998571e-01 -6.50111657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.66, Y:-34.26, Z:-0.65 [[ 9.74245948e-01 2.25481902e-01 1.65650837e-03 2.78661313e+02] [-2.25481653e-01 9.74247356e-01 -3.37788389e-04 -3.42550304e+01] [-1.69001407e-03 -4.44232769e-05 9.99998571e-01 -6.52795229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:-34.26, Z:-0.66 [[ 9.74650666e-01 2.23726028e-01 1.65645140e-03 2.78692248e+02] [-2.23725776e-01 9.74652073e-01 -3.38067520e-04 -3.42586633e+01] [-1.69009830e-03 -4.10931416e-05 9.99998571e-01 -6.58635592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.72, Y:-34.26, Z:-0.66 [[ 9.75168475e-01 2.21458124e-01 1.65639870e-03 2.78724745e+02] [-2.21457869e-01 9.75169882e-01 -3.38325531e-04 -3.42620775e+01] [-1.69019506e-03 -3.68981345e-05 9.99998571e-01 -6.58778469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:-34.27, Z:-0.66 [[ 9.75623889e-01 2.19443121e-01 1.65634515e-03 2.78754714e+02] [-2.19442862e-01 9.75625295e-01 -3.38587500e-04 -3.42656221e+01] [-1.69027292e-03 -3.31390666e-05 9.99998571e-01 -6.59683963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.79, Y:-34.27, Z:-0.66 [[ 9.76413735e-01 2.15901537e-01 1.65634133e-03 2.78788238e+02] [-2.15901273e-01 9.76415140e-01 -3.38606187e-04 -3.42669099e+01] [-1.69038235e-03 -2.69864703e-05 9.99998571e-01 -6.57690783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.82, Y:-34.27, Z:-0.66 [[ 9.76683512e-01 2.14677836e-01 1.65627657e-03 2.78819022e+02] [-2.14677570e-01 9.76684917e-01 -3.38922671e-04 -3.42700411e+01] [-1.69041953e-03 -2.45452437e-05 9.99998571e-01 -6.56476536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:-34.27, Z:-0.65 [[ 9.76771269e-01 2.14278194e-01 1.65622422e-03 2.78848715e+02] [-2.14277927e-01 9.76772673e-01 -3.39178314e-04 -3.42727418e+01] [-1.69043307e-03 -2.35926596e-05 9.99998571e-01 -6.54528188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:-34.27, Z:-0.65 [[ 9.76522392e-01 2.15409553e-01 1.65622801e-03 2.78880103e+02] [-2.15409287e-01 9.76523796e-01 -3.39159786e-04 -3.42733851e+01] [-1.69040432e-03 -2.55697697e-05 9.99998571e-01 -6.49412487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:-34.28, Z:-0.65 [[ 9.76468885e-01 2.15651974e-01 1.65622801e-03 2.78910039e+02] [-2.15651709e-01 9.76470289e-01 -3.39159786e-04 -3.42768296e+01] [-1.69039792e-03 -2.59894225e-05 9.99998571e-01 -6.49897118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.94, Y:-34.28, Z:-0.65 [[ 9.76502302e-01 2.15500604e-01 1.65622801e-03 2.78938924e+02] [-2.15500339e-01 9.76503707e-01 -3.39159786e-04 -3.42765192e+01] [-1.69040193e-03 -2.57273859e-05 9.99998571e-01 -6.48814214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:-34.28, Z:-0.65 [[ 9.76453244e-01 2.15722782e-01 1.65623725e-03 2.78967418e+02] [-2.15722517e-01 9.76454649e-01 -3.39114652e-04 -3.42796046e+01] [-1.69039532e-03 -2.61580660e-05 9.99998571e-01 -6.48289133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:-34.28, Z:-0.65 [[ 9.76494726e-01 2.15534933e-01 1.65624901e-03 2.78996656e+02] [-2.15534668e-01 9.76496130e-01 -3.39057220e-04 -3.42831630e+01] [-1.69039942e-03 -2.58914922e-05 9.99998571e-01 -6.48013561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.03, Y:-34.28, Z:-0.65 [[ 9.76758432e-01 2.14336704e-01 1.65625681e-03 2.79026124e+02] [-2.14336437e-01 9.76759836e-01 -3.39019113e-04 -3.42847981e+01] [-1.69042937e-03 -2.38564053e-05 9.99998571e-01 -6.48099961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:-34.29, Z:-0.65 [[ 9.76820247e-01 2.14054812e-01 1.65627236e-03 2.79054542e+02] [-2.14054545e-01 9.76821651e-01 -3.38943122e-04 -3.42875009e+01] [-1.69043511e-03 -2.34461219e-05 9.99998571e-01 -6.50002481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.08, Y:-34.29, Z:-0.66 [[ 9.76564520e-01 2.15218481e-01 1.65628791e-03 2.79082896e+02] [-2.15218216e-01 9.76565924e-01 -3.38867129e-04 -3.42862030e+01] [-1.69040480e-03 -2.55377133e-05 9.99998571e-01 -6.55666101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-34.29, Z:-0.66 [[ 9.76359403e-01 2.16147111e-01 1.65630726e-03 2.79112134e+02] [-2.16146848e-01 9.76360807e-01 -3.38772491e-04 -3.42892637e+01] [-1.69037819e-03 -2.72418871e-05 9.99998571e-01 -6.55646883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:-34.29, Z:-0.65 [[ 9.76177075e-01 2.16969065e-01 1.65632255e-03 2.79140823e+02] [-2.16968803e-01 9.76178480e-01 -3.38697757e-04 -3.42919436e+01] [-1.69035336e-03 -2.87413343e-05 9.99998571e-01 -6.54583892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-34.29, Z:-0.65 [[ 9.76101533e-01 2.17308660e-01 1.65633781e-03 2.79169575e+02] [-2.17308398e-01 9.76102938e-01 -3.38623091e-04 -3.42945995e+01] [-1.69034193e-03 -2.94055977e-05 9.99998571e-01 -6.53733255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-34.29, Z:-0.66 [[ 9.76587870e-01 2.15112502e-01 1.65635297e-03 2.79198610e+02] [-2.15112237e-01 9.76589274e-01 -3.38548931e-04 -3.42944678e+01] [-1.69040265e-03 -2.56790129e-05 9.99998571e-01 -6.56220289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-34.30, Z:-0.66 [[ 9.77440853e-01 2.11202832e-01 1.65636874e-03 2.79226224e+02] [-2.11202562e-01 9.77442256e-01 -3.38471759e-04 -3.42975502e+01] [-1.69049099e-03 -1.89931956e-05 9.99998571e-01 -6.56509900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:-34.30, Z:-0.65 [[ 9.77890165e-01 2.09112605e-01 1.65638981e-03 2.79253668e+02] [-2.09112332e-01 9.77891568e-01 -3.38368633e-04 -3.43027529e+01] [-1.69052677e-03 -1.54841769e-05 9.99998571e-01 -6.53166734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.28, Y:-34.31, Z:-0.65 [[ 9.78324999e-01 2.07068716e-01 1.65640864e-03 2.79282575e+02] [-2.07068440e-01 9.78326401e-01 -3.38276404e-04 -3.43072211e+01] [-1.69055476e-03 -1.20456911e-05 9.99998571e-01 -6.50401330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:-34.31, Z:-0.65 [[ 9.79070612e-01 2.03514111e-01 1.65642362e-03 2.79311409e+02] [-2.03513830e-01 9.79072013e-01 -3.38203056e-04 -3.43101842e+01] [-1.69058710e-03 -5.98044068e-06 9.99998571e-01 -6.52736438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.34, Y:-34.31, Z:-0.65 [[ 9.79454279e-01 2.01659546e-01 1.65643858e-03 2.79339769e+02] [-2.01659263e-01 9.79455679e-01 -3.38129731e-04 -3.43149168e+01] [-1.69059527e-03 -2.85357154e-06 9.99998571e-01 -6.54300660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.37, Y:-34.32, Z:-0.65 [[ 9.79876269e-01 1.99598980e-01 1.65645352e-03 2.79367154e+02] [-1.99598694e-01 9.79877670e-01 -3.38056567e-04 -3.43198669e+01] [-1.69059756e-03 6.27650265e-07 9.99998571e-01 -6.54087588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.39, Y:-34.32, Z:-0.65 [[ 9.80798897e-01 1.95014818e-01 1.65647593e-03 2.79394146e+02] [-1.95014525e-01 9.80800296e-01 -3.37946703e-04 -3.43245878e+01] [-1.69057670e-03 8.42088704e-06 9.99998571e-01 -6.50985695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:-34.33, Z:-0.65 [[ 9.81204862e-01 1.92961850e-01 1.65649448e-03 2.79421813e+02] [-1.92961554e-01 9.81206260e-01 -3.37855732e-04 -3.43299192e+01] [-1.69055602e-03 1.18659361e-05 9.99998571e-01 -6.49379760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:-34.34, Z:-0.65 [[ 9.81931412e-01 1.89229906e-01 1.65651430e-03 2.79450167e+02] [-1.89229605e-01 9.81932809e-01 -3.37758528e-04 -3.43368960e+01] [-1.69049976e-03 1.81941600e-05 9.99998571e-01 -6.49165309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.48, Y:-34.34, Z:-0.65 [[ 9.82350855e-01 1.87040244e-01 1.65652885e-03 2.79479224e+02] [-1.87039940e-01 9.82352252e-01 -3.37687149e-04 -3.43445376e+01] [-1.69045594e-03 2.18902014e-05 9.99998571e-01 -6.49389105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:-34.35, Z:-0.65 [[ 9.82817708e-01 1.84571417e-01 1.65653703e-03 2.79506622e+02] [-1.84571110e-01 9.82819104e-01 -3.37647039e-04 -3.43516706e+01] [-1.69039623e-03 2.60966108e-05 9.99998571e-01 -6.51634901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.53, Y:-34.36, Z:-0.65 [[ 9.83545799e-01 1.80651367e-01 1.65654513e-03 2.79532637e+02] [-1.80651055e-01 9.83547194e-01 -3.37607302e-04 -3.43613822e+01] [-1.69027953e-03 3.27956188e-05 9.99998571e-01 -6.54257806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:-34.37, Z:-0.66 [[ 9.83817320e-01 1.79166786e-01 1.65656315e-03 2.79559995e+02] [-1.79166472e-01 9.83818714e-01 -3.37518830e-04 -3.43692666e+01] [-1.69023000e-03 3.52562956e-05 9.99998571e-01 -6.56406153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:-34.38, Z:-0.66 [[ 9.84070185e-01 1.77772681e-01 1.65657741e-03 2.79587948e+02] [-1.77772364e-01 9.84071579e-01 -3.37448849e-04 -3.43804206e+01] [-1.69017993e-03 3.75796687e-05 9.99998571e-01 -6.58471272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:-34.39, Z:-0.66 [[ 9.84106691e-01 1.77570481e-01 1.65658524e-03 2.79617355e+02] [-1.77570164e-01 9.84108085e-01 -3.37410417e-04 -3.43900540e+01] [-1.69017306e-03 3.78877366e-05 9.99998571e-01 -6.58471249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:-34.40, Z:-0.66 [[ 9.84086684e-01 1.77681329e-01 1.65658524e-03 2.79645557e+02] [-1.77681012e-01 9.84088077e-01 -3.37410417e-04 -3.43999874e+01] [-1.69017731e-03 3.76973564e-05 9.99998571e-01 -6.58828978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.67, Y:-34.41, Z:-0.65 [[ 9.84065394e-01 1.77799204e-01 1.65658129e-03 2.79673715e+02] [-1.77798888e-01 9.84066787e-01 -3.37429782e-04 -3.44144935e+01] [-1.69018138e-03 3.75146602e-05 9.99998571e-01 -6.52972838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:-34.42, Z:-0.65 [[ 9.84049603e-01 1.77886580e-01 1.65658129e-03 2.79702628e+02] [-1.77886264e-01 9.84050996e-01 -3.37429782e-04 -3.44247999e+01] [-1.69018470e-03 3.73645849e-05 9.99998571e-01 -6.51858695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.73, Y:-34.44, Z:-0.65 [[ 9.83820758e-01 1.79147905e-01 1.65657741e-03 2.79731470e+02] [-1.79147590e-01 9.83822152e-01 -3.37448838e-04 -3.44400046e+01] [-1.69023081e-03 3.52173204e-05 9.99998571e-01 -6.50943396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:-34.45, Z:-0.65 [[ 9.83571442e-01 1.80511699e-01 1.65656974e-03 2.79762092e+02] [-1.80511387e-01 9.83572837e-01 -3.37486493e-04 -3.44506696e+01] [-1.69027726e-03 3.29123760e-05 9.99998571e-01 -6.54320984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:-34.46, Z:-0.66 [[ 9.83284280e-01 1.82069439e-01 1.65651594e-03 2.79792717e+02] [-1.82069128e-01 9.83285675e-01 -3.37750350e-04 -3.44596502e+01] [-1.69032241e-03 3.05041966e-05 9.99998571e-01 -6.57080053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:-34.47, Z:-0.66 [[ 9.82282716e-01 1.87397763e-01 1.65650435e-03 2.79823907e+02] [-1.87397459e-01 9.82284113e-01 -3.37807212e-04 -3.44698003e+01] [-1.69046222e-03 2.13974795e-05 9.99998571e-01 -6.56344163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:-34.48, Z:-0.66 [[ 9.81744735e-01 1.90196032e-01 1.65644697e-03 2.79854915e+02] [-1.90195732e-01 9.81746133e-01 -3.38088325e-04 -3.44785036e+01] [-1.69051346e-03 1.68672885e-05 9.99998571e-01 -6.58201867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.88, Y:-34.49, Z:-0.66 [[ 9.80896311e-01 1.94524251e-01 1.65640596e-03 2.79884205e+02] [-1.94523957e-01 9.80897709e-01 -3.38289129e-04 -3.44892619e+01] [-1.69057025e-03 9.61591753e-06 9.99998571e-01 -6.56944569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.92, Y:-34.50, Z:-0.66 [[ 9.80502135e-01 1.96501448e-01 1.65639825e-03 2.79916046e+02] [-1.96501157e-01 9.80503534e-01 -3.38326866e-04 -3.44968861e+01] [-1.69058606e-03 6.24604185e-06 9.99998571e-01 -6.57299337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.95, Y:-34.50, Z:-0.66 [[ 9.80141194e-01 1.98293964e-01 1.65633500e-03 2.79947466e+02] [-1.98293674e-01 9.80142594e-01 -3.38636230e-04 -3.45043698e+01] [-1.69059401e-03 3.47056507e-06 9.99998571e-01 -6.58229625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:-34.51, Z:-0.66 [[ 9.79553626e-01 2.01176418e-01 1.65629567e-03 2.79976693e+02] [-2.01176133e-01 9.79555026e-01 -3.38828474e-04 -3.45108876e+01] [-1.69059705e-03 -1.30649782e-06 9.99998571e-01 -6.56783460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.01, Y:-34.52, Z:-0.65 [[ 9.79225897e-01 2.02765626e-01 1.65627828e-03 2.80007247e+02] [-2.02765343e-01 9.79227298e-01 -3.38913502e-04 -3.45170389e+01] [-1.69059291e-03 -3.96295479e-06 9.99998571e-01 -6.52832556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.04, Y:-34.52, Z:-0.65 [[ 9.78950114e-01 2.04092947e-01 1.65627064e-03 2.80037907e+02] [-2.04092666e-01 9.78951515e-01 -3.38950792e-04 -3.45217899e+01] [-1.69058612e-03 -6.21677471e-06 9.99998571e-01 -6.48929637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:-34.52, Z:-0.65 [[ 9.78498425e-01 2.06247638e-01 1.65626288e-03 2.80069758e+02] [-2.06247360e-01 9.78499827e-01 -3.38988724e-04 -3.45226410e+01] [-1.69056857e-03 -9.89991343e-06 9.99998571e-01 -6.47394605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.10, Y:-34.53, Z:-0.65 [[ 9.78183756e-01 2.07734921e-01 1.65625499e-03 2.80099478e+02] [-2.07734644e-01 9.78185158e-01 -3.39027297e-04 -3.45264203e+01] [-1.69055185e-03 -1.24305457e-05 9.99998571e-01 -6.49739025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-34.53, Z:-0.65 [[ 9.77800421e-01 2.09531842e-01 1.65625106e-03 2.80128517e+02] [-2.09531568e-01 9.77801824e-01 -3.39046456e-04 -3.45293516e+01] [-1.69052634e-03 -1.55171148e-05 9.99998571e-01 -6.53564822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.16, Y:-34.53, Z:-0.65 [[ 9.77955956e-01 2.08804703e-01 1.65624637e-03 2.80158152e+02] [-2.08804428e-01 9.77957359e-01 -3.39069400e-04 -3.45342109e+01] [-1.69053761e-03 -1.42366357e-05 9.99998571e-01 -6.52915453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:-34.54, Z:-0.65 [[ 9.77955956e-01 2.08804703e-01 1.65624637e-03 2.80188522e+02] [-2.08804428e-01 9.77957359e-01 -3.39069400e-04 -3.45404282e+01] [-1.69053761e-03 -1.42366356e-05 9.99998571e-01 -6.52967861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.22, Y:-34.54, Z:-0.65 [[ 9.78327924e-01 2.07054896e-01 1.65624637e-03 2.80217453e+02] [-2.07054619e-01 9.78329326e-01 -3.39069400e-04 -3.45446147e+01] [-1.69056037e-03 -1.12123976e-05 9.99998571e-01 -6.52812412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:-34.55, Z:-0.65 [[ 9.79228724e-01 2.02751976e-01 1.65625023e-03 2.80248237e+02] [-2.02751693e-01 9.79230124e-01 -3.39050512e-04 -3.45486077e+01] [-1.69059328e-03 -3.79953837e-06 9.99998571e-01 -6.51141180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:-34.55, Z:-0.65 [[ 9.79623238e-01 2.00837171e-01 1.65625023e-03 2.80277992e+02] [-2.00836885e-01 9.79624638e-01 -3.39050512e-04 -3.45545747e+01] [-1.69059748e-03 -4.94377634e-07 9.99998571e-01 -6.50406564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:-34.56, Z:-0.65 [[ 9.80179557e-01 1.98104249e-01 1.65625023e-03 2.80306718e+02] [-1.98103959e-01 9.80180956e-01 -3.39050512e-04 -3.45592920e+01] [-1.69059228e-03 4.22065199e-06 9.99998571e-01 -6.51158464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-34.56, Z:-0.65 [[ 9.80431326e-01 1.96854444e-01 1.65625406e-03 2.80335614e+02] [-1.96854152e-01 9.80432725e-01 -3.39031814e-04 -3.45644251e+01] [-1.69058560e-03 6.35692240e-06 9.99998571e-01 -6.51615073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:-34.57, Z:-0.65 [[ 9.80677468e-01 1.95624541e-01 1.65624976e-03 2.80365267e+02] [-1.95624247e-01 9.80678866e-01 -3.39052799e-04 -3.45707763e+01] [-1.69057619e-03 8.49882695e-06 9.99998571e-01 -6.52239451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:-34.58, Z:-0.66 [[ 9.81447414e-01 1.91724360e-01 1.65624976e-03 2.80394061e+02] [-1.91724061e-01 9.81448811e-01 -3.39052799e-04 -3.45795809e+01] [-1.69052904e-03 1.52195617e-05 9.99998571e-01 -6.55682543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:-34.59, Z:-0.66 [[ 9.81917959e-01 1.89299703e-01 1.65624598e-03 2.80423905e+02] [-1.89299401e-01 9.81919356e-01 -3.39071288e-04 -3.45880322e+01] [-1.69048608e-03 1.94138158e-05 9.99998571e-01 -6.57697940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.45, Y:-34.60, Z:-0.66 [[ 9.82909189e-01 1.84083629e-01 1.65623830e-03 2.80454664e+02] [-1.84083319e-01 9.82910584e-01 -3.39108805e-04 -3.45992409e+01] [-1.69035853e-03 2.84273187e-05 9.99998571e-01 -6.58290460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:-34.61, Z:-0.65 [[ 9.83292488e-01 1.82025110e-01 1.65618080e-03 2.80486005e+02] [-1.82024797e-01 9.83293882e-01 -3.39389370e-04 -3.46077993e+01] [-1.69028984e-03 3.22530434e-05 9.99998571e-01 -6.53400654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:-34.62, Z:-0.65 [[ 9.83520286e-01 1.80790223e-01 1.65612317e-03 2.80517312e+02] [-1.80789907e-01 9.83521680e-01 -3.39670385e-04 -3.46164929e+01] [-1.69024212e-03 3.46623605e-05 9.99998571e-01 -6.50017037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:-34.63, Z:-0.65 [[ 9.83401007e-01 1.81437915e-01 1.65606166e-03 2.80546730e+02] [-1.81437600e-01 9.83402401e-01 -3.39970015e-04 -3.46264467e+01] [-1.69025846e-03 3.38550030e-05 9.99998571e-01 -6.45267453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.58, Y:-34.64, Z:-0.65 [[ 9.82889921e-01 1.84186486e-01 1.65600994e-03 2.80577723e+02] [-1.84186175e-01 9.82891315e-01 -3.40221721e-04 -3.46350867e+01] [-1.69034204e-03 2.93863639e-05 9.99998571e-01 -6.46311818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:-34.64, Z:-0.65 [[ 9.81594754e-01 1.90968573e-01 1.65595804e-03 2.80607965e+02] [-1.90968270e-01 9.81596151e-01 -3.40474187e-04 -3.46430506e+01] [-1.69050190e-03 1.79722343e-05 9.99998571e-01 -6.52167582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.64, Y:-34.65, Z:-0.65 [[ 9.81106655e-01 1.93460565e-01 1.65595051e-03 2.80638894e+02] [-1.93460266e-01 9.81108052e-01 -3.40510789e-04 -3.46489893e+01] [-1.69054179e-03 1.37167759e-05 9.99998571e-01 -6.54208541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.67, Y:-34.65, Z:-0.65 [[ 9.80955212e-01 1.94227006e-01 1.65590177e-03 2.80669507e+02] [-1.94226707e-01 9.80956610e-01 -3.40747656e-04 -3.46544993e+01] [-1.69055018e-03 1.26378415e-05 9.99998571e-01 -6.54887032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.70, Y:-34.66, Z:-0.65 [[ 9.81102126e-01 1.93483529e-01 1.65589427e-03 2.80700271e+02] [-1.93483229e-01 9.81103524e-01 -3.40784101e-04 -3.46613025e+01] [-1.69053981e-03 1.39562361e-05 9.99998571e-01 -6.53473281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.73, Y:-34.67, Z:-0.65 [[ 9.81409084e-01 1.91920471e-01 1.65588682e-03 2.80730559e+02] [-1.91920169e-01 9.81410481e-01 -3.40820292e-04 -3.46694566e+01] [-1.69051507e-03 1.66860525e-05 9.99998571e-01 -6.52354218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.76, Y:-34.68, Z:-0.65 [[ 9.82292848e-01 1.87344651e-01 1.65585706e-03 2.80762335e+02] [-1.87344342e-01 9.82294244e-01 -3.40964805e-04 -3.46797429e+01] [-1.69041679e-03 2.47118376e-05 9.99998571e-01 -6.51487986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:-34.69, Z:-0.65 [[ 9.82682771e-01 1.85288503e-01 1.65579498e-03 2.80793874e+02] [-1.85288191e-01 9.82684166e-01 -3.41266009e-04 -3.46888888e+01] [-1.69035618e-03 2.85569702e-05 9.99998571e-01 -6.51105404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.82, Y:-34.70, Z:-0.65 [[ 9.82913189e-01 1.84062277e-01 1.65572884e-03 2.80824403e+02] [-1.84061963e-01 9.82914583e-01 -3.41586591e-04 -3.46985032e+01] [-1.69031323e-03 3.09932638e-05 9.99998571e-01 -6.52432546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:-34.71, Z:-0.65 [[ 9.82946272e-01 1.83885521e-01 1.65566709e-03 2.80855832e+02] [-1.83885206e-01 9.82947666e-01 -3.41885647e-04 -3.47107162e+01] [-1.69030192e-03 3.16025375e-05 9.99998571e-01 -6.53446671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.89, Y:-34.72, Z:-0.65 [[ 9.82479693e-01 1.86362312e-01 1.65560146e-03 2.80886530e+02] [-1.86362000e-01 9.82481088e-01 -3.42203160e-04 -3.47186927e+01] [-1.69037090e-03 2.76664563e-05 9.99998571e-01 -6.54952782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.92, Y:-34.73, Z:-0.65 [[ 9.81025946e-01 1.93869420e-01 1.65556052e-03 2.80917668e+02] [-1.93869118e-01 9.81027343e-01 -3.42401112e-04 -3.47272911e+01] [-1.69053125e-03 1.49423173e-05 9.99998571e-01 -6.54230450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:-34.74, Z:-0.66 [[ 9.80260278e-01 1.97704441e-01 1.65550420e-03 2.80949169e+02] [-1.97704144e-01 9.80261676e-01 -3.42673204e-04 -3.47356605e+01] [-1.69057534e-03 8.60888872e-06 9.99998571e-01 -6.55603602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.98, Y:-34.74, Z:-0.66 [[ 9.79562511e-01 2.01133157e-01 1.65543985e-03 2.80979077e+02] [-2.01132864e-01 9.79563910e-01 -3.42983785e-04 -3.47436952e+01] [-1.69059455e-03 3.01069853e-06 9.99998571e-01 -6.58562882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:-34.75, Z:-0.66 [[ 9.78404737e-01 2.06691630e-01 1.65538800e-03 2.81011366e+02] [-2.06691346e-01 9.78406137e-01 -3.43233889e-04 -3.47510007e+01] [-1.69058535e-03 -6.33270930e-06 9.99998571e-01 -6.58056887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.04, Y:-34.76, Z:-0.66 [[ 9.77821745e-01 2.09432318e-01 1.65532486e-03 2.81042793e+02] [-2.09432036e-01 9.77823146e-01 -3.43538130e-04 -3.47569338e+01] [-1.69056294e-03 -1.07590015e-05 9.99998571e-01 -6.58368758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:-34.76, Z:-0.66 [[ 9.76867019e-01 2.13841268e-01 1.65526607e-03 2.81075019e+02] [-2.13840992e-01 9.76868421e-01 -3.43821140e-04 -3.47618475e+01] [-1.69050030e-03 -1.80962069e-05 9.99998571e-01 -6.55546097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:281.11, Y:-34.77, Z:-0.65 [[ 9.76391932e-01 2.16000129e-01 1.65520351e-03 2.81107396e+02] [-2.15999856e-01 9.76393335e-01 -3.44122044e-04 -3.47680215e+01] [-1.69046008e-03 -2.15257318e-05 9.99998571e-01 -6.54899444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:-34.77, Z:-0.65 [[ 9.75985916e-01 2.17827344e-01 1.65514104e-03 2.81138498e+02] [-2.17827073e-01 9.75987319e-01 -3.44422251e-04 -3.47741662e+01] [-1.69042125e-03 -2.43832619e-05 9.99998571e-01 -6.54219828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.17, Y:-34.78, Z:-0.65 [[ 9.75681721e-01 2.19185859e-01 1.65508655e-03 2.81170359e+02] [-2.19185589e-01 9.75683124e-01 -3.44683909e-04 -3.47785260e+01] [-1.69038985e-03 -2.64693308e-05 9.99998571e-01 -6.50123338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.20, Y:-34.78, Z:-0.65 [[ 9.75740312e-01 2.18924884e-01 1.65502882e-03 2.81203065e+02] [-2.18924614e-01 9.75741715e-01 -3.44960891e-04 -3.47837038e+01] [-1.69040118e-03 -2.57342976e-05 9.99998571e-01 -6.47659225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:-34.79, Z:-0.65 [[ 9.75896142e-01 2.18229196e-01 1.65496282e-03 2.81235184e+02] [-2.18228924e-01 9.75897545e-01 -3.45277230e-04 -3.47888769e+01] [-1.69042372e-03 -2.42060385e-05 9.99998571e-01 -6.45749168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.27, Y:-34.79, Z:-0.65 [[ 9.76611251e-01 2.15006339e-01 1.65490076e-03 2.81266732e+02] [-2.15006063e-01 9.76612653e-01 -3.45574412e-04 -3.47928723e+01] [-1.69049771e-03 -1.83218382e-05 9.99998571e-01 -6.45104923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.30, Y:-34.80, Z:-0.65 [[ 9.77162824e-01 2.12485473e-01 1.65485949e-03 2.81297696e+02] [-2.12485192e-01 9.77164225e-01 -3.45771919e-04 -3.47985893e+01] [-1.69054101e-03 -1.37576728e-05 9.99998571e-01 -6.46249167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:281.33, Y:-34.80, Z:-0.65 [[ 9.78454054e-01 2.06458048e-01 1.65484813e-03 2.81329066e+02] [-2.06457759e-01 9.78455453e-01 -3.45826286e-04 -3.48043284e+01] [-1.69059380e-03 -3.28110535e-06 9.99998571e-01 -6.50673120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.36, Y:-34.81, Z:-0.65 [[ 9.78985591e-01 2.03922714e-01 1.65479496e-03 2.81360918e+02] [-2.03922421e-01 9.78986990e-01 -3.46080513e-04 -3.48114105e+01] [-1.69059642e-03 1.35804108e-06 9.99998571e-01 -6.51176771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:-34.82, Z:-0.65 [[ 9.79770820e-01 2.00115973e-01 1.65472933e-03 2.81392450e+02] [-2.00115673e-01 9.79772217e-01 -3.46394051e-04 -3.48193148e+01] [-1.69057681e-03 8.24950970e-06 9.99998571e-01 -6.48512577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.42, Y:-34.83, Z:-0.65 [[ 9.79943710e-01 1.99267629e-01 1.65466806e-03 2.81423874e+02] [-1.99267328e-01 9.79945107e-01 -3.46686470e-04 -3.48265768e+01] [-1.69056726e-03 1.00119428e-05 9.99998571e-01 -6.46551694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:-34.83, Z:-0.65 [[ 9.80020045e-01 1.98891864e-01 1.65462805e-03 2.81454794e+02] [-1.98891562e-01 9.80021442e-01 -3.46877336e-04 -3.48334942e+01] [-1.69056205e-03 1.08551861e-05 9.99998571e-01 -6.46263783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.49, Y:-34.84, Z:-0.65 [[ 9.80029033e-01 1.98847572e-01 1.65457525e-03 2.81487168e+02] [-1.98847270e-01 9.80030430e-01 -3.47128998e-04 -3.48407090e+01] [-1.69055985e-03 1.11887253e-05 9.99998571e-01 -6.48804272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:-34.85, Z:-0.66 [[ 9.79995918e-01 1.99010714e-01 1.65451040e-03 2.81517496e+02] [-1.99010411e-01 9.79997314e-01 -3.47437818e-04 -3.48477638e+01] [-1.69055960e-03 1.12228498e-05 9.99998571e-01 -6.57967904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.55, Y:-34.86, Z:-0.66 [[ 9.79972996e-01 1.99123556e-01 1.65447816e-03 2.81549932e+02] [-1.99123253e-01 9.79974392e-01 -3.47591293e-04 -3.48557354e+01] [-1.69055984e-03 1.11850086e-05 9.99998571e-01 -6.56381729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.965769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.58, Y:-34.86, Z:-0.65 [[ 9.79914855e-01 1.99409476e-01 1.65441439e-03 2.81582044e+02] [-1.99409173e-01 9.79916252e-01 -3.47894519e-04 -3.48627955e+01] [-1.69056101e-03 1.10016022e-05 9.99998571e-01 -6.53677773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:-34.87, Z:-0.65 [[ 9.79765140e-01 2.00143780e-01 1.65434840e-03 2.81613260e+02] [-2.00143477e-01 9.79766537e-01 -3.48208060e-04 -3.48692885e+01] [-1.69056688e-03 1.00550775e-05 9.99998571e-01 -6.51791721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:-34.88, Z:-0.65 [[ 9.79443190e-01 2.01713413e-01 1.65428666e-03 2.81644671e+02] [-2.01713112e-01 9.79444587e-01 -3.48501111e-04 -3.48751179e+01] [-1.69057947e-03 7.64572932e-06 9.99998571e-01 -6.52109708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:-34.88, Z:-0.65 [[ 9.78326431e-01 2.07061967e-01 1.65422697e-03 2.81673134e+02] [-2.07061673e-01 9.78327829e-01 -3.48784233e-04 -3.48768884e+01] [-1.69059623e-03 -1.30216993e-06 9.99998571e-01 -6.49733715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:-34.88, Z:-0.65 [[ 9.77138552e-01 2.12597069e-01 1.65423797e-03 2.81701766e+02] [-2.12596783e-01 9.77139952e-01 -3.48732021e-04 -3.48779437e+01] [-1.69056142e-03 -1.09261699e-05 9.99998571e-01 -6.49263552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:-34.88, Z:-0.65 [[ 9.76640427e-01 2.14873777e-01 1.65424602e-03 2.81734085e+02] [-2.14873495e-01 9.76641828e-01 -3.48693861e-04 -3.48826739e+01] [-1.69053102e-03 -1.49051025e-05 9.99998571e-01 -6.49373853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.77, Y:-34.89, Z:-0.65 [[ 9.76178467e-01 2.16962816e-01 1.65418917e-03 2.81765323e+02] [-2.16962537e-01 9.76179869e-01 -3.48963359e-04 -3.48876824e+01] [-1.69049824e-03 -1.82465601e-05 9.99998571e-01 -6.50340407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.79, Y:-34.89, Z:-0.65 [[ 9.75743742e-01 2.18909601e-01 1.65418091e-03 2.81794804e+02] [-2.18909324e-01 9.75745144e-01 -3.49002476e-04 -3.48925791e+01] [-1.69045899e-03 -2.15786436e-05 9.99998571e-01 -6.51322863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.82, Y:-34.90, Z:-0.65 [[ 9.75295796e-01 2.20896750e-01 1.65417680e-03 2.81824493e+02] [-2.20896475e-01 9.75297198e-01 -3.49021978e-04 -3.48963650e+01] [-1.69041182e-03 -2.50021569e-05 9.99998571e-01 -6.50957281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:-34.90, Z:-0.65 [[ 9.75323835e-01 2.20772918e-01 1.65418081e-03 2.81854469e+02] [-2.20772643e-01 9.75325237e-01 -3.49002942e-04 -3.48996734e+01] [-1.69041469e-03 -2.48069835e-05 9.99998571e-01 -6.51286411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.88, Y:-34.90, Z:-0.65 [[ 9.75438782e-01 2.20264492e-01 1.65418081e-03 2.81883280e+02] [-2.20264216e-01 9.75440184e-01 -3.49002942e-04 -3.49045703e+01] [-1.69042739e-03 -2.39258367e-05 9.99998571e-01 -6.53472840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.91, Y:-34.91, Z:-0.65 [[ 9.75586088e-01 2.19611129e-01 1.65418479e-03 2.81913066e+02] [-2.19610853e-01 9.75587491e-01 -3.48984088e-04 -3.49096562e+01] [-1.69044278e-03 -2.28129112e-05 9.99998571e-01 -6.52758880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:-34.91, Z:-0.65 [[ 9.75764672e-01 2.18816290e-01 1.65418479e-03 2.81941150e+02] [-2.18816013e-01 9.75766074e-01 -3.48984088e-04 -3.49132642e+01] [-1.69046080e-03 -2.14357767e-05 9.99998571e-01 -6.52589875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:-34.92, Z:-0.65 [[ 9.75813623e-01 2.18597889e-01 1.65419665e-03 2.81970440e+02] [-2.18597611e-01 9.75815025e-01 -3.48927850e-04 -3.49180355e+01] [-1.69046484e-03 -2.11148877e-05 9.99998571e-01 -6.50785174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:-34.92, Z:-0.65 [[ 9.75840789e-01 2.18476586e-01 1.65420452e-03 2.81998687e+02] [-2.18476309e-01 9.75842191e-01 -3.48890554e-04 -3.49227364e+01] [-1.69046698e-03 -2.09428639e-05 9.99998571e-01 -6.49377603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.03, Y:-34.93, Z:-0.65 [[ 9.76067844e-01 2.17459946e-01 1.65421625e-03 2.82028803e+02] [-2.17459667e-01 9.76069245e-01 -3.48834927e-04 -3.49278380e+01] [-1.69048723e-03 -1.92387592e-05 9.99998571e-01 -6.48988149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.06, Y:-34.93, Z:-0.65 [[ 9.76218595e-01 2.16782190e-01 1.65421625e-03 2.82058751e+02] [-2.16781910e-01 9.76219997e-01 -3.48834927e-04 -3.49347436e+01] [-1.69050018e-03 -1.80650158e-05 9.99998571e-01 -6.51177891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:-34.94, Z:-0.65 [[ 9.76663781e-01 2.14767601e-01 1.65421625e-03 2.82088496e+02] [-2.14767318e-01 9.76665182e-01 -3.48834927e-04 -3.49408286e+01] [-1.69053386e-03 -1.45771481e-05 9.99998571e-01 -6.52826085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.12, Y:-34.95, Z:-0.65 [[ 9.76788580e-01 2.14199283e-01 1.65421216e-03 2.82118184e+02] [-2.14198999e-01 9.76789981e-01 -3.48854332e-04 -3.49459073e+01] [-1.69054221e-03 -1.35736619e-05 9.99998571e-01 -6.51766194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:-34.95, Z:-0.65 [[ 9.76788580e-01 2.14199283e-01 1.65420806e-03 2.82148516e+02] [-2.14198999e-01 9.76789981e-01 -3.48873783e-04 -3.49523044e+01] [-1.69054237e-03 -1.35537828e-05 9.99998571e-01 -6.51818604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:-34.96, Z:-0.65 [[ 9.76594792e-01 2.15081090e-01 1.65420806e-03 2.82178600e+02] [-2.15080808e-01 9.76596193e-01 -3.48873783e-04 -3.49552146e+01] [-1.69052944e-03 -1.50800847e-05 9.99998571e-01 -6.51477183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:-34.96, Z:-0.65 [[ 9.76256096e-01 2.16613245e-01 1.65421630e-03 2.82206713e+02] [-2.16612965e-01 9.76257498e-01 -3.48834692e-04 -3.49601469e+01] [-1.69050328e-03 -1.77727024e-05 9.99998571e-01 -6.51676854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.24, Y:-34.96, Z:-0.65 [[ 9.75912140e-01 2.18157647e-01 1.65432485e-03 2.82235083e+02] [-2.18157370e-01 9.75913542e-01 -3.48319937e-04 -3.49648519e+01] [-1.69046668e-03 -2.09735035e-05 9.99998571e-01 -6.51157917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:-34.97, Z:-0.65 [[ 9.75122795e-01 2.21659195e-01 1.65424141e-03 2.82263810e+02] [-2.21658922e-01 9.75124198e-01 -3.48715784e-04 -3.49681190e+01] [-1.69038688e-03 -2.66366570e-05 9.99998571e-01 -6.52541849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:-34.97, Z:-0.65 [[ 9.74780489e-01 2.23159724e-01 1.65425085e-03 2.82292379e+02] [-2.23159453e-01 9.74781892e-01 -3.48670992e-04 -3.49726331e+01] [-1.69034309e-03 -2.92840348e-05 9.99998571e-01 -6.50954373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.32, Y:-34.98, Z:-0.65 [[ 9.74460966e-01 2.24550863e-01 1.65426591e-03 2.82321112e+02] [-2.24550595e-01 9.74462369e-01 -3.48599534e-04 -3.49766039e+01] [-1.69029820e-03 -3.17697541e-05 9.99998571e-01 -6.46548488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:-34.98, Z:-0.65 [[ 9.74451286e-01 2.24592863e-01 1.65428201e-03 2.82349274e+02] [-2.24592595e-01 9.74452690e-01 -3.48523072e-04 -3.49807731e+01] [-1.69029535e-03 -3.19207345e-05 9.99998571e-01 -6.47346092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:-34.98, Z:-0.65 [[ 9.74348582e-01 2.25038004e-01 1.65429802e-03 2.82378435e+02] [-2.25037737e-01 9.74349986e-01 -3.48447105e-04 -3.49842033e+01] [-1.69027909e-03 -3.27705389e-05 9.99998571e-01 -6.48793127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.41, Y:-34.99, Z:-0.65 [[ 9.73967865e-01 2.26680088e-01 1.65431396e-03 2.82407662e+02] [-2.26679823e-01 9.73969269e-01 -3.48371397e-04 -3.49856670e+01] [-1.69021982e-03 -3.56970490e-05 9.99998571e-01 -6.48537150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.44, Y:-34.99, Z:-0.65 [[ 9.74074753e-01 2.26220332e-01 1.65433002e-03 2.82436084e+02] [-2.26220067e-01 9.74076157e-01 -3.48295109e-04 -3.49897758e+01] [-1.69023486e-03 -3.49771745e-05 9.99998571e-01 -6.47541199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.46, Y:-34.99, Z:-0.65 [[ 9.74819394e-01 2.22989712e-01 1.65434615e-03 2.82463478e+02] [-2.22989442e-01 9.74820798e-01 -3.48218467e-04 -3.49942585e+01] [-1.69034017e-03 -2.94516090e-05 9.99998571e-01 -6.51335385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.49, Y:-35.00, Z:-0.65 [[ 9.75365776e-01 2.20587549e-01 1.65436618e-03 2.82491383e+02] [-2.20587276e-01 9.75367178e-01 -3.48123301e-04 -3.50001935e+01] [-1.69040614e-03 -2.53845751e-05 9.99998571e-01 -6.54499539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.52, Y:-35.01, Z:-0.66 [[ 9.75959015e-01 2.17947845e-01 1.65438166e-03 2.82519305e+02] [-2.17947569e-01 9.75960417e-01 -3.48049693e-04 -3.50062981e+01] [-1.69046770e-03 -2.08862250e-05 9.99998571e-01 -6.55586878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:-35.01, Z:-0.66 [[ 9.76908356e-01 2.13652352e-01 1.65439712e-03 2.82546618e+02] [-2.13652069e-01 9.76909756e-01 -3.47976229e-04 -3.50112364e+01] [-1.69054262e-03 -1.35244808e-05 9.99998571e-01 -6.55906972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.58, Y:-35.02, Z:-0.65 [[ 9.77220680e-01 2.12219238e-01 1.65441632e-03 2.82576364e+02] [-2.12218953e-01 9.77222081e-01 -3.47884889e-04 -3.50156810e+01] [-1.69056003e-03 -1.11381929e-05 9.99998571e-01 -6.53224430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.60, Y:-35.02, Z:-0.65 [[ 9.77353894e-01 2.11604890e-01 1.65442472e-03 2.82603849e+02] [-2.11604605e-01 9.77355294e-01 -3.47844927e-04 -3.50190204e+01] [-1.69056645e-03 -1.01162958e-05 9.99998571e-01 -6.54899254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.63, Y:-35.02, Z:-0.65 [[ 9.76985625e-01 2.13298739e-01 1.65444563e-03 2.82633421e+02] [-2.13298456e-01 9.76987025e-01 -3.47745444e-04 -3.50205635e+01] [-1.69054558e-03 -1.31483997e-05 9.99998571e-01 -6.53990747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.66, Y:-35.02, Z:-0.65 [[ 9.76650049e-01 2.14830036e-01 1.65446118e-03 2.82661239e+02] [-2.14829756e-01 9.76651450e-01 -3.47671456e-04 -3.50231701e+01] [-1.69052218e-03 -1.58741474e-05 9.99998571e-01 -6.54326106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.69, Y:-35.02, Z:-0.66 [[ 9.76557934e-01 2.15248378e-01 1.65448439e-03 2.82690807e+02] [-2.15248098e-01 9.76559335e-01 -3.47560970e-04 -3.50240756e+01] [-1.69051411e-03 -1.67111954e-05 9.99998571e-01 -6.55818557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:-35.03, Z:-0.66 [[ 9.77044751e-01 2.13027738e-01 1.65450068e-03 2.82719158e+02] [-2.13027455e-01 9.77046152e-01 -3.47483424e-04 -3.50287597e+01] [-1.69054713e-03 -1.29472135e-05 9.99998571e-01 -6.55569686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.75, Y:-35.03, Z:-0.65 [[ 9.77788288e-01 2.09588471e-01 1.65451719e-03 2.82746223e+02] [-2.09588183e-01 9.77789687e-01 -3.47404772e-04 -3.50345372e+01] [-1.69058188e-03 -7.07893544e-06 9.99998571e-01 -6.54120771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:-35.04, Z:-0.65 [[ 9.79682928e-01 2.00545811e-01 1.65453774e-03 2.82773238e+02] [-2.00545510e-01 9.79684326e-01 -3.47306902e-04 -3.50436660e+01] [-1.69057563e-03 8.44052759e-06 9.99998571e-01 -6.50652759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:-35.05, Z:-0.65 [[ 9.80704739e-01 1.95487794e-01 1.65455769e-03 2.82801674e+02] [-1.95487487e-01 9.80706134e-01 -3.47211833e-04 -3.50516224e+01] [-1.69051055e-03 1.70669664e-05 9.99998571e-01 -6.49991038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:-35.06, Z:-0.65 [[ 9.82535623e-01 1.86067223e-01 1.65456583e-03 2.82830715e+02] [-1.86066902e-01 9.82537016e-01 -3.47173014e-04 -3.50638071e+01] [-1.69026969e-03 3.32499145e-05 9.99998571e-01 -6.50439121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:-35.07, Z:-0.65 [[ 9.83241431e-01 1.82300714e-01 1.65456583e-03 2.82859703e+02] [-1.82300388e-01 9.83242823e-01 -3.47173014e-04 -3.50742594e+01] [-1.69012987e-03 3.97268982e-05 9.99998571e-01 -6.51889983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:282.89, Y:-35.09, Z:-0.65 [[ 9.84105836e-01 1.77575242e-01 1.65456180e-03 2.82888622e+02] [-1.77574909e-01 9.84107225e-01 -3.47192211e-04 -3.50907421e+01] [-1.68991897e-03 4.78652181e-05 9.99998571e-01 -6.52083901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:-35.10, Z:-0.65 [[ 9.84315264e-01 1.76410669e-01 1.65455393e-03 2.82918294e+02] [-1.76410335e-01 9.84316653e-01 -3.47229753e-04 -3.51029899e+01] [-1.68986002e-03 4.99031336e-05 9.99998571e-01 -6.51102462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:-35.12, Z:-0.65 [[ 9.84447634e-01 1.75670481e-01 1.65454599e-03 2.82948511e+02] [-1.75670145e-01 9.84449023e-01 -3.47267567e-04 -3.51163711e+01] [-1.68982084e-03 5.12123996e-05 9.99998571e-01 -6.50127314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.405769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.98, Y:-35.14, Z:-0.65 [[ 9.84570022e-01 1.74983239e-01 1.65448956e-03 2.82976824e+02] [-1.74982902e-01 9.84571411e-01 -3.47536198e-04 -3.51381949e+01] [-1.68977613e-03 5.26663375e-05 9.99998571e-01 -6.51023773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.01, Y:-35.15, Z:-0.65 [[ 9.84584200e-01 1.74903448e-01 1.65442939e-03 2.83006055e+02] [-1.74903110e-01 9.84585588e-01 -3.47822393e-04 -3.51528404e+01] [-1.68976267e-03 5.30955856e-05 9.99998571e-01 -6.52542746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.465769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.03, Y:-35.18, Z:-0.65 [[ 9.84362219e-01 1.76148475e-01 1.65437013e-03 2.83033684e+02] [-1.76148138e-01 9.84363608e-01 -3.48104024e-04 -3.51756894e+01] [-1.68981975e-03 5.12462303e-05 9.99998571e-01 -6.54199602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.06, Y:-35.19, Z:-0.65 [[ 9.83949437e-01 1.78439818e-01 1.65434987e-03 2.83064439e+02] [-1.78439484e-01 9.83950827e-01 -3.48200324e-04 -3.51899980e+01] [-1.68993172e-03 4.74101758e-05 9.99998571e-01 -6.54170830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:-35.21, Z:-0.65 [[ 9.82575409e-01 1.85857013e-01 1.65428436e-03 2.83093348e+02] [-1.85856690e-01 9.82576801e-01 -3.48511245e-04 -3.52072043e+01] [-1.69023470e-03 3.49787633e-05 9.99998571e-01 -6.51770864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.12, Y:-35.22, Z:-0.65 [[ 9.81662739e-01 1.90618807e-01 1.65424371e-03 2.83124947e+02] [-1.90618490e-01 9.81664133e-01 -3.48704107e-04 -3.52181443e+01] [-1.69038128e-03 2.69803913e-05 9.99998571e-01 -6.51954886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.15, Y:-35.23, Z:-0.65 [[ 9.79868424e-01 1.99637508e-01 1.65417902e-03 2.83154809e+02] [-1.99637204e-01 9.79869820e-01 -3.49010729e-04 -3.52336686e+01] [-1.69055573e-03 1.17489203e-05 9.99998571e-01 -6.53389611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:-35.24, Z:-0.65 [[ 9.79053230e-01 2.03597734e-01 1.65411871e-03 2.83186511e+02] [-2.03597434e-01 9.79054627e-01 -3.49296323e-04 -3.52440452e+01] [-1.69058851e-03 5.20536805e-06 9.99998571e-01 -6.53834505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.22, Y:-35.25, Z:-0.65 [[ 9.78242519e-01 2.07458040e-01 1.65405711e-03 2.83218341e+02] [-2.07457745e-01 9.78243917e-01 -3.49587751e-04 -3.52531440e+01] [-1.69059610e-03 -1.16535670e-06 9.99998571e-01 -6.54406067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.25, Y:-35.26, Z:-0.66 [[ 9.76517530e-01 2.15431609e-01 1.65399263e-03 2.83249230e+02] [-2.15431326e-01 9.76518930e-01 -3.49892549e-04 -3.52621441e+01] [-1.69053303e-03 -1.46456178e-05 9.99998571e-01 -6.55972844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:283.28, Y:-35.27, Z:-0.65 [[ 9.75676161e-01 2.19210614e-01 1.65393265e-03 2.83280731e+02] [-2.19210335e-01 9.75677563e-01 -3.50175869e-04 -3.52707188e+01] [-1.69046724e-03 -2.09008833e-05 9.99998571e-01 -6.54585890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:283.31, Y:-35.28, Z:-0.65 [[ 9.74369216e-01 2.24948650e-01 1.65387216e-03 2.83311896e+02] [-2.24948380e-01 9.74370619e-01 -3.50461305e-04 -3.52799506e+01] [-1.69032024e-03 -3.05571564e-05 9.99998571e-01 -6.54083985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.34, Y:-35.29, Z:-0.65 [[ 9.73803611e-01 2.27384680e-01 1.65381559e-03 2.83344044e+02] [-2.27384412e-01 9.73805014e-01 -3.50728078e-04 -3.52865571e+01] [-1.69024411e-03 -3.45116166e-05 9.99998571e-01 -6.54091061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.38, Y:-35.29, Z:-0.65 [[ 9.73331843e-01 2.29395702e-01 1.65375202e-03 2.83376357e+02] [-2.29395437e-01 9.73333247e-01 -3.51027562e-04 -3.52922817e+01] [-1.69017604e-03 -3.76968637e-05 9.99998571e-01 -6.54499636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.41, Y:-35.30, Z:-0.65 [[ 9.72261425e-01 2.33890974e-01 1.65368818e-03 2.83408076e+02] [-2.33890714e-01 9.72262830e-01 -3.51328073e-04 -3.52962118e+01] [-1.68999201e-03 -4.51995760e-05 9.99998571e-01 -6.53959629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.44, Y:-35.30, Z:-0.65 [[ 9.71677931e-01 2.36303330e-01 1.65362877e-03 2.83440428e+02] [-2.36303074e-01 9.71679337e-01 -3.51607483e-04 -3.53016434e+01] [-1.68988292e-03 -4.91083291e-05 9.99998571e-01 -6.53839530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.47, Y:-35.30, Z:-0.65 [[ 9.70652053e-01 2.40482552e-01 1.65356602e-03 2.83473743e+02] [-2.40482301e-01 9.70653460e-01 -3.51902343e-04 -3.53036909e+01] [-1.68966595e-03 -5.60786283e-05 9.99998571e-01 -6.52862630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.51, Y:-35.31, Z:-0.65 [[ 9.70129928e-01 2.42580271e-01 1.65350186e-03 2.83506893e+02] [-2.42580023e-01 9.70131336e-01 -3.52203557e-04 -3.53071205e+01] [-1.68955160e-03 -5.94233071e-05 9.99998571e-01 -6.51466857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.54, Y:-35.31, Z:-0.65 [[ 9.69268636e-01 2.45999140e-01 1.65343673e-03 2.83541303e+02] [-2.45998896e-01 9.69270044e-01 -3.52509010e-04 -3.53059654e+01] [-1.68934361e-03 -6.50676848e-05 9.99998571e-01 -6.49682171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.57, Y:-35.31, Z:-0.65 [[ 9.68911026e-01 2.47403899e-01 1.65337002e-03 2.83573924e+02] [-2.47403657e-01 9.68912435e-01 -3.52821620e-04 -3.53090833e+01] [-1.68926022e-03 -6.71970316e-05 9.99998571e-01 -6.48989083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.61, Y:-35.31, Z:-0.65 [[ 9.68675445e-01 2.48324685e-01 1.65330353e-03 2.83606105e+02] [-2.48324444e-01 9.68676853e-01 -3.53132916e-04 -3.53117626e+01] [-1.68920849e-03 -6.84844961e-05 9.99998571e-01 -6.50501721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.64, Y:-35.31, Z:-0.65 [[ 9.68546368e-01 2.48827649e-01 1.65324169e-03 2.83639227e+02] [-2.48827408e-01 9.68547777e-01 -3.53422219e-04 -3.53147885e+01] [-1.68918478e-03 -6.90660371e-05 9.99998571e-01 -6.51971066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:283.67, Y:-35.31, Z:-0.65 [[ 9.68920421e-01 2.47367107e-01 1.65317609e-03 2.83672955e+02] [-2.47366863e-01 9.68921829e-01 -3.53728804e-04 -3.53135493e+01] [-1.68929927e-03 -6.62059211e-05 9.99998571e-01 -6.53923772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.71, Y:-35.32, Z:-0.65 [[ 9.69193880e-01 2.46293505e-01 1.65310994e-03 2.83705060e+02] [-2.46293259e-01 9.69195287e-01 -3.54037689e-04 -3.53166877e+01] [-1.68938354e-03 -6.40186722e-05 9.99998571e-01 -6.54285510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.74, Y:-35.32, Z:-0.65 [[ 9.69639710e-01 2.44532412e-01 1.65304810e-03 2.83737283e+02] [-2.44532163e-01 9.69641117e-01 -3.54326187e-04 -3.53151764e+01] [-1.68950764e-03 -6.06546856e-05 9.99998571e-01 -6.51904984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.155769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.77, Y:-35.32, Z:-0.65 [[ 9.69713536e-01 2.44239483e-01 1.65304002e-03 2.83767683e+02] [-2.44239233e-01 9.69714943e-01 -3.54363860e-04 -3.53171063e+01] [-1.68952726e-03 -6.01057952e-05 9.99998571e-01 -6.50905734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.80, Y:-35.32, Z:-0.65 [[ 9.69675241e-01 2.44391480e-01 1.65304809e-03 2.83796429e+02] [-2.44391230e-01 9.69676648e-01 -3.54326223e-04 -3.53187424e+01] [-1.68951644e-03 -6.04090902e-05 9.99998571e-01 -6.50196396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.215769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.83, Y:-35.32, Z:-0.65 [[ 9.69363677e-01 2.45624366e-01 1.65306013e-03 2.83826148e+02] [-2.45624118e-01 9.69365084e-01 -3.54270043e-04 -3.53163275e+01] [-1.68943613e-03 -6.26149253e-05 9.99998571e-01 -6.50107419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:283.85, Y:-35.32, Z:-0.65 [[ 9.69188800e-01 2.46313496e-01 1.65307616e-03 2.83854140e+02] [-2.46313249e-01 9.69190207e-01 -3.54195242e-04 -3.53181570e+01] [-1.68938829e-03 -6.38924976e-05 9.99998571e-01 -6.50945725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.88, Y:-35.31, Z:-0.65 [[ 9.69104217e-01 2.46646069e-01 1.65309617e-03 2.83883102e+02] [-2.46645823e-01 9.69105625e-01 -3.54101822e-04 -3.53147111e+01] [-1.68936262e-03 -6.45676954e-05 9.99998571e-01 -6.50772394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.91, Y:-35.32, Z:-0.65 [[ 9.69090415e-01 2.46700293e-01 1.65311625e-03 2.83912059e+02] [-2.46700047e-01 9.69091823e-01 -3.54008046e-04 -3.53159265e+01] [-1.68935533e-03 -6.47580524e-05 9.99998571e-01 -6.50636591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.94, Y:-35.32, Z:-0.65 [[ 9.69070471e-01 2.46778626e-01 1.65313199e-03 2.83940501e+02] [-2.46778381e-01 9.69071878e-01 -3.53934518e-04 -3.53167477e+01] [-1.68934720e-03 -6.49697456e-05 9.99998571e-01 -6.50181624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.97, Y:-35.31, Z:-0.65 [[ 9.68882994e-01 2.47513657e-01 1.65315559e-03 2.83968421e+02] [-2.47513413e-01 9.68884402e-01 -3.53824280e-04 -3.53135543e+01] [-1.68929300e-03 -6.63638538e-05 9.99998571e-01 -6.50701591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.00, Y:-35.31, Z:-0.65 [[ 9.68735097e-01 2.48091874e-01 1.65318299e-03 2.83997200e+02] [-2.48091632e-01 9.68736506e-01 -3.53696204e-04 -3.53139911e+01] [-1.68924786e-03 -6.75029379e-05 9.99998571e-01 -6.51345486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.03, Y:-35.32, Z:-0.65 [[ 9.68751495e-01 2.48027836e-01 1.65320639e-03 2.84025098e+02] [-2.48027593e-01 9.68752904e-01 -3.53586798e-04 -3.53198182e+01] [-1.68924786e-03 -6.75030609e-05 9.99998571e-01 -6.51393657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.05, Y:-35.31, Z:-0.65 [[ 9.68281016e-01 2.49858242e-01 1.65322975e-03 2.84054930e+02] [-2.49858002e-01 9.68282425e-01 -3.53477512e-04 -3.53125760e+01] [-1.68911258e-03 -7.08071188e-05 9.99998571e-01 -6.54784571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.08, Y:-35.31, Z:-0.66 [[ 9.68158915e-01 2.50330947e-01 1.65324912e-03 2.84084304e+02] [-2.50330708e-01 9.68160323e-01 -3.53386894e-04 -3.53125942e+01] [-1.68907388e-03 -7.17243511e-05 9.99998571e-01 -6.55723886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.11, Y:-35.31, Z:-0.66 [[ 9.68724009e-01 2.48135166e-01 1.65326496e-03 2.84112951e+02] [-2.48134923e-01 9.68725418e-01 -3.53312769e-04 -3.53102431e+01] [-1.68922912e-03 -6.79702124e-05 9.99998571e-01 -6.57961494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54576923100007 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:284.14, Y:-35.31, Z:-0.66 [[ 9.69431222e-01 2.45357642e-01 1.65328468e-03 2.84139445e+02] [-2.45357396e-01 9.69432630e-01 -3.53220479e-04 -3.53130599e+01] [-1.68941346e-03 -6.32226642e-05 9.99998571e-01 -6.59323140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.17, Y:-35.31, Z:-0.66 [[ 9.71499881e-01 2.37034277e-01 1.65331211e-03 2.84168282e+02] [-2.37034019e-01 9.71501286e-01 -3.53092068e-04 -3.53145659e+01] [-1.68988976e-03 -4.88623117e-05 9.99998571e-01 -6.57860013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.20, Y:-35.32, Z:-0.66 [[ 9.72583292e-01 2.32548936e-01 1.65332784e-03 2.84196619e+02] [-2.32548671e-01 9.72584696e-01 -3.53018363e-04 -3.53177068e+01] [-1.69009540e-03 -4.11394320e-05 9.99998571e-01 -6.56822549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.22, Y:-35.32, Z:-0.66 [[ 9.73537287e-01 2.28522248e-01 1.65333999e-03 2.84223890e+02] [-2.28521978e-01 9.73538690e-01 -3.52961486e-04 -3.53205202e+01] [-1.69025000e-03 -3.42033569e-05 9.99998571e-01 -6.57587344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.25, Y:-35.32, Z:-0.66 [[ 9.74840943e-01 2.22895494e-01 1.65336832e-03 2.84253366e+02] [-2.22895217e-01 9.74842345e-01 -3.52828716e-04 -3.53221582e+01] [-1.69041738e-03 -2.45760112e-05 9.99998571e-01 -6.59248761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.28, Y:-35.33, Z:-0.66 [[ 9.75267003e-01 2.21023841e-01 1.65338516e-03 2.84281338e+02] [-2.21023561e-01 9.75268405e-01 -3.52749760e-04 -3.53265716e+01] [-1.69046042e-03 -2.14118758e-05 9.99998571e-01 -6.61955550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.31, Y:-35.33, Z:-0.66 [[ 9.75558256e-01 2.19734737e-01 1.65340618e-03 2.84308514e+02] [-2.19734455e-01 9.75559657e-01 -3.52651216e-04 -3.53296183e+01] [-1.69048609e-03 -1.92785002e-05 9.99998571e-01 -6.61639591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.34, Y:-35.33, Z:-0.66 [[ 9.75633526e-01 2.19400296e-01 1.65343396e-03 2.84335719e+02] [-2.19400013e-01 9.75634927e-01 -3.52520918e-04 -3.53337704e+01] [-1.69049112e-03 -1.88322077e-05 9.99998571e-01 -6.61582397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.36, Y:-35.34, Z:-0.66 [[ 9.75773092e-01 2.18778743e-01 1.65346142e-03 2.84363798e+02] [-2.18778460e-01 9.75774493e-01 -3.52392092e-04 -3.53391740e+01] [-1.69050138e-03 -1.78870213e-05 9.99998571e-01 -6.60823731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.39, Y:-35.34, Z:-0.66 [[ 9.76129503e-01 2.17183010e-01 1.65347732e-03 2.84392101e+02] [-2.17182725e-01 9.76130903e-01 -3.52317446e-04 -3.53444797e+01] [-1.69052768e-03 -1.51992573e-05 9.99998571e-01 -6.61731359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.42, Y:-35.35, Z:-0.66 [[ 9.76113047e-01 2.17256956e-01 1.65349331e-03 2.84420294e+02] [-2.17256671e-01 9.76114448e-01 -3.52242412e-04 -3.53499617e+01] [-1.69052582e-03 -1.54040370e-05 9.99998571e-01 -6.61833858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.45, Y:-35.35, Z:-0.66 [[ 9.76087320e-01 2.17372514e-01 1.65350918e-03 2.84447914e+02] [-2.17372229e-01 9.76088720e-01 -3.52167869e-04 -3.53543673e+01] [-1.69052328e-03 -1.56803863e-05 9.99998571e-01 -6.58935149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.905769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:284.48, Y:-35.36, Z:-0.66 [[ 9.76098546e-01 2.17322096e-01 1.65353837e-03 2.84476283e+02] [-2.17321812e-01 9.76099947e-01 -3.52030791e-04 -3.53599773e+01] [-1.69052278e-03 -1.57332112e-05 9.99998571e-01 -6.56564295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.50, Y:-35.37, Z:-0.66 [[ 9.76213329e-01 2.16805911e-01 1.65355489e-03 2.84503576e+02] [-2.16805626e-01 9.76214729e-01 -3.51953150e-04 -3.53661396e+01] [-1.69053017e-03 -1.49186477e-05 9.99998571e-01 -6.56157183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.53, Y:-35.37, Z:-0.66 [[ 9.76695542e-01 2.14623120e-01 1.65357972e-03 2.84529508e+02] [-2.14622832e-01 9.76696942e-01 -3.51836474e-04 -3.53730308e+01] [-1.69055850e-03 -1.12588459e-05 9.99998571e-01 -6.57462412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:284.56, Y:-35.38, Z:-0.66 [[ 9.76953994e-01 2.13443572e-01 1.65360854e-03 2.84557012e+02] [-2.13443282e-01 9.76955394e-01 -3.51700952e-04 -3.53802584e+01] [-1.69057009e-03 -9.35598480e-06 9.99998571e-01 -6.59228387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.58, Y:-35.39, Z:-0.66 [[ 9.77316553e-01 2.11777290e-01 1.65362493e-03 2.84584044e+02] [-2.11776998e-01 9.77317952e-01 -3.51623909e-04 -3.53872929e+01] [-1.69058328e-03 -6.55185663e-06 9.99998571e-01 -6.62605552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:-35.39, Z:-0.66 [[ 9.77452793e-01 2.11147587e-01 1.65365363e-03 2.84611132e+02] [-2.11147295e-01 9.77454191e-01 -3.51488858e-04 -3.53926077e+01] [-1.69058670e-03 -5.60072546e-06 9.99998571e-01 -6.61599664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.64, Y:-35.40, Z:-0.66 [[ 9.77387044e-01 2.11451725e-01 1.65367862e-03 2.84639165e+02] [-2.11451434e-01 9.77388443e-01 -3.51371232e-04 -3.53982005e+01] [-1.69058443e-03 -6.24702629e-06 9.99998571e-01 -6.58083756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.67, Y:-35.40, Z:-0.66 [[ 9.77320505e-01 2.11759053e-01 1.65369530e-03 2.84667349e+02] [-2.11758762e-01 9.77321904e-01 -3.51292717e-04 -3.54038917e+01] [-1.69058205e-03 -6.85889350e-06 9.99998571e-01 -6.57033801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.70, Y:-35.41, Z:-0.66 [[ 9.77176174e-01 2.12424079e-01 1.65371197e-03 2.84695558e+02] [-2.12423789e-01 9.77177574e-01 -3.51214230e-04 -3.54075296e+01] [-1.69057661e-03 -8.08958551e-06 9.99998571e-01 -6.58156938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.72, Y:-35.41, Z:-0.66 [[ 9.77026572e-01 2.13111103e-01 1.65373688e-03 2.84723243e+02] [-2.13110814e-01 9.77027972e-01 -3.51096918e-04 -3.54106452e+01] [-1.69056984e-03 -9.39819296e-06 9.99998571e-01 -6.58337777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.75, Y:-35.41, Z:-0.66 [[ 9.76878997e-01 2.13786553e-01 1.65376185e-03 2.84750105e+02] [-2.13786266e-01 9.76880397e-01 -3.50979246e-04 -3.54133441e+01] [-1.69056218e-03 -1.06873167e-05 9.99998571e-01 -6.58378586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.78, Y:-35.41, Z:-0.65 [[ 9.76709623e-01 2.14559032e-01 1.65379078e-03 2.84779542e+02] [-2.14558745e-01 9.76711023e-01 -3.50842864e-04 -3.54135769e+01] [-1.69055219e-03 -1.21636736e-05 9.99998571e-01 -6.53619038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.81, Y:-35.42, Z:-0.65 [[ 9.76724296e-01 2.14492223e-01 1.65380769e-03 2.84807551e+02] [-2.14491937e-01 9.76725696e-01 -3.50763138e-04 -3.54167974e+01] [-1.69055244e-03 -1.21295362e-05 9.99998571e-01 -6.51113278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.83, Y:-35.42, Z:-0.65 [[ 9.76939784e-01 2.13508602e-01 1.65382869e-03 2.84834554e+02] [-2.13508315e-01 9.76941184e-01 -3.50664119e-04 -3.54184472e+01] [-1.69056316e-03 -1.05284475e-05 9.99998571e-01 -6.50827028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.86, Y:-35.42, Z:-0.65 [[ 9.77392147e-01 2.11428133e-01 1.65385769e-03 2.84862162e+02] [-2.11427842e-01 9.77393546e-01 -3.50527277e-04 -3.54230192e+01] [-1.69058116e-03 -7.06895472e-06 9.99998571e-01 -6.52239101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:-35.43, Z:-0.65 [[ 9.78100843e-01 2.08124978e-01 1.65388268e-03 2.84890057e+02] [-2.08124683e-01 9.78102241e-01 -3.50409316e-04 -3.54275783e+01] [-1.69059529e-03 -1.47816215e-06 9.99998571e-01 -6.52122612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.92, Y:-35.43, Z:-0.65 [[ 9.79489125e-01 2.01490245e-01 1.65390815e-03 2.84917062e+02] [-2.01489941e-01 9.79490521e-01 -3.50289060e-04 -3.54334169e+01] [-1.69056719e-03 9.85846886e-06 9.99998571e-01 -6.50746512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.94, Y:-35.44, Z:-0.65 [[ 9.80101998e-01 1.98487628e-01 1.65393373e-03 2.84943262e+02] [-1.98487319e-01 9.80103393e-01 -3.50168234e-04 -3.54391907e+01] [-1.69053013e-03 1.49157129e-05 9.99998571e-01 -6.50386474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.97, Y:-35.45, Z:-0.65 [[ 9.80974340e-01 1.94130391e-01 1.65396333e-03 2.84969549e+02] [-1.94130076e-01 9.80975734e-01 -3.50028392e-04 -3.54451561e+01] [-1.69044904e-03 2.22848436e-05 9.99998571e-01 -6.49617674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.00, Y:-35.45, Z:-0.65 [[ 9.81089023e-01 1.93549978e-01 1.65399225e-03 2.84996006e+02] [-1.93549663e-01 9.81090417e-01 -3.49891663e-04 -3.54499466e+01] [-1.69043747e-03 2.31452260e-05 9.99998571e-01 -6.50196095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.02, Y:-35.45, Z:-0.65 [[ 9.81034929e-01 1.93823971e-01 1.65402084e-03 2.85023132e+02] [-1.93823657e-01 9.81036323e-01 -3.49756479e-04 -3.54548409e+01] [-1.69044571e-03 2.25349552e-05 9.99998571e-01 -6.50337393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.05, Y:-35.46, Z:-0.65 [[ 9.80595317e-01 1.96035937e-01 1.65404576e-03 2.85050493e+02] [-1.96035626e-01 9.80596712e-01 -3.49638573e-04 -3.54612928e+01] [-1.69049356e-03 1.86020501e-05 9.99998571e-01 -6.53655985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.08, Y:-35.47, Z:-0.65 [[ 9.80211787e-01 1.97944731e-01 1.65406641e-03 2.85077871e+02] [-1.97944422e-01 9.80213183e-01 -3.49540880e-04 -3.54687871e+01] [-1.69052747e-03 1.52108706e-05 9.99998571e-01 -6.54153057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.10, Y:-35.48, Z:-0.65 [[ 9.80052525e-01 1.98731760e-01 1.65409169e-03 2.85104430e+02] [-1.98731454e-01 9.80053921e-01 -3.49421198e-04 -3.54753738e+01] [-1.69054014e-03 1.37310819e-05 9.99998571e-01 -6.53159812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-35.48, Z:-0.65 [[ 9.80018374e-01 1.98900102e-01 1.65412106e-03 2.85130355e+02] [-1.98899796e-01 9.80019770e-01 -3.49282113e-04 -3.54814223e+01] [-1.69054359e-03 1.32985467e-05 9.99998571e-01 -6.53214548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.655769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:285.16, Y:-35.49, Z:-0.66 [[ 9.80036264e-01 1.98811935e-01 1.65415024e-03 2.85157399e+02] [-1.98811628e-01 9.80037660e-01 -3.49143874e-04 -3.54873825e+01] [-1.69054350e-03 1.33093552e-05 9.99998571e-01 -6.56527750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.19, Y:-35.49, Z:-0.66 [[ 9.80019987e-01 1.98892156e-01 1.65417051e-03 2.85185818e+02] [-1.98891850e-01 9.80021382e-01 -3.49047789e-04 -3.54928257e+01] [-1.69054534e-03 1.30727760e-05 9.99998571e-01 -6.58965160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-35.50, Z:-0.66 [[ 9.79981099e-01 1.99083675e-01 1.65418714e-03 2.85213086e+02] [-1.99083369e-01 9.79982495e-01 -3.48968988e-04 -3.54977118e+01] [-1.69054847e-03 1.26618637e-05 9.99998571e-01 -6.62622412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.24, Y:-35.50, Z:-0.66 [[ 9.79983189e-01 1.99073384e-01 1.65420368e-03 2.85241076e+02] [-1.99073079e-01 9.79984585e-01 -3.48890565e-04 -3.55044031e+01] [-1.69054893e-03 1.25994692e-05 9.99998571e-01 -6.63966910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.775769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.27, Y:-35.51, Z:-0.67 [[ 9.80036204e-01 1.98812229e-01 1.65422027e-03 2.85267641e+02] [-1.98811923e-01 9.80037600e-01 -3.48811883e-04 -3.55114253e+01] [-1.69054613e-03 1.29695603e-05 9.99998571e-01 -6.65549471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.30, Y:-35.52, Z:-0.66 [[ 9.79955958e-01 1.99207391e-01 1.65426059e-03 2.85295182e+02] [-1.99207086e-01 9.79957354e-01 -3.48620535e-04 -3.55211368e+01] [-1.69055262e-03 1.20923386e-05 9.99998571e-01 -6.61362846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.32, Y:-35.53, Z:-0.66 [[ 9.79916041e-01 1.99403649e-01 1.65427745e-03 2.85323250e+02] [-1.99403344e-01 9.79917438e-01 -3.48540543e-04 -3.55291719e+01] [-1.69055557e-03 1.16720139e-05 9.99998571e-01 -6.59197472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:-35.54, Z:-0.66 [[ 9.79898485e-01 1.99489903e-01 1.65429427e-03 2.85349921e+02] [-1.99489599e-01 9.79899882e-01 -3.48460674e-04 -3.55392684e+01] [-1.69055715e-03 1.14415857e-05 9.99998571e-01 -6.56871405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.38, Y:-35.55, Z:-0.66 [[ 9.79855044e-01 1.99703172e-01 1.65431520e-03 2.85376038e+02] [-1.99702868e-01 9.79856440e-01 -3.48361290e-04 -3.55459640e+01] [-1.69056025e-03 1.09720776e-05 9.99998571e-01 -6.56576302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-35.55, Z:-0.66 [[ 9.79439765e-01 2.01730040e-01 1.65434328e-03 2.85404118e+02] [-2.01729739e-01 9.79441163e-01 -3.48227865e-04 -3.55526794e+01] [-1.69057993e-03 7.33797941e-06 9.99998571e-01 -6.56713906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-35.56, Z:-0.66 [[ 9.79091327e-01 2.03414446e-01 1.65435981e-03 2.85430023e+02] [-2.03414148e-01 9.79092725e-01 -3.48149342e-04 -3.55592999e+01] [-1.69059026e-03 4.34981082e-06 9.99998571e-01 -6.57036377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-35.57, Z:-0.66 [[ 9.78813287e-01 2.04748167e-01 1.65438857e-03 2.85456048e+02] [-2.04747871e-01 9.78814685e-01 -3.48012618e-04 -3.55662609e+01] [-1.69059477e-03 1.90683755e-06 9.99998571e-01 -6.56343409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-35.58, Z:-0.65 [[ 9.78655755e-01 2.05499819e-01 1.65441720e-03 2.85483388e+02] [-2.05499525e-01 9.78657154e-01 -3.47876430e-04 -3.55750522e+01] [-1.69059578e-03 4.69320501e-07 9.99998571e-01 -6.53289455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-35.58, Z:-0.65 [[ 9.78853894e-01 2.04553945e-01 1.65443402e-03 2.85509696e+02] [-2.04553649e-01 9.78855293e-01 -3.47796452e-04 -3.55810749e+01] [-1.69059463e-03 2.02139652e-06 9.99998571e-01 -6.52688730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:-35.59, Z:-0.65 [[ 9.79686125e-01 2.00530197e-01 1.65446322e-03 2.85536788e+02] [-2.00529896e-01 9.79687522e-01 -3.47657466e-04 -3.55891363e+01] [-1.69057279e-03 8.82585769e-06 9.99998571e-01 -6.52893058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:-35.60, Z:-0.65 [[ 9.80273959e-01 1.97636606e-01 1.65448771e-03 2.85563071e+02] [-1.97636301e-01 9.80275355e-01 -3.47540903e-04 -3.55977998e+01] [-1.69054033e-03 1.36984666e-05 9.99998571e-01 -6.53519778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.59, Y:-35.61, Z:-0.65 [[ 9.80923110e-01 1.94389080e-01 1.65451249e-03 2.85589616e+02] [-1.94388771e-01 9.80924505e-01 -3.47422897e-04 -3.56071664e+01] [-1.69048706e-03 1.91765005e-05 9.99998571e-01 -6.54213447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.61, Y:-35.62, Z:-0.65 [[ 9.82213141e-01 1.87762104e-01 1.65453300e-03 2.85614907e+02] [-1.87761785e-01 9.82214534e-01 -3.47325177e-04 -3.56201310e+01] [-1.69032087e-03 3.04892826e-05 9.99998571e-01 -6.53143575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.64, Y:-35.63, Z:-0.65 [[ 9.83340311e-01 1.81766597e-01 1.65455335e-03 2.85641419e+02] [-1.81766270e-01 9.83341702e-01 -3.47228236e-04 -3.56341925e+01] [-1.69010580e-03 4.07015319e-05 9.99998571e-01 -6.54214118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.67, Y:-35.65, Z:-0.66 [[ 9.83846326e-01 1.79007453e-01 1.65456946e-03 2.85667775e+02] [-1.79007122e-01 9.83847717e-01 -3.47151443e-04 -3.56459995e+01] [-1.68998708e-03 4.53639542e-05 9.99998571e-01 -6.56476733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.70, Y:-35.66, Z:-0.66 [[ 9.84225824e-01 1.76908985e-01 1.65458140e-03 2.85695336e+02] [-1.76908651e-01 9.84227214e-01 -3.47094502e-04 -3.56592066e+01] [-1.68988818e-03 4.89096077e-05 9.99998571e-01 -6.56830331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.72, Y:-35.68, Z:-0.66 [[ 9.84677070e-01 1.74379844e-01 1.65458938e-03 2.85722844e+02] [-1.74379506e-01 9.84678459e-01 -3.47056467e-04 -3.56777373e+01] [-1.68975817e-03 5.32120653e-05 9.99998571e-01 -6.58056811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-35.69, Z:-0.66 [[ 9.84558436e-01 1.75048416e-01 1.65457069e-03 2.85752563e+02] [-1.75048080e-01 9.84559825e-01 -3.47145541e-04 -3.56892142e+01] [-1.68979111e-03 5.21556483e-05 9.99998571e-01 -6.57076558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-35.70, Z:-0.66 [[ 9.84554274e-01 1.75071825e-01 1.65456246e-03 2.85783708e+02] [-1.75071488e-01 9.84555663e-01 -3.47184762e-04 -3.56957954e+01] [-1.68979111e-03 5.21555279e-05 9.99998571e-01 -6.57130378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-35.71, Z:-0.66 [[ 9.83517545e-01 1.80805146e-01 1.65455421e-03 2.85812178e+02] [-1.80804818e-01 9.83518936e-01 -3.47224100e-04 -3.57107616e+01] [-1.69006530e-03 4.23496230e-05 9.99998571e-01 -6.56150096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.405769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.84, Y:-35.72, Z:-0.66 [[ 9.82584079e-01 1.85811166e-01 1.65454596e-03 2.85841552e+02] [-1.85810845e-01 9.82585472e-01 -3.47263402e-04 -3.57201271e+01] [-1.69025824e-03 3.37829086e-05 9.99998571e-01 -6.56324113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:-35.73, Z:-0.66 [[ 9.81517897e-01 1.91363218e-01 1.65453773e-03 2.85870850e+02] [-1.91362904e-01 9.81519291e-01 -3.47302609e-04 -3.57279188e+01] [-1.69042164e-03 2.42665816e-05 9.99998571e-01 -6.55564651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.465769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.90, Y:-35.73, Z:-0.66 [[ 9.79235998e-01 2.02716852e-01 1.65453773e-03 2.85899552e+02] [-2.02716555e-01 9.79237396e-01 -3.47302609e-04 -3.57344422e+01] [-1.69058931e-03 4.68902872e-06 9.99998571e-01 -6.58721527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:285.93, Y:-35.74, Z:-0.66 [[ 9.78232959e-01 2.07503111e-01 1.65454191e-03 2.85927294e+02] [-2.07502820e-01 9.78234358e-01 -3.47282669e-04 -3.57400507e+01] [-1.69059198e-03 -3.59875992e-06 9.99998571e-01 -6.59968125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.96, Y:-35.74, Z:-0.66 [[ 9.76781940e-01 2.14229558e-01 1.65455411e-03 2.85956014e+02] [-2.14229277e-01 9.76783342e-01 -3.47224542e-04 -3.57432891e+01] [-1.69052665e-03 -1.52912690e-05 9.99998571e-01 -6.55919641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:-35.75, Z:-0.65 [[ 9.76282048e-01 2.16496249e-01 1.65457019e-03 2.85985447e+02] [-2.16495972e-01 9.76283450e-01 -3.47147911e-04 -3.57476761e+01] [-1.69048571e-03 -1.92935078e-05 9.99998571e-01 -6.52753765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.01, Y:-35.75, Z:-0.65 [[ 9.75601607e-01 2.19542175e-01 1.65457828e-03 2.86013432e+02] [-2.19541902e-01 9.75603010e-01 -3.47109344e-04 -3.57511708e+01] [-1.69041669e-03 -2.46088297e-05 9.99998571e-01 -6.50278369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.04, Y:-35.76, Z:-0.65 [[ 9.75401488e-01 2.20429577e-01 1.65459839e-03 2.86042285e+02] [-2.20429306e-01 9.75402891e-01 -3.47013464e-04 -3.57560531e+01] [-1.69039208e-03 -2.62445256e-05 9.99998571e-01 -6.52227569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-35.76, Z:-0.66 [[ 9.75147253e-01 2.21551567e-01 1.65460657e-03 2.86069896e+02] [-2.21551297e-01 9.75148656e-01 -3.46974469e-04 -3.57598100e+01] [-1.69036011e-03 -2.82290314e-05 9.99998571e-01 -6.55822156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.10, Y:-35.76, Z:-0.66 [[ 9.74566161e-01 2.24093864e-01 1.65462691e-03 2.86097968e+02] [-2.24093598e-01 9.74567565e-01 -3.46877410e-04 -3.57611346e+01] [-1.69027882e-03 -3.27363122e-05 9.99998571e-01 -6.57343897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.13, Y:-35.77, Z:-0.66 [[ 9.74287589e-01 2.25301923e-01 1.65464675e-03 2.86126546e+02] [-2.25301659e-01 9.74288993e-01 -3.46782758e-04 -3.57650176e+01] [-1.69023494e-03 -3.49285209e-05 9.99998571e-01 -6.55340905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.15, Y:-35.77, Z:-0.66 [[ 9.74091181e-01 2.26149581e-01 1.65466255e-03 2.86154242e+02] [-2.26149318e-01 9.74092586e-01 -3.46707369e-04 -3.57676941e+01] [-1.69020225e-03 -3.64762162e-05 9.99998571e-01 -6.56050618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.18, Y:-35.77, Z:-0.66 [[ 9.74292371e-01 2.25281243e-01 1.65468215e-03 2.86182127e+02] [-2.25280979e-01 9.74293775e-01 -3.46613803e-04 -3.57720170e+01] [-1.69023210e-03 -3.50652305e-05 9.99998571e-01 -6.58615405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.21, Y:-35.78, Z:-0.66 [[ 9.74683862e-01 2.23581375e-01 1.65470163e-03 2.86211059e+02] [-2.23581109e-01 9.74685266e-01 -3.46520774e-04 -3.57767915e+01] [-1.69028889e-03 -3.22118185e-05 9.99998571e-01 -6.58074621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.24, Y:-35.78, Z:-0.66 [[ 9.75311794e-01 2.20826100e-01 1.65471767e-03 2.86238209e+02] [-2.20825830e-01 9.75313197e-01 -3.46444136e-04 -3.57817462e+01] [-1.69037189e-03 -2.75133520e-05 9.99998571e-01 -6.60125495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.27, Y:-35.79, Z:-0.66 [[ 9.75683165e-01 2.19179432e-01 1.65473761e-03 2.86266719e+02] [-2.19179160e-01 9.75684568e-01 -3.46348896e-04 -3.57869284e+01] [-1.69041450e-03 -2.47572117e-05 9.99998571e-01 -6.60737514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.29, Y:-35.79, Z:-0.66 [[ 9.75817869e-01 2.18578928e-01 1.65475381e-03 2.86294154e+02] [-2.18578655e-01 9.75819272e-01 -3.46271482e-04 -3.57922462e+01] [-1.69042831e-03 -2.37959629e-05 9.99998571e-01 -6.61434513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.32, Y:-35.80, Z:-0.66 [[ 9.76041817e-01 2.17576728e-01 1.65477399e-03 2.86322237e+02] [-2.17576454e-01 9.76043220e-01 -3.46175020e-04 -3.57978959e+01] [-1.69045056e-03 -2.21585614e-05 9.99998571e-01 -6.60099510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.35, Y:-35.80, Z:-0.66 [[ 9.76637407e-01 2.14887498e-01 1.65479035e-03 2.86349113e+02] [-2.14887220e-01 9.76638809e-01 -3.46096781e-04 -3.58042356e+01] [-1.69050435e-03 -1.75822347e-05 9.99998571e-01 -6.57954359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9757692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.38, Y:-35.81, Z:-0.66 [[ 9.76946490e-01 2.13477908e-01 1.65481065e-03 2.86375810e+02] [-2.13477628e-01 9.76947891e-01 -3.45999712e-04 -3.58104312e+01] [-1.69052707e-03 -1.52418482e-05 9.99998571e-01 -6.56186626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.40, Y:-35.82, Z:-0.65 [[ 9.77324688e-01 2.11739736e-01 1.65482959e-03 2.86403670e+02] [-2.11739454e-01 9.77326089e-01 -3.45909083e-04 -3.58181065e+01] [-1.69055083e-03 -1.23272273e-05 9.99998571e-01 -6.53107993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.43, Y:-35.83, Z:-0.65 [[ 9.77301666e-01 2.11845972e-01 1.65484464e-03 2.86430567e+02] [-2.11845691e-01 9.77303067e-01 -3.45837070e-04 -3.58254970e+01] [-1.69054893e-03 -1.25845613e-05 9.99998571e-01 -6.53138951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.46, Y:-35.83, Z:-0.66 [[ 9.77115095e-01 2.12704848e-01 1.65486338e-03 2.86458408e+02] [-2.12704567e-01 9.77116496e-01 -3.45747369e-04 -3.58337891e+01] [-1.69053645e-03 -1.41620260e-05 9.99998571e-01 -6.55910034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.49, Y:-35.84, Z:-0.66 [[ 9.77047635e-01 2.13014507e-01 1.65487888e-03 2.86485825e+02] [-2.13014228e-01 9.77049036e-01 -3.45673192e-04 -3.58398833e+01] [-1.69053122e-03 -1.47735709e-05 9.99998571e-01 -6.59383968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.51, Y:-35.85, Z:-0.66 [[ 9.76956799e-01 2.13430725e-01 1.65489817e-03 2.86513768e+02] [-2.13430446e-01 9.76958200e-01 -3.45580811e-04 -3.58463791e+01] [-1.69052390e-03 -1.55881308e-05 9.99998571e-01 -6.59679903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.155769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.54, Y:-35.85, Z:-0.66 [[ 9.76788085e-01 2.14201534e-01 1.65491397e-03 2.86540573e+02] [-2.14201256e-01 9.76789487e-01 -3.45505148e-04 -3.58544350e+01] [-1.69051030e-03 -1.69993390e-05 9.99998571e-01 -6.56859126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.57, Y:-35.86, Z:-0.66 [[ 9.76801980e-01 2.14138166e-01 1.65493493e-03 2.86567926e+02] [-2.14137888e-01 9.76803381e-01 -3.45404704e-04 -3.58615515e+01] [-1.69051036e-03 -1.69922711e-05 9.99998571e-01 -6.55509511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.215769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:286.60, Y:-35.87, Z:-0.66 [[ 9.77270954e-01 2.11987601e-01 1.65495516e-03 2.86596085e+02] [-2.11987320e-01 9.77272356e-01 -3.45307754e-04 -3.58699646e+01] [-1.69054289e-03 -1.33702697e-05 9.99998571e-01 -6.56791221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.63, Y:-35.88, Z:-0.66 [[ 9.77642521e-01 2.10267359e-01 1.65497057e-03 2.86625021e+02] [-2.10267076e-01 9.77643922e-01 -3.45233870e-04 -3.58777151e+01] [-1.69056333e-03 -1.04705125e-05 9.99998571e-01 -6.56891765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.65, Y:-35.89, Z:-0.66 [[ 9.78361387e-01 2.06896733e-01 1.65497836e-03 2.86652564e+02] [-2.06896445e-01 9.78362786e-01 -3.45196504e-04 -3.58874323e+01] [-1.69058927e-03 -4.68220960e-06 9.99998571e-01 -6.58260836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.68, Y:-35.89, Z:-0.66 [[ 9.78407090e-01 2.06680495e-01 1.65499001e-03 2.86680547e+02] [-2.06680207e-01 9.78408490e-01 -3.45140675e-04 -3.58949529e+01] [-1.69059012e-03 -4.36559381e-06 9.99998571e-01 -6.58917896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.71, Y:-35.90, Z:-0.66 [[ 9.77759039e-01 2.09724873e-01 1.65500524e-03 2.86708851e+02] [-2.09724590e-01 9.77760440e-01 -3.45067599e-04 -3.59026674e+01] [-1.69056791e-03 -9.70233176e-06 9.99998571e-01 -6.59794560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.74, Y:-35.91, Z:-0.66 [[ 9.77202988e-01 2.12300684e-01 1.65501318e-03 2.86737563e+02] [-2.12300404e-01 9.77204390e-01 -3.45029533e-04 -3.59089338e+01] [-1.69053615e-03 -1.41960759e-05 9.99998571e-01 -6.59423543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:-35.91, Z:-0.66 [[ 9.76694417e-01 2.14628230e-01 1.65502139e-03 2.86766246e+02] [-2.14627954e-01 9.76695819e-01 -3.44990149e-04 -3.59142072e+01] [-1.69049710e-03 -1.82639015e-05 9.99998571e-01 -6.58613966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.80, Y:-35.92, Z:-0.66 [[ 9.75630652e-01 2.19413063e-01 1.65503362e-03 2.86795291e+02] [-2.19412793e-01 9.75632055e-01 -3.44931443e-04 -3.59173935e+01] [-1.69038632e-03 -2.66098610e-05 9.99998571e-01 -6.55546173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45576923100003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:286.82, Y:-35.92, Z:-0.65 [[ 9.75174121e-01 2.21433272e-01 1.65504554e-03 2.86824555e+02] [-2.21433006e-01 9.75175525e-01 -3.44874255e-04 -3.59224886e+01] [-1.69032654e-03 -3.01692594e-05 9.99998571e-01 -6.51700884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.85, Y:-35.93, Z:-0.66 [[ 9.74655490e-01 2.23705023e-01 1.65505363e-03 2.86852162e+02] [-2.23704760e-01 9.74656894e-01 -3.44835438e-04 -3.59255304e+01] [-1.69025085e-03 -3.41476218e-05 9.99998571e-01 -6.58633321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.88, Y:-35.93, Z:-0.66 [[ 9.74442289e-01 2.24631888e-01 1.65507375e-03 2.86881078e+02] [-2.24631627e-01 9.74443694e-01 -3.44738846e-04 -3.59296035e+01] [-1.69021551e-03 -3.58537980e-05 9.99998571e-01 -6.59781659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:286.91, Y:-35.93, Z:-0.66 [[ 9.74053658e-01 2.26311142e-01 1.65508962e-03 2.86908331e+02] [-2.26310883e-01 9.74055063e-01 -3.44662637e-04 -3.59333557e+01] [-1.69014942e-03 -3.88448901e-05 9.99998571e-01 -6.64207395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.94, Y:-35.94, Z:-0.67 [[ 9.74069765e-01 2.26241804e-01 1.65510931e-03 2.86936877e+02] [-2.26241544e-01 9.74071170e-01 -3.44568035e-04 -3.59389123e+01] [-1.69014996e-03 -3.88211824e-05 9.99998571e-01 -6.65637455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.96, Y:-35.94, Z:-0.67 [[ 9.74156454e-01 2.25868242e-01 1.65512516e-03 2.86964853e+02] [-2.25867983e-01 9.74157860e-01 -3.44491911e-04 -3.59445866e+01] [-1.69016296e-03 -3.82507608e-05 9.99998571e-01 -6.65889245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:-35.95, Z:-0.67 [[ 9.74570820e-01 2.24073600e-01 1.65514111e-03 2.86992250e+02] [-2.24073338e-01 9.74572224e-01 -3.44415233e-04 -3.59496013e+01] [-1.69022892e-03 -3.52159580e-05 9.99998571e-01 -6.66431330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.02, Y:-35.96, Z:-0.67 [[ 9.74819563e-01 2.22988969e-01 1.65516092e-03 2.87019780e+02] [-2.22988706e-01 9.74820967e-01 -3.44319994e-04 -3.59555366e+01] [-1.69026513e-03 -3.34323268e-05 9.99998571e-01 -6.65073540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.05, Y:-35.96, Z:-0.66 [[ 9.75180264e-01 2.21406216e-01 1.65518029e-03 2.87048782e+02] [-2.21405951e-01 9.75181668e-01 -3.44226852e-04 -3.59637643e+01] [-1.69031545e-03 -3.07835336e-05 9.99998571e-01 -6.59611872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:287.08, Y:-35.97, Z:-0.66 [[ 9.75400595e-01 2.20433528e-01 1.65518852e-03 2.87077103e+02] [-2.20433261e-01 9.75401999e-01 -3.44187299e-04 -3.59707688e+01] [-1.69034461e-03 -2.91381072e-05 9.99998571e-01 -6.59843051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:287.10, Y:-35.98, Z:-0.66 [[ 9.75754392e-01 2.18862120e-01 1.65520078e-03 2.87104629e+02] [-2.18861851e-01 9.75755795e-01 -3.44128321e-04 -3.59773649e+01] [-1.69038841e-03 -2.64755862e-05 9.99998571e-01 -6.61836295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:287.13, Y:-35.99, Z:-0.66 [[ 9.76131897e-01 2.17172234e-01 1.65521293e-03 2.87132342e+02] [-2.17171963e-01 9.76133300e-01 -3.44069857e-04 -3.59850602e+01] [-1.69043088e-03 -2.36082800e-05 9.99998571e-01 -6.61923239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.16, Y:-35.99, Z:-0.66 [[ 9.75990774e-01 2.17805578e-01 1.65522463e-03 2.87160982e+02] [-2.17805308e-01 9.75992177e-01 -3.44013569e-04 -3.59917147e+01] [-1.69041437e-03 -2.47626410e-05 9.99998571e-01 -6.57910525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.19, Y:-36.00, Z:-0.66 [[ 9.75827627e-01 2.18535357e-01 1.65523266e-03 2.87189415e+02] [-2.18535088e-01 9.75829031e-01 -3.43974921e-04 -3.59972099e+01] [-1.69039477e-03 -2.60661856e-05 9.99998571e-01 -6.56629710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.22, Y:-36.00, Z:-0.66 [[ 9.75743244e-01 2.18911811e-01 1.65524205e-03 2.87218690e+02] [-2.18911543e-01 9.75744648e-01 -3.43929761e-04 -3.60027215e+01] [-1.69038386e-03 -2.67644498e-05 9.99998571e-01 -6.55350755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.905769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:287.25, Y:-36.01, Z:-0.66 [[ 9.76070636e-01 2.17447403e-01 1.65525009e-03 2.87246710e+02] [-2.17447133e-01 9.76072039e-01 -3.43891054e-04 -3.60104368e+01] [-1.69042155e-03 -2.42674268e-05 9.99998571e-01 -6.57398129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:287.28, Y:-36.02, Z:-0.66 [[ 9.77230307e-01 2.12174899e-01 1.65526212e-03 2.87276063e+02] [-2.12174621e-01 9.77231708e-01 -3.43833161e-04 -3.60197147e+01] [-1.69052739e-03 -1.52004273e-05 9.99998571e-01 -6.59653252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.965769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:287.31, Y:-36.03, Z:-0.66 [[ 9.77856229e-01 2.09271248e-01 1.65526212e-03 2.87305426e+02] [-2.09270966e-01 9.77857630e-01 -3.43833161e-04 -3.60267569e+01] [-1.69056508e-03 -1.01789037e-05 9.99998571e-01 -6.59328582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.34, Y:-36.03, Z:-0.66 [[ 9.78401874e-01 2.06705182e-01 1.65526212e-03 2.87335526e+02] [-2.06704896e-01 9.78403275e-01 -3.43833161e-04 -3.60340030e+01] [-1.69058597e-03 -5.74377472e-06 9.99998571e-01 -6.57366273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:-36.04, Z:-0.65 [[ 9.79008670e-01 2.03811884e-01 1.65526212e-03 2.87364077e+02] [-2.03811594e-01 9.79010069e-01 -3.43833161e-04 -3.60435787e+01] [-1.69059556e-03 -7.45964683e-07 9.99998571e-01 -6.54319690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-36.05, Z:-0.66 [[ 9.79002200e-01 2.03842961e-01 1.65525813e-03 2.87392863e+02] [-2.03842671e-01 9.79003599e-01 -3.43852348e-04 -3.60519249e+01] [-1.69059555e-03 -7.80032612e-07 9.99998571e-01 -6.55549018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-36.06, Z:-0.66 [[ 9.78813580e-01 2.04746758e-01 1.65525419e-03 2.87423193e+02] [-2.04746469e-01 9.78814980e-01 -3.43871306e-04 -3.60622167e+01] [-1.69059413e-03 -2.32154701e-06 9.99998571e-01 -6.58067227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.45, Y:-36.07, Z:-0.66 [[ 9.78691813e-01 2.05328021e-01 1.65524627e-03 2.87452192e+02] [-2.05327733e-01 9.78693212e-01 -3.43909415e-04 -3.60694660e+01] [-1.69059253e-03 -3.28663672e-06 9.99998571e-01 -6.59652951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.48, Y:-36.08, Z:-0.66 [[ 9.78017094e-01 2.08518163e-01 1.65522583e-03 2.87481991e+02] [-2.08517879e-01 9.78018495e-01 -3.44007782e-04 -3.60774324e+01] [-1.69057334e-03 -8.69868884e-06 9.99998571e-01 -6.60929607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.51, Y:-36.08, Z:-0.66 [[ 9.77594449e-01 2.10490745e-01 1.65522583e-03 2.87511115e+02] [-2.10490464e-01 9.77595850e-01 -3.44007782e-04 -3.60849690e+01] [-1.69055236e-03 -1.21091552e-05 9.99998571e-01 -6.61132058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.54, Y:-36.09, Z:-0.66 [[ 9.77204015e-01 2.12295959e-01 1.65522583e-03 2.87540920e+02] [-2.12295681e-01 9.77205416e-01 -3.44007782e-04 -3.60932868e+01] [-1.69052711e-03 -1.52315086e-05 9.99998571e-01 -6.60340764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.57, Y:-36.10, Z:-0.66 [[ 9.77199047e-01 2.12318825e-01 1.65521778e-03 2.87572077e+02] [-2.12318547e-01 9.77200448e-01 -3.44046527e-04 -3.60998094e+01] [-1.69052711e-03 -1.52314951e-05 9.99998571e-01 -6.60394584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.60, Y:-36.11, Z:-0.66 [[ 9.76769160e-01 2.14287818e-01 1.65520972e-03 2.87601643e+02] [-2.14287542e-01 9.76770562e-01 -3.44085258e-04 -3.61100322e+01] [-1.69049341e-03 -1.85989549e-05 9.99998571e-01 -6.59472897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-36.12, Z:-0.66 [[ 9.76691284e-01 2.14642482e-01 1.65520170e-03 2.87633164e+02] [-2.14642207e-01 9.76692687e-01 -3.44123854e-04 -3.61171302e+01] [-1.69048699e-03 -1.91733773e-05 9.99998571e-01 -6.58692492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.66, Y:-36.12, Z:-0.66 [[ 9.76442668e-01 2.15770658e-01 1.65514564e-03 2.87664131e+02] [-2.15770384e-01 9.76444070e-01 -3.44393269e-04 -3.61233403e+01] [-1.69046711e-03 -2.08511290e-05 9.99998571e-01 -6.58922766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.70, Y:-36.13, Z:-0.66 [[ 9.76250409e-01 2.16638871e-01 1.65509395e-03 2.87695127e+02] [-2.16638598e-01 9.76251811e-01 -3.44641497e-04 -3.61294366e+01] [-1.69045121e-03 -2.21008306e-05 9.99998571e-01 -6.59448036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:287.73, Y:-36.14, Z:-0.66 [[ 9.75761757e-01 2.18829283e-01 1.65508606e-03 2.87726340e+02] [-2.18829013e-01 9.75763160e-01 -3.44679402e-04 -3.61353247e+01] [-1.69039795e-03 -2.58558691e-05 9.99998571e-01 -6.58648022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:287.76, Y:-36.14, Z:-0.66 [[ 9.75381239e-01 2.20519161e-01 1.65507819e-03 2.87755141e+02] [-2.20518893e-01 9.75382642e-01 -3.44717188e-04 -3.61403182e+01] [-1.69035128e-03 -2.87453332e-05 9.99998571e-01 -6.59355861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.78, Y:-36.14, Z:-0.66 [[ 9.74395486e-01 2.24834824e-01 1.65508211e-03 2.87784904e+02] [-2.24834563e-01 9.74396891e-01 -3.44698378e-04 -3.61434448e+01] [-1.69020706e-03 -3.62471193e-05 9.99998571e-01 -6.60333460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:-36.15, Z:-0.66 [[ 9.74045560e-01 2.26345993e-01 1.65508986e-03 2.87813161e+02] [-2.26345734e-01 9.74046965e-01 -3.44661138e-04 -3.61476558e+01] [-1.69014792e-03 -3.89068784e-05 9.99998571e-01 -6.60573956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.84, Y:-36.15, Z:-0.66 [[ 9.73965516e-01 2.26690172e-01 1.65510145e-03 2.87842532e+02] [-2.26689913e-01 9.73966922e-01 -3.44605482e-04 -3.61522111e+01] [-1.69013274e-03 -3.95609485e-05 9.99998571e-01 -6.60423815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5357692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:287.87, Y:-36.16, Z:-0.66 [[ 9.74320139e-01 2.25161113e-01 1.65510913e-03 2.87871126e+02] [-2.25160853e-01 9.74321544e-01 -3.44568578e-04 -3.61553274e+01] [-1.69019193e-03 -3.69456783e-05 9.99998571e-01 -6.59204917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:287.90, Y:-36.16, Z:-0.66 [[ 9.74690729e-01 2.23551435e-01 1.65512059e-03 2.87899349e+02] [-2.23551172e-01 9.74692133e-01 -3.44513552e-04 -3.61596697e+01] [-1.69024951e-03 -3.42099824e-05 9.99998571e-01 -6.59137416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:287.93, Y:-36.16, Z:-0.66 [[ 9.75501938e-01 2.19984610e-01 1.65512912e-03 2.87928202e+02] [-2.19984342e-01 9.75503342e-01 -3.44472574e-04 -3.61644270e+01] [-1.69036265e-03 -2.80688256e-05 9.99998571e-01 -6.59551708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.96, Y:-36.17, Z:-0.66 [[ 9.75861992e-01 2.18381854e-01 1.65513666e-03 2.87956793e+02] [-2.18381584e-01 9.75863395e-01 -3.44436298e-04 -3.61707862e+01] [-1.69040592e-03 -2.53290744e-05 9.99998571e-01 -6.60447300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-36.18, Z:-0.66 [[ 9.76509256e-01 2.15469103e-01 1.65514419e-03 2.87987966e+02] [-2.15468829e-01 9.76510658e-01 -3.44400142e-04 -3.61772914e+01] [-1.69047353e-03 -2.03220530e-05 9.99998571e-01 -6.56747932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-36.18, Z:-0.65 [[ 9.76749273e-01 2.14378447e-01 1.65508629e-03 2.88018092e+02] [-2.14378170e-01 9.76750675e-01 -3.44678150e-04 -3.61824250e+01] [-1.69049822e-03 -1.81502389e-05 9.99998571e-01 -6.54451412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.05, Y:-36.19, Z:-0.65 [[ 9.76911702e-01 2.13637048e-01 1.65508216e-03 2.88047000e+02] [-2.13636770e-01 9.76913103e-01 -3.44697997e-04 -3.61870199e+01] [-1.69051171e-03 -1.68469004e-05 9.99998571e-01 -6.52704277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-36.19, Z:-0.66 [[ 9.77167956e-01 2.12461872e-01 1.65509719e-03 2.88074873e+02] [-2.12461593e-01 9.77169357e-01 -3.44625811e-04 -3.61928942e+01] [-1.69053010e-03 -1.48872869e-05 9.99998571e-01 -6.55626679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:-36.20, Z:-0.66 [[ 9.77419936e-01 2.11299622e-01 1.65510539e-03 2.88102902e+02] [-2.11299341e-01 9.77421337e-01 -3.44586441e-04 -3.61999307e+01] [-1.69054630e-03 -1.29170204e-05 9.99998571e-01 -6.56535166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:-36.21, Z:-0.66 [[ 9.78294767e-01 2.07211508e-01 1.65512019e-03 2.88133723e+02] [-2.07211222e-01 9.78296167e-01 -3.44515299e-04 -3.62077278e+01] [-1.69058528e-03 -5.92196372e-06 9.99998571e-01 -6.55454110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:-36.21, Z:-0.65 [[ 9.78702399e-01 2.05277555e-01 1.65511224e-03 2.88163335e+02] [-2.05277266e-01 9.78703799e-01 -3.44553505e-04 -3.62138833e+01] [-1.69059374e-03 -2.54157373e-06 9.99998571e-01 -6.54916268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.19, Y:-36.22, Z:-0.65 [[ 9.78975087e-01 2.03973137e-01 1.65510827e-03 2.88193933e+02] [-2.03972846e-01 9.78976486e-01 -3.44572583e-04 -3.62191952e+01] [-1.69059563e-03 -2.69168715e-07 9.99998571e-01 -6.54006238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-36.22, Z:-0.66 [[ 9.78767182e-01 2.04968448e-01 1.65510018e-03 2.88225334e+02] [-2.04968158e-01 9.78768581e-01 -3.44611451e-04 -3.62243852e+01] [-1.69059452e-03 -1.94845565e-06 9.99998571e-01 -6.55697203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.26, Y:-36.23, Z:-0.66 [[ 9.78309819e-01 2.07140433e-01 1.65509206e-03 2.88256238e+02] [-2.07140147e-01 9.78311219e-01 -3.44650424e-04 -3.62298182e+01] [-1.69058617e-03 -5.66111836e-06 9.99998571e-01 -6.57766528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-36.23, Z:-0.66 [[ 9.77160058e-01 2.12498192e-01 1.65508377e-03 2.88285694e+02] [-2.12497913e-01 9.77161460e-01 -3.44690231e-04 -3.62324337e+01] [-1.69053012e-03 -1.48843198e-05 9.99998571e-01 -6.59655686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.32, Y:-36.24, Z:-0.66 [[ 9.76640693e-01 2.14872560e-01 1.65508787e-03 2.88315376e+02] [-2.14872285e-01 9.76642095e-01 -3.44670521e-04 -3.62363245e+01] [-1.69048873e-03 -1.90132563e-05 9.99998571e-01 -6.58836164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:-36.24, Z:-0.66 [[ 9.75960284e-01 2.17942157e-01 1.65509597e-03 2.88343672e+02] [-2.17941886e-01 9.75961687e-01 -3.44631641e-04 -3.62386381e+01] [-1.69042002e-03 -2.43679431e-05 9.99998571e-01 -6.56493710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:-36.24, Z:-0.66 [[ 9.75920685e-01 2.18119411e-01 1.65509381e-03 2.88373342e+02] [-2.18119140e-01 9.75922088e-01 -3.44642004e-04 -3.62440930e+01] [-1.69041572e-03 -2.46643787e-05 9.99998571e-01 -6.55053342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.40, Y:-36.25, Z:-0.65 [[ 9.76123953e-01 2.17207939e-01 1.65510184e-03 2.88402758e+02] [-2.17207667e-01 9.76125356e-01 -3.44603427e-04 -3.62472086e+01] [-1.69043748e-03 -2.31251498e-05 9.99998571e-01 -6.54564322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:-36.25, Z:-0.66 [[ 9.76196398e-01 2.16882117e-01 1.65510987e-03 2.88431574e+02] [-2.16881844e-01 9.76197801e-01 -3.44564861e-04 -3.62500847e+01] [-1.69044457e-03 -2.26003052e-05 9.99998571e-01 -6.56867229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:-36.25, Z:-0.66 [[ 9.76319598e-01 2.16326843e-01 1.65512188e-03 2.88460501e+02] [-2.16326570e-01 9.76321001e-01 -3.44507194e-04 -3.62537333e+01] [-1.69045640e-03 -2.16977120e-05 9.99998571e-01 -6.57621488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.49, Y:-36.26, Z:-0.66 [[ 9.76804753e-01 2.14125510e-01 1.65513793e-03 2.88489252e+02] [-2.14125234e-01 9.76806156e-01 -3.44430059e-04 -3.62584370e+01] [-1.69050018e-03 -1.79658769e-05 9.99998571e-01 -6.59677975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-36.27, Z:-0.66 [[ 9.77336626e-01 2.11684623e-01 1.65514990e-03 2.88518323e+02] [-2.11684343e-01 9.77338028e-01 -3.44372513e-04 -3.62654399e+01] [-1.69053930e-03 -1.38014500e-05 9.99998571e-01 -6.60169786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-36.28, Z:-0.66 [[ 9.79096177e-01 2.03391091e-01 1.65515827e-03 2.88547002e+02] [-2.03390800e-01 9.79097576e-01 -3.44332299e-04 -3.62756018e+01] [-1.69059557e-03 4.90474774e-07 9.99998571e-01 -6.62645845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.58, Y:-36.28, Z:-0.66 [[ 9.80148051e-01 1.98260080e-01 1.65514996e-03 2.88576172e+02] [-1.98259781e-01 9.80149448e-01 -3.44372232e-04 -3.62848102e+01] [-1.69056958e-03 9.38610419e-06 9.99998571e-01 -6.63686672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-36.30, Z:-0.66 [[ 9.81918083e-01 1.89299071e-01 1.65514586e-03 2.88605653e+02] [-1.89298760e-01 9.81919478e-01 -3.44391935e-04 -3.62993596e+01] [-1.69041303e-03 2.48476108e-05 9.99998571e-01 -6.62293352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-36.31, Z:-0.66 [[ 9.82562417e-01 1.85925675e-01 1.65513823e-03 2.88637190e+02] [-1.85925358e-01 9.82563811e-01 -3.44428572e-04 -3.63105548e+01] [-1.69031705e-03 3.06904006e-05 9.99998571e-01 -6.60051984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.67, Y:-36.32, Z:-0.66 [[ 9.83065181e-01 1.83248766e-01 1.65507079e-03 2.88667895e+02] [-1.83248445e-01 9.83066574e-01 -3.44752374e-04 -3.63216412e+01] [-1.69022021e-03 3.56249061e-05 9.99998571e-01 -6.59643809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.70, Y:-36.34, Z:-0.66 [[ 9.83640409e-01 1.80135524e-01 1.65500791e-03 2.88698072e+02] [-1.80135198e-01 9.83641800e-01 -3.45053939e-04 -3.63379879e+01] [-1.69009143e-03 4.12838203e-05 9.99998571e-01 -6.59497960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:-36.36, Z:-0.66 [[ 9.83710488e-01 1.79752432e-01 1.65494331e-03 2.88726958e+02] [-1.79752105e-01 9.83711879e-01 -3.45363494e-04 -3.63565472e+01] [-1.69006732e-03 4.22581463e-05 9.99998571e-01 -6.60614616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.76, Y:-36.37, Z:-0.66 [[ 9.83728061e-01 1.79656238e-01 1.65488283e-03 2.88757545e+02] [-1.79655910e-01 9.83729452e-01 -3.45653084e-04 -3.63710477e+01] [-1.69005571e-03 4.27191570e-05 9.99998571e-01 -6.61879807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:-36.39, Z:-0.66 [[ 9.83806282e-01 1.79227402e-01 1.65481852e-03 2.88787941e+02] [-1.79227073e-01 9.83807673e-01 -3.45960691e-04 -3.63853207e+01] [-1.69002879e-03 4.37700219e-05 9.99998571e-01 -6.62942458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:-36.40, Z:-0.66 [[ 9.83698516e-01 1.79817938e-01 1.65475419e-03 2.88817407e+02] [-1.79817610e-01 9.83699907e-01 -3.46268114e-04 -3.64048656e+01] [-1.69004676e-03 4.30694871e-05 9.99998571e-01 -6.62229256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:-36.42, Z:-0.66 [[ 9.83406881e-01 1.81406085e-01 1.65468966e-03 2.88848235e+02] [-1.81405759e-01 9.83408273e-01 -3.46576195e-04 -3.64172313e+01] [-1.69010653e-03 4.06551820e-05 9.99998571e-01 -6.61024666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:-36.43, Z:-0.66 [[ 9.82250228e-01 1.87567994e-01 1.65462288e-03 2.88877873e+02] [-1.87567676e-01 9.82251621e-01 -3.46894741e-04 -3.64332118e+01] [-1.69032235e-03 3.03836718e-05 9.99998571e-01 -6.61470562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:-36.44, Z:-0.66 [[ 9.81297778e-01 1.92488786e-01 1.65458111e-03 2.88909201e+02] [-1.92488475e-01 9.81299173e-01 -3.47093849e-04 -3.64431949e+01] [-1.69045075e-03 2.21146296e-05 9.99998571e-01 -6.61165691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-36.45, Z:-0.66 [[ 9.78950502e-01 2.04091103e-01 1.65451395e-03 2.88940488e+02] [-2.04090807e-01 9.78951900e-01 -3.47413658e-04 -3.64518925e+01] [-1.69059361e-03 2.42968726e-06 9.99998571e-01 -6.60104142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-36.46, Z:-0.66 [[ 9.77723594e-01 2.09890057e-01 1.65445156e-03 2.88973155e+02] [-2.09889769e-01 9.77724994e-01 -3.47710535e-04 -3.64588972e+01] [-1.69057963e-03 -7.28766176e-06 9.99998571e-01 -6.59419930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:-36.46, Z:-0.66 [[ 9.75468414e-01 2.20133225e-01 1.65438480e-03 2.89005070e+02] [-2.20132951e-01 9.75469816e-01 -3.48027869e-04 -3.64648849e+01] [-1.69041494e-03 -2.46944157e-05 9.99998571e-01 -6.59020085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.04, Y:-36.47, Z:-0.66 [[ 9.74544313e-01 2.24188863e-01 1.65432247e-03 2.89036519e+02] [-2.24188594e-01 9.74545716e-01 -3.48323911e-04 -3.64702100e+01] [-1.69030322e-03 -3.14231427e-05 9.99998571e-01 -6.59759105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:-36.47, Z:-0.66 [[ 9.73762674e-01 2.27559922e-01 1.65426168e-03 2.89068179e+02] [-2.27559658e-01 9.73764078e-01 -3.48612364e-04 -3.64749102e+01] [-1.69019081e-03 -3.69775152e-05 9.99998571e-01 -6.60105754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:-36.48, Z:-0.66 [[ 9.72691843e-01 2.32094466e-01 1.65422183e-03 2.89101498e+02] [-2.32094209e-01 9.72693249e-01 -3.48801351e-04 -3.64778450e+01] [-1.69000527e-03 -4.46590782e-05 9.99998571e-01 -6.58724483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:-36.48, Z:-0.66 [[ 9.72094892e-01 2.34582151e-01 1.65415646e-03 2.89134276e+02] [-2.34581896e-01 9.72096298e-01 -3.49111086e-04 -3.64805455e+01] [-1.68989460e-03 -4.86660576e-05 9.99998571e-01 -6.60387168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.17, Y:-36.49, Z:-0.66 [[ 9.71953573e-01 2.35166994e-01 1.65409026e-03 2.89166969e+02] [-2.35166740e-01 9.71954980e-01 -3.49424502e-04 -3.64852808e+01] [-1.68987437e-03 -4.93626190e-05 9.99998571e-01 -6.62237471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:-36.49, Z:-0.66 [[ 9.71882476e-01 2.35460648e-01 1.65402332e-03 2.89198023e+02] [-2.35460394e-01 9.71883882e-01 -3.49741056e-04 -3.64899567e+01] [-1.68986886e-03 -4.95497787e-05 9.99998571e-01 -6.64773312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:-36.49, Z:-0.67 [[ 9.71791268e-01 2.35836800e-01 1.65396920e-03 2.89229458e+02] [-2.35836546e-01 9.71792674e-01 -3.49996815e-04 -3.64934223e+01] [-1.68985728e-03 -4.99425340e-05 9.99998571e-01 -6.68284018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.26, Y:-36.50, Z:-0.67 [[ 9.71754308e-01 2.35989047e-01 1.65391582e-03 2.89261565e+02] [-2.35988792e-01 9.71755714e-01 -3.50248900e-04 -3.64992790e+01] [-1.68985705e-03 -4.99497181e-05 9.99998571e-01 -6.67035535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:-36.50, Z:-0.66 [[ 9.71957200e-01 2.35152008e-01 1.65385885e-03 2.89293712e+02] [-2.35151751e-01 9.71958606e-01 -3.50517707e-04 -3.65040258e+01] [-1.68990728e-03 -4.82195947e-05 9.99998571e-01 -6.59921865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:-36.51, Z:-0.66 [[ 9.72116051e-01 2.34494452e-01 1.65379992e-03 2.89326567e+02] [-2.34494194e-01 9.72117457e-01 -3.50795499e-04 -3.65092783e+01] [-1.68994737e-03 -4.67925453e-05 9.99998571e-01 -6.58587966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-36.51, Z:-0.66 [[ 9.72309947e-01 2.33689178e-01 1.65373300e-03 2.89358325e+02] [-2.33688918e-01 9.72311353e-01 -3.51110686e-04 -3.65119290e+01] [-1.68999414e-03 -4.50706633e-05 9.99998571e-01 -6.62932339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:-36.52, Z:-0.67 [[ 9.72379751e-01 2.33398554e-01 1.65367482e-03 2.89389288e+02] [-2.33398293e-01 9.72381156e-01 -3.51384483e-04 -3.65165427e+01] [-1.69001487e-03 -4.42857262e-05 9.99998571e-01 -6.65554753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-36.52, Z:-0.67 [[ 9.72545583e-01 2.32706583e-01 1.65362137e-03 2.89421574e+02] [-2.32706321e-01 9.72546988e-01 -3.51635882e-04 -3.65217288e+01] [-1.69005246e-03 -4.28262198e-05 9.99998571e-01 -6.65689402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:-36.53, Z:-0.66 [[ 9.73121074e-01 2.30288170e-01 1.65355549e-03 2.89452585e+02] [-2.30287904e-01 9.73122478e-01 -3.51945403e-04 -3.65259325e+01] [-1.69016088e-03 -3.83083393e-05 9.99998571e-01 -6.61473232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:-36.53, Z:-0.66 [[ 9.73411204e-01 2.29058711e-01 1.65350224e-03 2.89484716e+02] [-2.29058443e-01 9.73412608e-01 -3.52195375e-04 -3.65319492e+01] [-1.69021335e-03 -3.59177257e-05 9.99998571e-01 -6.58981519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-36.54, Z:-0.66 [[ 9.73368990e-01 2.29238030e-01 1.65343727e-03 2.89517428e+02] [-2.29237762e-01 9.73370394e-01 -3.52500120e-04 -3.65391164e+01] [-1.69021332e-03 -3.59175743e-05 9.99998571e-01 -6.59038184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.55, Y:-36.55, Z:-0.66 [[ 9.74020621e-01 2.26453296e-01 1.65337228e-03 2.89549902e+02] [-2.26453023e-01 9.74022024e-01 -3.52804706e-04 -3.65456475e+01] [-1.69031480e-03 -3.07720923e-05 9.99998571e-01 -6.59807701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-36.55, Z:-0.66 [[ 9.74347459e-01 2.25042874e-01 1.65330754e-03 2.89580627e+02] [-2.25042598e-01 9.74348862e-01 -3.53107827e-04 -3.65528559e+01] [-1.69036272e-03 -2.80149108e-05 9.99998571e-01 -6.63488118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.61, Y:-36.56, Z:-0.67 [[ 9.75050676e-01 2.21976227e-01 1.65327553e-03 2.89611607e+02] [-2.21975947e-01 9.75052078e-01 -3.53257618e-04 -3.65620362e+01] [-1.69044454e-03 -2.25433232e-05 9.99998571e-01 -6.66822653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.64, Y:-36.57, Z:-0.67 [[ 9.75439110e-01 2.20263045e-01 1.65321704e-03 2.89643279e+02] [-2.20262762e-01 9.75440511e-01 -3.53531173e-04 -3.65700642e+01] [-1.69048472e-03 -1.92940169e-05 9.99998571e-01 -6.65877342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-36.58, Z:-0.66 [[ 9.76016300e-01 2.17691179e-01 1.65314987e-03 2.89673662e+02] [-2.17690892e-01 9.76017700e-01 -3.53844979e-04 -3.65789873e+01] [-1.69053246e-03 -1.45172014e-05 9.99998571e-01 -6.61391990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-36.59, Z:-0.66 [[ 9.76082307e-01 2.17395024e-01 1.65309546e-03 2.89704686e+02] [-2.17394736e-01 9.76083707e-01 -3.54098987e-04 -3.65871955e+01] [-1.69053890e-03 -1.37444942e-05 9.99998571e-01 -6.60674073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-36.60, Z:-0.66 [[ 9.76225611e-01 2.16750603e-01 1.65303458e-03 2.89736243e+02] [-2.16750314e-01 9.76227010e-01 -3.54382939e-04 -3.65969681e+01] [-1.69054973e-03 -1.23380634e-05 9.99998571e-01 -6.62258337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-36.60, Z:-0.66 [[ 9.76344039e-01 2.16216522e-01 1.65296608e-03 2.89767079e+02] [-2.16216231e-01 9.76345439e-01 -3.54702154e-04 -3.66044470e+01] [-1.69055836e-03 -1.10867629e-05 9.99998571e-01 -6.63549277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-36.61, Z:-0.66 [[ 9.76710690e-01 2.14554180e-01 1.65290205e-03 2.89798879e+02] [-2.14553886e-01 9.76712089e-01 -3.55000293e-04 -3.66131188e+01] [-1.69057621e-03 -7.90397773e-06 9.99998571e-01 -6.62095706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-36.62, Z:-0.66 [[ 9.76899918e-01 2.13690940e-01 1.65283736e-03 2.89830366e+02] [-2.13690645e-01 9.76901316e-01 -3.55301220e-04 -3.66230496e+01] [-1.69058365e-03 -6.10214937e-06 9.99998571e-01 -6.62041164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-36.63, Z:-0.66 [[ 9.77144705e-01 2.12568797e-01 1.65277208e-03 2.89861560e+02] [-2.12568500e-01 9.77146103e-01 -3.55604627e-04 -3.66336822e+01] [-1.69059025e-03 -3.85010380e-06 9.99998571e-01 -6.62978167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-36.65, Z:-0.67 [[ 9.77685999e-01 2.10065125e-01 1.65270492e-03 2.89890331e+02] [-2.10064823e-01 9.77687395e-01 -3.55916497e-04 -3.66461022e+01] [-1.69059441e-03 7.99408333e-07 9.99998571e-01 -6.67904392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-36.66, Z:-0.67 [[ 9.77475382e-01 2.11042996e-01 1.65265064e-03 2.89921068e+02] [-2.11042695e-01 9.77476779e-01 -3.56168355e-04 -3.66564196e+01] [-1.69059446e-03 -6.34047254e-07 9.99998571e-01 -6.69297099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:-36.67, Z:-0.67 [[ 9.77020920e-01 2.13137022e-01 1.65259223e-03 2.89952974e+02] [-2.13136724e-01 9.77022318e-01 -3.56439199e-04 -3.66656125e+01] [-1.69058988e-03 -3.97953878e-06 9.99998571e-01 -6.67481385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.98, Y:-36.67, Z:-0.66 [[ 9.76450261e-01 2.15736314e-01 1.65252569e-03 2.89984983e+02] [-2.15736019e-01 9.76451659e-01 -3.56747424e-04 -3.66746989e+01] [-1.69057482e-03 -8.16319739e-06 9.99998571e-01 -6.64084130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-36.68, Z:-0.66 [[ 9.75299411e-01 2.20880801e-01 1.65245902e-03 2.90015730e+02] [-2.20880513e-01 9.75300811e-01 -3.57055963e-04 -3.66839555e+01] [-1.69051143e-03 -1.67595259e-05 9.99998571e-01 -6.63058528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-36.69, Z:-0.67 [[ 9.74936537e-01 2.22477006e-01 1.65239679e-03 2.90046821e+02] [-2.22476720e-01 9.74937937e-01 -3.57343701e-04 -3.66913376e+01] [-1.69048508e-03 -1.92323882e-05 9.99998571e-01 -6.65467462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-36.70, Z:-0.67 [[ 9.75024763e-01 2.22090030e-01 1.65233956e-03 2.90077733e+02] [-2.22089742e-01 9.75026163e-01 -3.57608156e-04 -3.67004763e+01] [-1.69049550e-03 -1.82908588e-05 9.99998571e-01 -6.71730315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-36.71, Z:-0.67 [[ 9.75397718e-01 2.20446277e-01 1.65228266e-03 2.90109045e+02] [-2.20445987e-01 9.75399118e-01 -3.57870844e-04 -3.67098703e+01] [-1.69052635e-03 -1.51726778e-05 9.99998571e-01 -6.70244019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:-36.72, Z:-0.66 [[ 9.76064172e-01 2.17476441e-01 1.65221758e-03 2.90139965e+02] [-2.17476146e-01 9.76065570e-01 -3.58171040e-04 -3.67187426e+01] [-1.69056646e-03 -9.71999379e-06 9.99998571e-01 -6.59320119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.17, Y:-36.73, Z:-0.65 [[ 9.75950720e-01 2.17985005e-01 1.65216086e-03 2.90171160e+02] [-2.17984710e-01 9.75952118e-01 -3.58432498e-04 -3.67257255e+01] [-1.69056280e-03 -1.03333519e-05 9.99998571e-01 -6.54414221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.20, Y:-36.73, Z:-0.65 [[ 9.75602390e-01 2.19538714e-01 1.65210016e-03 2.90202202e+02] [-2.19538421e-01 9.75603789e-01 -3.58712089e-04 -3.67331991e+01] [-1.69054636e-03 -1.27390888e-05 9.99998571e-01 -6.52962319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:-36.74, Z:-0.66 [[ 9.74566804e-01 2.24091086e-01 1.65206017e-03 2.90233418e+02] [-2.24090800e-01 9.74568204e-01 -3.58896169e-04 -3.67420830e+01] [-1.69047074e-03 -2.04431905e-05 9.99998571e-01 -6.63702606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.26, Y:-36.75, Z:-0.67 [[ 9.73559464e-01 2.28427757e-01 1.65200404e-03 2.90264765e+02] [-2.28427476e-01 9.73560866e-01 -3.59154333e-04 -3.67467631e+01] [-1.69036730e-03 -2.77050136e-05 9.99998571e-01 -6.74629639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-36.75, Z:-0.67 [[ 9.73183748e-01 2.30023179e-01 1.65194816e-03 2.90295932e+02] [-2.30022900e-01 9.73185150e-01 -3.59411173e-04 -3.67522610e+01] [-1.69032432e-03 -3.02127941e-05 9.99998571e-01 -6.72048367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-36.76, Z:-0.66 [[ 9.72870184e-01 2.31345794e-01 1.65189676e-03 2.90327469e+02] [-2.31345517e-01 9.72871586e-01 -3.59647268e-04 -3.67588835e+01] [-1.69028630e-03 -3.22688050e-05 9.99998571e-01 -6.64952259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.36, Y:-36.77, Z:-0.65 [[ 9.72880315e-01 2.31303185e-01 1.65184160e-03 2.90357362e+02] [-2.31302907e-01 9.72881717e-01 -3.59900405e-04 -3.67660683e+01] [-1.69029261e-03 -3.19357446e-05 9.99998571e-01 -6.53649325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.39, Y:-36.77, Z:-0.65 [[ 9.72933856e-01 2.31077873e-01 1.65181416e-03 2.90389639e+02] [-2.31077594e-01 9.72935258e-01 -3.60026312e-04 -3.67717203e+01] [-1.69030235e-03 -3.14154545e-05 9.99998571e-01 -6.52721472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:-36.77, Z:-0.66 [[ 9.72752607e-01 2.31839681e-01 1.65174843e-03 2.90423136e+02] [-2.31839404e-01 9.72754009e-01 -3.60327635e-04 -3.67727901e+01] [-1.69028315e-03 -3.24307248e-05 9.99998571e-01 -6.59020026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-36.78, Z:-0.66 [[ 9.72356783e-01 2.33494237e-01 1.65168038e-03 2.90455124e+02] [-2.33493961e-01 9.72358185e-01 -3.60639311e-04 -3.67770933e+01] [-1.69023213e-03 -3.49873134e-05 9.99998571e-01 -6.61956640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-36.78, Z:-0.67 [[ 9.71925019e-01 2.35284995e-01 1.65162061e-03 2.90486454e+02] [-2.35284721e-01 9.71926422e-01 -3.60912808e-04 -3.67817742e+01] [-1.69017108e-03 -3.78209066e-05 9.99998571e-01 -6.65468188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-36.78, Z:-0.66 [[ 9.71189202e-01 2.38304022e-01 1.65156527e-03 2.90519076e+02] [-2.38303752e-01 9.71190605e-01 -3.61165860e-04 -3.67834233e+01] [-1.69005195e-03 -4.28138177e-05 9.99998571e-01 -6.64373180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.55, Y:-36.78, Z:-0.67 [[ 9.70687508e-01 2.40339413e-01 1.65150597e-03 2.90550527e+02] [-2.40339146e-01 9.70688912e-01 -3.61436809e-04 -3.67838479e+01] [-1.68996605e-03 -4.60793401e-05 9.99998571e-01 -6.69113317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:-36.79, Z:-0.67 [[ 9.70683836e-01 2.40354246e-01 1.65145100e-03 2.90580473e+02] [-2.40353978e-01 9.70685240e-01 -3.61687844e-04 -3.67881192e+01] [-1.68997231e-03 -4.58482734e-05 9.99998571e-01 -6.69678469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.61, Y:-36.79, Z:-0.67 [[ 9.70769336e-01 2.40008687e-01 1.65145100e-03 2.90609872e+02] [-2.40008418e-01 9.70770739e-01 -3.61687844e-04 -3.67930291e+01] [-1.68998853e-03 -4.52466736e-05 9.99998571e-01 -6.68255912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:-36.80, Z:-0.66 [[ 9.70688685e-01 2.40334661e-01 1.65145477e-03 2.90642220e+02] [-2.40334393e-01 9.70690089e-01 -3.61670594e-04 -3.67952635e+01] [-1.68997276e-03 -4.58318282e-05 9.99998571e-01 -6.61307372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.67, Y:-36.80, Z:-0.66 [[ 9.70545542e-01 2.40912066e-01 1.65139549e-03 2.90673844e+02] [-2.40911799e-01 9.70546946e-01 -3.61941080e-04 -3.67991513e+01] [-1.68995282e-03 -4.65603559e-05 9.99998571e-01 -6.61805951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-36.80, Z:-0.66 [[ 9.70387549e-01 2.41547673e-01 1.65133217e-03 2.90705771e+02] [-2.41547406e-01 9.70388953e-01 -3.62229746e-04 -3.68037403e+01] [-1.68993025e-03 -4.73717661e-05 9.99998571e-01 -6.63939970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-36.81, Z:-0.67 [[ 9.70242658e-01 2.42129009e-01 1.65127316e-03 2.90737208e+02] [-2.42128743e-01 9.70244062e-01 -3.62498531e-04 -3.68071720e+01] [-1.68990939e-03 -4.81091569e-05 9.99998571e-01 -6.70010464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-36.81, Z:-0.67 [[ 9.70050342e-01 2.42898347e-01 1.65121866e-03 2.90768437e+02] [-2.42898081e-01 9.70051746e-01 -3.62746649e-04 -3.68085157e+01] [-1.68987810e-03 -4.91953314e-05 9.99998571e-01 -6.70217643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-36.81, Z:-0.67 [[ 9.70008175e-01 2.43066687e-01 1.65119950e-03 2.90799016e+02] [-2.43066421e-01 9.70009579e-01 -3.62833839e-04 -3.68129181e+01] [-1.68987215e-03 -4.93993622e-05 9.99998571e-01 -6.65808962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-36.82, Z:-0.66 [[ 9.70039231e-01 2.42942718e-01 1.65119532e-03 2.90828938e+02] [-2.42942452e-01 9.70040635e-01 -3.62852845e-04 -3.68174913e+01] [-1.68987901e-03 -4.91639451e-05 9.99998571e-01 -6.61258441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.86, Y:-36.82, Z:-0.66 [[ 9.70607655e-01 2.40661702e-01 1.65119117e-03 2.90860984e+02] [-2.40661432e-01 9.70609058e-01 -3.62871718e-04 -3.68195442e+01] [-1.68999043e-03 -4.51719653e-05 9.99998571e-01 -6.57989980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-36.82, Z:-0.66 [[ 9.71097000e-01 2.38679471e-01 1.65118266e-03 2.90891174e+02] [-2.38679198e-01 9.71098403e-01 -3.62910459e-04 -3.68237163e+01] [-1.69008012e-03 -4.16816949e-05 9.99998571e-01 -6.60290199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-36.83, Z:-0.66 [[ 9.72143199e-01 2.34381896e-01 1.65117841e-03 2.90921692e+02] [-2.34381618e-01 9.72144601e-01 -3.62929764e-04 -3.68275072e+01] [-1.69024835e-03 -3.41861660e-05 9.99998571e-01 -6.64476419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-36.83, Z:-0.67 [[ 9.72727277e-01 2.31945939e-01 1.65115614e-03 2.90952839e+02] [-2.31945657e-01 9.72728678e-01 -3.63031052e-04 -3.68338435e+01] [-1.69033051e-03 -2.98482898e-05 9.99998571e-01 -6.65424829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-36.84, Z:-0.67 [[ 9.73885640e-01 2.27033110e-01 1.65114773e-03 2.90982617e+02] [-2.27032821e-01 9.73887040e-01 -3.63069323e-04 -3.68394389e+01] [-1.69046013e-03 -2.12767263e-05 9.99998571e-01 -6.67819432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.01, Y:-36.85, Z:-0.67 [[ 9.74390904e-01 2.24854709e-01 1.65114353e-03 2.91013047e+02] [-2.24854416e-01 9.74392303e-01 -3.63088440e-04 -3.68452711e+01] [-1.69050369e-03 -1.74768410e-05 9.99998571e-01 -6.68249647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-36.85, Z:-0.67 [[ 9.75133909e-01 2.21610318e-01 1.65113510e-03 2.91042100e+02] [-2.21610021e-01 9.75135307e-01 -3.63126746e-04 -3.68520609e+01] [-1.69055277e-03 -1.18108806e-05 9.99998571e-01 -6.66441295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.655769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-36.86, Z:-0.66 [[ 9.75376720e-01 2.20539177e-01 1.65111409e-03 2.91072612e+02] [-2.20538878e-01 9.75378117e-01 -3.63222266e-04 -3.68599221e+01] [-1.69056529e-03 -9.85630633e-06 9.99998571e-01 -6.64389216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-36.87, Z:-0.66 [[ 9.75511035e-01 2.19944298e-01 1.65110575e-03 2.91104685e+02] [-2.19943998e-01 9.75512432e-01 -3.63260169e-04 -3.68689730e+01] [-1.69057119e-03 -8.78649575e-06 9.99998571e-01 -6.62492827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.14, Y:-36.88, Z:-0.66 [[ 9.75773907e-01 2.18775127e-01 1.65103565e-03 2.91135705e+02] [-2.18774825e-01 9.75775304e-01 -3.63578478e-04 -3.68800026e+01] [-1.69058174e-03 -6.43464391e-06 9.99998571e-01 -6.64637434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-36.89, Z:-0.67 [[ 9.75833585e-01 2.18508785e-01 1.65101361e-03 2.91166819e+02] [-2.18508483e-01 9.75834981e-01 -3.63678563e-04 -3.68890081e+01] [-1.69058379e-03 -5.87072279e-06 9.99998571e-01 -6.66919703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:-36.90, Z:-0.66 [[ 9.75628520e-01 2.19422575e-01 1.65094775e-03 2.91197288e+02] [-2.19422273e-01 9.75629916e-01 -3.63977268e-04 -3.68982148e+01] [-1.69057885e-03 -7.14810517e-06 9.99998571e-01 -6.64383101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-36.91, Z:-0.66 [[ 9.75268283e-01 2.21018213e-01 1.65088867e-03 2.91229392e+02] [-2.21017913e-01 9.75269680e-01 -3.64245039e-04 -3.69055230e+01] [-1.69056646e-03 -9.63933553e-06 9.99998571e-01 -6.63233882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.26, Y:-36.91, Z:-0.66 [[ 9.74516500e-01 2.24309756e-01 1.65081919e-03 2.91259422e+02] [-2.24309461e-01 9.74517898e-01 -3.64559671e-04 -3.69117552e+01] [-1.69052714e-03 -1.50249478e-05 9.99998571e-01 -6.57746117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-36.92, Z:-0.65 [[ 9.74276948e-01 2.25347962e-01 1.65077141e-03 2.91290643e+02] [-2.25347668e-01 9.74278346e-01 -3.64775918e-04 -3.69183923e+01] [-1.69051235e-03 -1.66047183e-05 9.99998571e-01 -6.54219638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:-36.92, Z:-0.66 [[ 9.74480408e-01 2.24466501e-01 1.65071100e-03 2.91321725e+02] [-2.24466205e-01 9.74481806e-01 -3.65049059e-04 -3.69233972e+01] [-1.69052912e-03 -1.47956788e-05 9.99998571e-01 -6.55594149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-36.93, Z:-0.66 [[ 9.74737599e-01 2.23347014e-01 1.65065502e-03 2.91353709e+02] [-2.23346716e-01 9.74738996e-01 -3.65302041e-04 -3.69295168e+01] [-1.69054693e-03 -1.25947416e-05 9.99998571e-01 -6.56358666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.38, Y:-36.94, Z:-0.65 [[ 9.75297726e-01 2.20888254e-01 1.65059517e-03 2.91384161e+02] [-2.20887952e-01 9.75299123e-01 -3.65572235e-04 -3.69360387e+01] [-1.69057464e-03 -8.05481686e-06 9.99998571e-01 -6.53961765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.41, Y:-36.94, Z:-0.65 [[ 9.75586053e-01 2.19611315e-01 1.65053972e-03 2.91414419e+02] [-2.19611011e-01 9.75587449e-01 -3.65822427e-04 -3.69421847e+01] [-1.69058458e-03 -5.58543961e-06 9.99998571e-01 -6.53090537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.45, Y:-36.95, Z:-0.66 [[ 9.75833813e-01 2.18507769e-01 1.65048458e-03 2.91445616e+02] [-2.18507462e-01 9.75835209e-01 -3.66071025e-04 -3.69474872e+01] [-1.69059033e-03 -3.41871355e-06 9.99998571e-01 -6.55072427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:-36.95, Z:-0.66 [[ 9.75828771e-01 2.18530287e-01 1.65047614e-03 2.91476683e+02] [-2.18529981e-01 9.75830166e-01 -3.66109101e-04 -3.69544254e+01] [-1.69059033e-03 -3.41872417e-06 9.99998571e-01 -6.55126247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:-36.96, Z:-0.66 [[ 9.75854633e-01 2.18414767e-01 1.65046769e-03 2.91506904e+02] [-2.18414460e-01 9.75856029e-01 -3.66147188e-04 -3.69570354e+01] [-1.69059080e-03 -3.17957858e-06 9.99998571e-01 -6.64681759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-36.96, Z:-0.67 [[ 9.75691533e-01 2.19142212e-01 1.65046348e-03 2.91537009e+02] [-2.19141906e-01 9.75692929e-01 -3.66166134e-04 -3.69615206e+01] [-1.69058801e-03 -4.42051711e-06 9.99998571e-01 -6.67864082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:-36.96, Z:-0.67 [[ 9.75169119e-01 2.21455334e-01 1.65046348e-03 2.91566187e+02] [-2.21455032e-01 9.75170516e-01 -3.66166134e-04 -3.69631823e+01] [-1.69057277e-03 -8.42953724e-06 9.99998571e-01 -6.68226199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.60, Y:-36.97, Z:-0.67 [[ 9.74807974e-01 2.23039659e-01 1.65047601e-03 2.91596163e+02] [-2.23039358e-01 9.74809371e-01 -3.66109681e-04 -3.69665362e+01] [-1.69055646e-03 -1.12344732e-05 9.99998571e-01 -6.68680848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:-36.97, Z:-0.67 [[ 9.73822662e-01 2.27303098e-01 1.65048433e-03 2.91625613e+02] [-2.27302804e-01 9.73824061e-01 -3.66072168e-04 -3.69661424e+01] [-1.69049069e-03 -1.86703417e-05 9.99998571e-01 -6.68182687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:-36.97, Z:-0.67 [[ 9.73265341e-01 2.29677714e-01 1.65050089e-03 2.91653806e+02] [-2.29677423e-01 9.73266740e-01 -3.65997464e-04 -3.69698117e+01] [-1.69043908e-03 -2.28701463e-05 9.99998571e-01 -6.68301335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:-36.97, Z:-0.67 [[ 9.72853168e-01 2.31417349e-01 1.65052141e-03 2.91682790e+02] [-2.31417061e-01 9.72854568e-01 -3.65904933e-04 -3.69732703e+01] [-1.69039404e-03 -2.59870402e-05 9.99998571e-01 -6.68074755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-36.97, Z:-0.67 [[ 9.72383331e-01 2.33383660e-01 1.65053775e-03 2.91712430e+02] [-2.33383375e-01 9.72384732e-01 -3.65831202e-04 -3.69730381e+01] [-1.69033673e-03 -2.94799070e-05 9.99998571e-01 -6.67556020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:-36.97, Z:-0.67 [[ 9.72327993e-01 2.33614105e-01 1.65055490e-03 2.91740824e+02] [-2.33613821e-01 9.72329393e-01 -3.65753798e-04 -3.69732586e+01] [-1.69032829e-03 -2.99597801e-05 9.99998571e-01 -6.67219490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-36.98, Z:-0.67 [[ 9.72507997e-01 2.32863633e-01 1.65057618e-03 2.91769769e+02] [-2.32863347e-01 9.72509397e-01 -3.65657752e-04 -3.69779409e+01] [-1.69034924e-03 -2.87536057e-05 9.99998571e-01 -6.65160609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-36.98, Z:-0.66 [[ 9.72953854e-01 2.30993666e-01 1.65059216e-03 2.91798609e+02] [-2.30993378e-01 9.72955254e-01 -3.65585578e-04 -3.69829779e+01] [-1.69040027e-03 -2.55779622e-05 9.99998571e-01 -6.63993528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.405769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-36.99, Z:-0.67 [[ 9.74633897e-01 2.23799111e-01 1.65060818e-03 2.91826803e+02] [-2.23798813e-01 9.74635295e-01 -3.65513226e-04 -3.69861659e+01] [-1.69054253e-03 -1.31625716e-05 9.99998571e-01 -6.67072383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-36.99, Z:-0.67 [[ 9.75525613e-01 2.19879634e-01 1.65062810e-03 2.91854801e+02] [-2.19879331e-01 9.75527010e-01 -3.65423257e-04 -3.69906664e+01] [-1.69058143e-03 -6.45925643e-06 9.99998571e-01 -6.66841723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-37.00, Z:-0.66 [[ 9.76839726e-01 2.13965943e-01 1.65065087e-03 2.91883206e+02] [-2.13965632e-01 9.76841121e-01 -3.65320407e-04 -3.69954254e+01] [-1.69058977e-03 3.67693112e-06 9.99998571e-01 -6.61329419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:-37.00, Z:-0.66 [[ 9.77323930e-01 2.11743265e-01 1.65066660e-03 2.91910948e+02] [-2.11742950e-01 9.77325324e-01 -3.65249303e-04 -3.70008451e+01] [-1.69057735e-03 7.44986875e-06 9.99998571e-01 -6.60626027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.94, Y:-37.00, Z:-0.66 [[ 9.77870147e-01 2.09206242e-01 1.65068620e-03 2.91939699e+02] [-2.09205923e-01 9.77871540e-01 -3.65160681e-04 -3.70043085e+01] [-1.69055295e-03 1.17463971e-05 9.99998571e-01 -6.63953434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-37.01, Z:-0.66 [[ 9.77966963e-01 2.08753190e-01 1.65070185e-03 2.91967639e+02] [-2.08752872e-01 9.77968356e-01 -3.65089943e-04 -3.70092591e+01] [-1.69054786e-03 1.24571513e-05 9.99998571e-01 -6.63141506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.00, Y:-37.02, Z:-0.66 [[ 9.77922895e-01 2.08959532e-01 1.65071840e-03 2.91995269e+02] [-2.08959214e-01 9.77924288e-01 -3.65015074e-04 -3.70152082e+01] [-1.69055100e-03 1.20237787e-05 9.99998571e-01 -6.62064408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.02, Y:-37.02, Z:-0.66 [[ 9.77696099e-01 2.10018124e-01 1.65073903e-03 2.92022433e+02] [-2.10017807e-01 9.77697493e-01 -3.64921781e-04 -3.70212125e+01] [-1.69056360e-03 1.00980108e-05 9.99998571e-01 -6.59676874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.05, Y:-37.03, Z:-0.66 [[ 9.77491638e-01 2.10967706e-01 1.65075847e-03 2.92050788e+02] [-2.10967390e-01 9.77493032e-01 -3.64833811e-04 -3.70252985e+01] [-1.69057305e-03 8.36579246e-06 9.99998571e-01 -6.57933740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.08, Y:-37.03, Z:-0.66 [[ 9.77338516e-01 2.11675931e-01 1.65077548e-03 2.92078527e+02] [-2.11675617e-01 9.77339910e-01 -3.64756852e-04 -3.70310067e+01] [-1.69057900e-03 7.06200321e-06 9.99998571e-01 -6.56989298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:-37.04, Z:-0.65 [[ 9.77192705e-01 2.12348044e-01 1.65079837e-03 2.92105539e+02] [-2.12347731e-01 9.77194100e-01 -3.64653228e-04 -3.70381125e+01] [-1.69058382e-03 5.79318709e-06 9.99998571e-01 -6.54078063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:-37.05, Z:-0.65 [[ 9.76901690e-01 2.13682857e-01 1.65081856e-03 2.92133088e+02] [-2.13682546e-01 9.76903085e-01 -3.64561801e-04 -3.70460890e+01] [-1.69059035e-03 3.38992731e-06 9.99998571e-01 -6.50808215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.16, Y:-37.05, Z:-0.65 [[ 9.76636782e-01 2.14890368e-01 1.65083538e-03 2.92160812e+02] [-2.14890059e-01 9.76638177e-01 -3.64485586e-04 -3.70514737e+01] [-1.69059330e-03 1.22191743e-06 9.99998571e-01 -6.54382212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:-37.06, Z:-0.66 [[ 9.76540442e-01 2.15327749e-01 1.65085628e-03 2.92189065e+02] [-2.15327440e-01 9.76541838e-01 -3.64390929e-04 -3.70579752e+01] [-1.69059370e-03 3.67822071e-07 9.99998571e-01 -6.56024829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.22, Y:-37.06, Z:-0.66 [[ 9.76503065e-01 2.15497189e-01 1.65087343e-03 2.92215842e+02] [-2.15496881e-01 9.76504460e-01 -3.64313205e-04 -3.70648611e+01] [-1.69059374e-03 -5.11476716e-09 9.99998571e-01 -6.56358221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:-37.07, Z:-0.65 [[ 9.76590558e-01 2.15100340e-01 1.65089605e-03 2.92242395e+02] [-2.15100031e-01 9.76591954e-01 -3.64210656e-04 -3.70734327e+01] [-1.69059364e-03 5.76894914e-07 9.99998571e-01 -6.52747779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-37.08, Z:-0.65 [[ 9.76824577e-01 2.14035089e-01 1.65091658e-03 2.92269869e+02] [-2.14034779e-01 9.76825973e-01 -3.64117569e-04 -3.70806181e+01] [-1.69059213e-03 2.32542374e-06 9.99998571e-01 -6.52206417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.30, Y:-37.09, Z:-0.66 [[ 9.77332369e-01 2.11704311e-01 1.65093220e-03 2.92297302e+02] [-2.11703998e-01 9.77333763e-01 -3.64046727e-04 -3.70906593e+01] [-1.69058205e-03 6.28570233e-06 9.99998571e-01 -6.56012615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-37.10, Z:-0.66 [[ 9.77523011e-01 2.10822290e-01 1.65094923e-03 2.92324673e+02] [-2.10821976e-01 9.77524405e-01 -3.63969512e-04 -3.70996784e+01] [-1.69057605e-03 7.73219536e-06 9.99998571e-01 -6.59139569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:-37.11, Z:-0.66 [[ 9.77977913e-01 2.08701885e-01 1.65095877e-03 2.92352580e+02] [-2.08701568e-01 9.77979306e-01 -3.63926237e-04 -3.71123781e+01] [-1.69055560e-03 1.13541384e-05 9.99998571e-01 -6.61547673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-37.12, Z:-0.66 [[ 9.78140463e-01 2.07938712e-01 1.65096724e-03 2.92380723e+02] [-2.07938394e-01 9.78141857e-01 -3.63887799e-04 -3.71223503e+01] [-1.69054652e-03 1.26339032e-05 9.99998571e-01 -6.61104006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:-37.13, Z:-0.66 [[ 9.78237696e-01 2.07480806e-01 1.65097567e-03 2.92409097e+02] [-2.07480487e-01 9.78239089e-01 -3.63849521e-04 -3.71322019e+01] [-1.69054073e-03 1.33860793e-05 9.99998571e-01 -6.60094800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.44, Y:-37.14, Z:-0.66 [[ 9.77996310e-01 2.08615657e-01 1.65098412e-03 2.92436609e+02] [-2.08615340e-01 9.77997703e-01 -3.63811174e-04 -3.71442213e+01] [-1.69055539e-03 1.13853711e-05 9.99998571e-01 -6.60427437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-37.15, Z:-0.67 [[ 9.77264685e-01 2.12016531e-01 1.65098834e-03 2.92464402e+02] [-2.12016219e-01 9.77266080e-01 -3.63792063e-04 -3.71524011e+01] [-1.69058483e-03 5.48483132e-06 9.99998571e-01 -6.67469898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:-37.16, Z:-0.67 [[ 9.76936830e-01 2.13522141e-01 1.65100084e-03 2.92495067e+02] [-2.13521831e-01 9.76938225e-01 -3.63735295e-04 -3.71601297e+01] [-1.69059137e-03 2.82168335e-06 9.99998571e-01 -6.68576264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.155769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-37.17, Z:-0.67 [[ 9.76751022e-01 2.14370508e-01 1.65099210e-03 2.92524022e+02] [-2.14370199e-01 9.76752418e-01 -3.63774992e-04 -3.71675683e+01] [-1.69059315e-03 1.39409102e-06 9.99998571e-01 -6.70004027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:-37.18, Z:-0.67 [[ 9.77166176e-01 2.12470091e-01 1.65097171e-03 2.92554349e+02] [-2.12469780e-01 9.77167570e-01 -3.63867489e-04 -3.71772216e+01] [-1.69058697e-03 4.77740733e-06 9.99998571e-01 -6.66614296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:-37.19, Z:-0.67 [[ 9.77635787e-01 2.10298698e-01 1.65096312e-03 2.92585169e+02] [-2.10298383e-01 9.77637181e-01 -3.63906470e-04 -3.71869054e+01] [-1.69057199e-03 8.57311346e-06 9.99998571e-01 -6.65757093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:-37.20, Z:-0.66 [[ 9.78787189e-01 2.04872919e-01 1.65090300e-03 2.92613740e+02] [-2.04872596e-01 9.78788581e-01 -3.64178987e-04 -3.71999849e+01] [-1.69049542e-03 1.82289434e-05 9.99998571e-01 -6.61873703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-37.21, Z:-0.66 [[ 9.79339960e-01 2.02214040e-01 1.65084726e-03 2.92644231e+02] [-2.02213713e-01 9.79341351e-01 -3.64431509e-04 -3.72104980e+01] [-1.69043615e-03 2.30783868e-05 9.99998571e-01 -6.59880088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:-37.22, Z:-0.66 [[ 9.80164269e-01 1.98179918e-01 1.65079026e-03 2.92674794e+02] [-1.98179585e-01 9.80165659e-01 -3.64689519e-04 -3.72248813e+01] [-1.69032206e-03 3.03027086e-05 9.99998571e-01 -6.59480939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-37.24, Z:-0.66 [[ 9.80399531e-01 1.97012780e-01 1.65072172e-03 2.92705197e+02] [-1.97012444e-01 9.80400920e-01 -3.64999493e-04 -3.72356502e+01] [-1.69027866e-03 3.26326109e-05 9.99998571e-01 -6.59967923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-37.25, Z:-0.66 [[ 9.80301915e-01 1.97497926e-01 1.65065765e-03 2.92735997e+02] [-1.97497591e-01 9.80303304e-01 -3.65288982e-04 -3.72510636e+01] [-1.69028897e-03 3.20925778e-05 9.99998571e-01 -6.60159257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:-37.26, Z:-0.66 [[ 9.79992395e-01 1.99028092e-01 1.65059272e-03 2.92766941e+02] [-1.99027758e-01 9.79993785e-01 -3.65582176e-04 -3.72624573e+01] [-1.69033173e-03 2.97539841e-05 9.99998571e-01 -6.60108186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-37.27, Z:-0.66 [[ 9.79696626e-01 2.00478917e-01 1.65052004e-03 2.92798431e+02] [-2.00478585e-01 9.79698016e-01 -3.65909988e-04 -3.72736686e+01] [-1.69036845e-03 2.75868576e-05 9.99998571e-01 -6.61538374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-37.29, Z:-0.66 [[ 9.79243385e-01 2.02681202e-01 1.65044518e-03 2.92827914e+02] [-2.02680872e-01 9.79244775e-01 -3.66247323e-04 -3.72890433e+01] [-1.69042127e-03 2.41315984e-05 9.99998571e-01 -6.64604534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:-37.30, Z:-0.66 [[ 9.78993514e-01 2.03884714e-01 1.65037538e-03 2.92858399e+02] [-2.03884386e-01 9.78994904e-01 -3.66561615e-04 -3.73013664e+01] [-1.69044540e-03 2.23756741e-05 9.99998571e-01 -6.62528519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-37.32, Z:-0.66 [[ 9.78545236e-01 2.06025476e-01 1.65031654e-03 2.92888463e+02] [-2.06025151e-01 9.78546628e-01 -3.66826302e-04 -3.73194458e+01] [-1.69048725e-03 1.89494159e-05 9.99998571e-01 -6.57756370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.92, Y:-37.33, Z:-0.66 [[ 9.78275500e-01 2.07302491e-01 1.65024628e-03 2.92919431e+02] [-2.07302167e-01 9.78276892e-01 -3.67142133e-04 -3.73318047e+01] [-1.69050728e-03 1.70665252e-05 9.99998571e-01 -6.56498976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:-37.35, Z:-0.66 [[ 9.77703150e-01 2.09985302e-01 1.65017545e-03 2.92948642e+02] [-2.09984980e-01 9.77704543e-01 -3.67460223e-04 -3.73469661e+01] [-1.69054528e-03 1.27549589e-05 9.99998571e-01 -6.56096974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:-37.36, Z:-0.66 [[ 9.77318762e-01 2.11767124e-01 1.65010952e-03 2.92979250e+02] [-2.11766805e-01 9.77320155e-01 -3.67756051e-04 -3.73571865e+01] [-1.69056393e-03 9.97646869e-06 9.99998571e-01 -6.57928109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:-37.37, Z:-0.66 [[ 9.76367078e-01 2.16112486e-01 1.65007086e-03 2.93009251e+02] [-2.16112173e-01 9.76368472e-01 -3.67929431e-04 -3.73694811e+01] [-1.69059131e-03 2.63378547e-06 9.99998571e-01 -6.64238836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:-37.38, Z:-0.67 [[ 9.76013241e-01 2.17704915e-01 1.65001000e-03 2.93039808e+02] [-2.17704603e-01 9.76014636e-01 -3.68202128e-04 -3.73789011e+01] [-1.69059333e-03 1.55378448e-07 9.99998571e-01 -6.66646233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:-37.39, Z:-0.66 [[ 9.75755978e-01 2.18855088e-01 1.64994944e-03 2.93069246e+02] [-2.18854778e-01 9.75757373e-01 -3.68473306e-04 -3.73908225e+01] [-1.69059259e-03 -1.55928773e-06 9.99998571e-01 -6.62951203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-37.40, Z:-0.66 [[ 9.75757030e-01 2.18850395e-01 1.64989350e-03 2.93099622e+02] [-2.18850084e-01 9.75758425e-01 -3.68723623e-04 -3.74000941e+01] [-1.69059280e-03 -1.29466488e-06 9.99998571e-01 -6.59316418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:-37.41, Z:-0.65 [[ 9.75772308e-01 2.18782268e-01 1.64983776e-03 2.93131061e+02] [-2.18781957e-01 9.75773703e-01 -3.68972854e-04 -3.74109089e+01] [-1.69059302e-03 -9.21241761e-07 9.99998571e-01 -6.54691142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:-37.42, Z:-0.66 [[ 9.75652942e-01 2.19313963e-01 1.64976895e-03 2.93161666e+02] [-2.19313653e-01 9.75654337e-01 -3.69280291e-04 -3.74189850e+01] [-1.69059255e-03 -1.52745084e-06 9.99998571e-01 -6.55101322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.19, Y:-37.43, Z:-0.66 [[ 9.75449631e-01 2.20216474e-01 1.64970470e-03 2.93193773e+02] [-2.20216164e-01 9.75451026e-01 -3.69567096e-04 -3.74267696e+01] [-1.69059090e-03 -2.79755168e-06 9.99998571e-01 -6.55303907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:-37.43, Z:-0.65 [[ 9.74576941e-01 2.24047016e-01 1.64963661e-03 2.93226470e+02] [-2.24046711e-01 9.74578337e-01 -3.69870776e-04 -3.74323731e+01] [-1.69056855e-03 -9.12812738e-06 9.99998571e-01 -6.54029984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-37.43, Z:-0.66 [[ 9.73228089e-01 2.29835518e-01 1.64956828e-03 2.93258533e+02] [-2.29835221e-01 9.73229487e-01 -3.70175245e-04 -3.74346086e+01] [-1.69048791e-03 -1.88639439e-05 9.99998571e-01 -6.56263598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.905769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.29, Y:-37.44, Z:-0.66 [[ 9.72459829e-01 2.33064711e-01 1.64950454e-03 2.93289943e+02] [-2.33064418e-01 9.72461228e-01 -3.70459088e-04 -3.74387418e+01] [-1.69042015e-03 -2.41842334e-05 9.99998571e-01 -6.57735800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-37.44, Z:-0.66 [[ 9.71788448e-01 2.35848450e-01 1.64944158e-03 2.93322850e+02] [-2.35848160e-01 9.71789848e-01 -3.70739193e-04 -3.74430880e+01] [-1.69034884e-03 -2.87376958e-05 9.99998571e-01 -6.57684403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-37.45, Z:-0.66 [[ 9.71745722e-01 2.36024431e-01 1.64937424e-03 2.93355468e+02] [-2.36024141e-01 9.71747121e-01 -3.71038518e-04 -3.74506252e+01] [-1.69034883e-03 -2.87370455e-05 9.99998571e-01 -6.57741068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-37.45, Z:-0.66 [[ 9.71062861e-01 2.38818339e-01 1.64930699e-03 2.93389007e+02] [-2.38818052e-01 9.71064262e-01 -3.71337197e-04 -3.74517801e+01] [-1.69026521e-03 -3.32925233e-05 9.99998571e-01 -6.57603506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-37.46, Z:-0.66 [[ 9.71078515e-01 2.38754681e-01 1.64923959e-03 2.93422349e+02] [-2.38754394e-01 9.71079915e-01 -3.71636333e-04 -3.74560230e+01] [-1.69027335e-03 -3.28751397e-05 9.99998571e-01 -6.59405246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.45, Y:-37.46, Z:-0.66 [[ 9.71986303e-01 2.35031714e-01 1.64917041e-03 2.93454739e+02] [-2.35031421e-01 9.71987702e-01 -3.71943063e-04 -3.74562479e+01] [-1.69039177e-03 -2.60833014e-05 9.99998571e-01 -6.64472685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.49, Y:-37.46, Z:-0.67 [[ 9.72593908e-01 2.32504560e-01 1.64911023e-03 2.93487932e+02] [-2.32504263e-01 9.72595306e-01 -3.72209680e-04 -3.74603115e+01] [-1.69045732e-03 -2.14162933e-05 9.99998571e-01 -6.66265232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.52, Y:-37.46, Z:-0.66 [[ 9.73684731e-01 2.27893230e-01 1.64904210e-03 2.93521191e+02] [-2.27892926e-01 9.73686128e-01 -3.72511296e-04 -3.74640653e+01] [-1.69054222e-03 -1.30964678e-05 9.99998571e-01 -6.62384394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:-37.47, Z:-0.66 [[ 9.74184520e-01 2.25747208e-01 1.64897372e-03 2.93552881e+02] [-2.25746900e-01 9.74185916e-01 -3.72813742e-04 -3.74702879e+01] [-1.69056864e-03 -9.06132991e-06 9.99998571e-01 -6.64876030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.59, Y:-37.47, Z:-0.66 [[ 9.75205544e-01 2.21294889e-01 1.64890983e-03 2.93586135e+02] [-2.21294574e-01 9.75206938e-01 -3.73096114e-04 -3.74742057e+01] [-1.69059257e-03 -1.04939997e-06 9.99998571e-01 -6.62776647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.62, Y:-37.48, Z:-0.66 [[ 9.75604086e-01 2.19531202e-01 1.64884196e-03 2.93618568e+02] [-2.19530884e-01 9.75605479e-01 -3.73395792e-04 -3.74800207e+01] [-1.69059128e-03 2.31472688e-06 9.99998571e-01 -6.63711623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.65, Y:-37.49, Z:-0.66 [[ 9.75833917e-01 2.18507320e-01 1.64877423e-03 2.93650636e+02] [-2.18507001e-01 9.75835309e-01 -3.73694633e-04 -3.74869689e+01] [-1.69058713e-03 4.39518541e-06 9.99998571e-01 -6.64292382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-37.50, Z:-0.66 [[ 9.75982518e-01 2.17842618e-01 1.64870641e-03 2.93682264e+02] [-2.17842297e-01 9.75983911e-01 -3.73993625e-04 -3.74953792e+01] [-1.69058268e-03 5.85324944e-06 9.99998571e-01 -6.62168521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.71, Y:-37.50, Z:-0.66 [[ 9.76076849e-01 2.17419563e-01 1.64863524e-03 2.93713671e+02] [-2.17419241e-01 9.76078242e-01 -3.74307090e-04 -3.75031918e+01] [-1.69057867e-03 6.90746352e-06 9.99998571e-01 -6.60696385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.74, Y:-37.51, Z:-0.66 [[ 9.76659757e-01 2.14785945e-01 1.64856875e-03 2.93744183e+02] [-2.14785619e-01 9.76661148e-01 -3.74599702e-04 -3.75118498e+01] [-1.69055180e-03 1.17675950e-05 9.99998571e-01 -6.56850987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-37.52, Z:-0.66 [[ 9.77063937e-01 2.12939769e-01 1.64850268e-03 2.93775722e+02] [-2.12939440e-01 9.77065328e-01 -3.74890247e-04 -3.75221232e+01] [-1.69052385e-03 1.52605050e-05 9.99998571e-01 -6.57433451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-37.53, Z:-0.66 [[ 9.76991011e-01 2.13274113e-01 1.64843297e-03 2.93806744e+02] [-2.13273783e-01 9.76992402e-01 -3.75196496e-04 -3.75303873e+01] [-1.69052619e-03 1.49960682e-05 9.99998571e-01 -6.60651708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-37.54, Z:-0.66 [[ 9.76685594e-01 2.14668428e-01 1.64836786e-03 2.93838697e+02] [-2.14668100e-01 9.76686984e-01 -3.75482353e-04 -3.75384160e+01] [-1.69054364e-03 1.28762089e-05 9.99998571e-01 -6.64292513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-37.55, Z:-0.67 [[ 9.75482365e-01 2.20071442e-01 1.64829867e-03 2.93869602e+02] [-2.20071121e-01 9.75483757e-01 -3.75785836e-04 -3.75454209e+01] [-1.69058831e-03 3.82951975e-06 9.99998571e-01 -6.66374084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:-37.55, Z:-0.66 [[ 9.74626054e-01 2.23833281e-01 1.64823836e-03 2.93901478e+02] [-2.23832965e-01 9.74627448e-01 -3.76050173e-04 -3.75520915e+01] [-1.69059089e-03 -2.42178215e-06 9.99998571e-01 -6.64868363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.93, Y:-37.56, Z:-0.66 [[ 9.72854234e-01 2.31412884e-01 1.64816952e-03 2.93932788e+02] [-2.31412579e-01 9.72855630e-01 -3.76351630e-04 -3.75563906e+01] [-1.69052361e-03 -1.52718816e-05 9.99998571e-01 -6.60049764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.96, Y:-37.56, Z:-0.66 [[ 9.72049175e-01 2.34771559e-01 1.64813653e-03 2.93964223e+02] [-2.34771258e-01 9.72050572e-01 -3.76496041e-04 -3.75623996e+01] [-1.69046262e-03 -2.09624210e-05 9.99998571e-01 -6.59463941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-37.57, Z:-0.66 [[ 9.71354331e-01 2.37630065e-01 1.64807287e-03 2.93996918e+02] [-2.37629767e-01 9.71355729e-01 -3.76774511e-04 -3.75674591e+01] [-1.69039797e-03 -2.56496194e-05 9.99998571e-01 -6.61257967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-37.57, Z:-0.66 [[ 9.71372501e-01 2.37555781e-01 1.64800561e-03 2.94028832e+02] [-2.37555483e-01 9.71373898e-01 -3.77068493e-04 -3.75743603e+01] [-1.69040443e-03 -2.52188038e-05 9.99998571e-01 -6.63627405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-37.58, Z:-0.67 [[ 9.71790808e-01 2.35838735e-01 1.64793838e-03 2.94059392e+02] [-2.35838434e-01 9.71792205e-01 -3.77362054e-04 -3.75814478e+01] [-1.69045026e-03 -2.19302330e-05 9.99998571e-01 -6.70379317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.655769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.09, Y:-37.59, Z:-0.67 [[ 9.72023456e-01 2.34878023e-01 1.64788404e-03 2.94092022e+02] [-2.34877720e-01 9.72024853e-01 -3.77599200e-04 -3.75887203e+01] [-1.69047400e-03 -2.00159676e-05 9.99998571e-01 -6.71644582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.12, Y:-37.59, Z:-0.67 [[ 9.72298151e-01 2.33738296e-01 1.64781729e-03 2.94123855e+02] [-2.33737991e-01 9.72299547e-01 -3.77890264e-04 -3.75937787e+01] [-1.69049943e-03 -1.77354997e-05 9.99998571e-01 -6.70045950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-37.60, Z:-0.67 [[ 9.71956938e-01 2.35153132e-01 1.64775490e-03 2.94156083e+02] [-2.35152828e-01 9.71958335e-01 -3.78162129e-04 -3.75993278e+01] [-1.69047512e-03 -1.99169200e-05 9.99998571e-01 -6.67987491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:-37.60, Z:-0.67 [[ 9.71382975e-01 2.37512951e-01 1.64768891e-03 2.94188119e+02] [-2.37512651e-01 9.71384372e-01 -3.78449446e-04 -3.76045308e+01] [-1.69042590e-03 -2.37276109e-05 9.99998571e-01 -6.66364785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-37.61, Z:-0.66 [[ 9.70222520e-01 2.42209717e-01 1.64763135e-03 2.94217846e+02] [-2.42209423e-01 9.70223918e-01 -3.78699879e-04 -3.76056534e+01] [-1.69029613e-03 -3.16486878e-05 9.99998571e-01 -6.63946296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.25, Y:-37.61, Z:-0.66 [[ 9.69668412e-01 2.44418610e-01 1.64763544e-03 2.94250894e+02] [-2.44418319e-01 9.69669811e-01 -3.78682081e-04 -3.76095387e+01] [-1.69021929e-03 -3.55162322e-05 9.99998571e-01 -6.61522690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-37.61, Z:-0.66 [[ 9.69055902e-01 2.46835864e-01 1.64756322e-03 2.94284073e+02] [-2.46835576e-01 9.69057302e-01 -3.78996040e-04 -3.76093786e+01] [-1.69013298e-03 -3.94088658e-05 9.99998571e-01 -6.58183544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.31, Y:-37.61, Z:-0.66 [[ 9.69128388e-01 2.46551116e-01 1.64749613e-03 2.94312169e+02] [-2.46550828e-01 9.69129788e-01 -3.79287454e-04 -3.76136334e+01] [-1.69015132e-03 -3.86132943e-05 9.99998571e-01 -6.59102056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-37.62, Z:-0.67 [[ 9.69955093e-01 2.43278449e-01 1.64750818e-03 2.94340489e+02] [-2.43278156e-01 9.69956491e-01 -3.79235089e-04 -3.76178485e+01] [-1.69027098e-03 -3.29617460e-05 9.99998571e-01 -6.65762731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.37, Y:-37.62, Z:-0.67 [[ 9.70697030e-01 2.40300979e-01 1.64752016e-03 2.94369499e+02] [-2.40300682e-01 9.70698428e-01 -3.79183046e-04 -3.76226906e+01] [-1.69036329e-03 -2.78283601e-05 9.99998571e-01 -6.67786546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:294.40, Y:-37.63, Z:-0.67 [[ 9.72169885e-01 2.34271211e-01 1.64752843e-03 2.94398400e+02] [-2.34270904e-01 9.72171281e-01 -3.79147090e-04 -3.76272880e+01] [-1.69050307e-03 -1.73725935e-05 9.99998571e-01 -6.68740153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.43, Y:-37.64, Z:-0.67 [[ 9.72639274e-01 2.32314717e-01 1.64752843e-03 2.94429719e+02] [-2.32314408e-01 9.72640669e-01 -3.79147090e-04 -3.76352902e+01] [-1.69053461e-03 -1.39712434e-05 9.99998571e-01 -6.65385961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-37.64, Z:-0.66 [[ 9.72694518e-01 2.32083307e-01 1.64746623e-03 2.94460214e+02] [-2.32082997e-01 9.72695913e-01 -3.79417174e-04 -3.76436999e+01] [-1.69054006e-03 -1.32918957e-05 9.99998571e-01 -6.59766470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-37.65, Z:-0.66 [[ 9.72344579e-01 2.33545085e-01 1.64739997e-03 2.94490826e+02] [-2.33544776e-01 9.72345974e-01 -3.79704641e-04 -3.76503585e+01] [-1.69052089e-03 -1.55379099e-05 9.99998571e-01 -6.59401347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:-37.66, Z:-0.66 [[ 9.71907755e-01 2.35356329e-01 1.64739121e-03 2.94520737e+02] [-2.35356024e-01 9.71909151e-01 -3.79742648e-04 -3.76564049e+01] [-1.69048943e-03 -1.86486208e-05 9.99998571e-01 -6.60685657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.55, Y:-37.66, Z:-0.66 [[ 9.70997563e-01 2.39083707e-01 1.64738685e-03 2.94552226e+02] [-2.39083407e-01 9.70998960e-01 -3.79761565e-04 -3.76623989e+01] [-1.69040572e-03 -2.51153062e-05 9.99998571e-01 -6.64568508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.58, Y:-37.67, Z:-0.67 [[ 9.70384293e-01 2.41560779e-01 1.64732306e-03 2.94582155e+02] [-2.41560482e-01 9.70385691e-01 -3.80038099e-04 -3.76692604e+01] [-1.69034102e-03 -2.91451489e-05 9.99998571e-01 -6.65762023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:-37.68, Z:-0.67 [[ 9.70123952e-01 2.42604212e-01 1.64726419e-03 2.94612326e+02] [-2.42603916e-01 9.70125350e-01 -3.80293089e-04 -3.76758226e+01] [-1.69031345e-03 -3.07013074e-05 9.99998571e-01 -6.65070336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:-37.68, Z:-0.67 [[ 9.69764571e-01 2.44036806e-01 1.64725067e-03 2.94641825e+02] [-2.44036512e-01 9.69765970e-01 -3.80351630e-04 -3.76823566e+01] [-1.69026744e-03 -3.31377729e-05 9.99998571e-01 -6.66093266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:-37.69, Z:-0.67 [[ 9.69073999e-01 2.46764807e-01 1.64724616e-03 2.94671826e+02] [-2.46764517e-01 9.69075399e-01 -3.80371155e-04 -3.76884244e+01] [-1.69016795e-03 -3.78741070e-05 9.99998571e-01 -6.68071489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:294.70, Y:-37.69, Z:-0.67 [[ 9.68714891e-01 2.48170802e-01 1.64724616e-03 2.94700892e+02] [-2.48170514e-01 9.68716291e-01 -3.80371155e-04 -3.76945047e+01] [-1.69011121e-03 -4.03267239e-05 9.99998571e-01 -6.67341849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:294.73, Y:-37.70, Z:-0.66 [[ 9.67811653e-01 2.51670201e-01 1.64725054e-03 2.94729973e+02] [-2.51669918e-01 9.67813054e-01 -3.80352199e-04 -3.76979494e+01] [-1.68995389e-03 -4.64541180e-05 9.99998571e-01 -6.64517778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.76, Y:-37.70, Z:-0.66 [[ 9.67232753e-01 2.53885973e-01 1.64726777e-03 2.94759132e+02] [-2.53885693e-01 9.67234155e-01 -3.80277577e-04 -3.77028300e+01] [-1.68984079e-03 -5.04007915e-05 9.99998571e-01 -6.64967699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.79, Y:-37.71, Z:-0.67 [[ 9.65907783e-01 2.58881133e-01 1.64727676e-03 2.94788188e+02] [-2.58880860e-01 9.65909186e-01 -3.80238614e-04 -3.77057300e+01] [-1.68955636e-03 -5.91729873e-05 9.99998571e-01 -6.67088315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-37.71, Z:-0.67 [[ 9.65431978e-01 2.60649922e-01 1.64729014e-03 2.94816440e+02] [-2.60649652e-01 9.65433382e-01 -3.80180622e-04 -3.77106426e+01] [-1.68944294e-03 -6.23270727e-05 9.99998571e-01 -6.67446634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.405769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.84, Y:-37.72, Z:-0.67 [[ 9.65640656e-01 2.59875758e-01 1.64730715e-03 2.94844401e+02] [-2.59875488e-01 9.65642059e-01 -3.80106915e-04 -3.77161858e+01] [-1.68948964e-03 -6.10480578e-05 9.99998571e-01 -6.67151515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.87, Y:-37.72, Z:-0.67 [[ 9.66285141e-01 2.57469052e-01 1.64732473e-03 2.94872619e+02] [-2.57468778e-01 9.66286543e-01 -3.80030734e-04 -3.77235497e+01] [-1.68963387e-03 -5.69166333e-05 9.99998571e-01 -6.66547676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-37.73, Z:-0.67 [[ 9.67612316e-01 2.52435521e-01 1.64733782e-03 2.94900963e+02] [-2.52435239e-01 9.67613717e-01 -3.79973977e-04 -3.77317139e+01] [-1.68990560e-03 -4.81786165e-05 9.99998571e-01 -6.66630928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.93, Y:-37.74, Z:-0.67 [[ 9.68094992e-01 2.50578076e-01 1.64734633e-03 2.94929884e+02] [-2.50577792e-01 9.68096393e-01 -3.79937060e-04 -3.77379051e+01] [-1.68999394e-03 -4.49732415e-05 9.99998571e-01 -6.67774831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.525769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.96, Y:-37.74, Z:-0.67 [[ 9.68462467e-01 2.49154040e-01 1.64735510e-03 2.94958277e+02] [-2.49153754e-01 9.68463867e-01 -3.79899035e-04 -3.77428151e+01] [-1.69005727e-03 -4.25267520e-05 9.99998571e-01 -6.69013897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.99, Y:-37.75, Z:-0.67 [[ 9.68484313e-01 2.49069112e-01 1.64736821e-03 2.94986178e+02] [-2.49068826e-01 9.68485713e-01 -3.79842177e-04 -3.77485076e+01] [-1.69005953e-03 -4.24368759e-05 9.99998571e-01 -6.68998302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.02, Y:-37.75, Z:-0.67 [[ 9.68387448e-01 2.49445458e-01 1.64737782e-03 2.95015142e+02] [-2.49445172e-01 9.68388848e-01 -3.79800518e-04 -3.77545759e+01] [-1.69004182e-03 -4.31363885e-05 9.99998571e-01 -6.67945544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.04, Y:-37.76, Z:-0.66 [[ 9.68147649e-01 2.50374550e-01 1.64738681e-03 2.95043931e+02] [-2.50374266e-01 9.68149050e-01 -3.79761518e-04 -3.77584810e+01] [-1.68999859e-03 -4.47980410e-05 9.99998571e-01 -6.64292208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.07, Y:-37.76, Z:-0.66 [[ 9.68160211e-01 2.50325972e-01 1.64740021e-03 2.95073356e+02] [-2.50325688e-01 9.68161611e-01 -3.79703346e-04 -3.77624412e+01] [-1.68999925e-03 -4.47729206e-05 9.99998571e-01 -6.62013136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:-37.77, Z:-0.66 [[ 9.68481126e-01 2.49081502e-01 1.64740921e-03 2.95101757e+02] [-2.49081216e-01 9.68482526e-01 -3.79664296e-04 -3.77679917e+01] [-1.69005439e-03 -4.26409849e-05 9.99998571e-01 -6.62815866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.13, Y:-37.77, Z:-0.66 [[ 9.69025969e-01 2.46953350e-01 1.64742265e-03 2.95131034e+02] [-2.46953062e-01 9.69027369e-01 -3.79605970e-04 -3.77731200e+01] [-1.69014260e-03 -3.89880253e-05 9.99998571e-01 -6.64357570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:295.16, Y:-37.78, Z:-0.67 [[ 9.69924151e-01 2.43401780e-01 1.64743163e-03 2.95160106e+02] [-2.43401486e-01 9.69925550e-01 -3.79567015e-04 -3.77751210e+01] [-1.69027331e-03 -3.28360921e-05 9.99998571e-01 -6.69934346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.19, Y:-37.78, Z:-0.67 [[ 9.70050271e-01 2.42898658e-01 1.64744055e-03 2.95187186e+02] [-2.42898363e-01 9.70051669e-01 -3.79528272e-04 -3.77793773e+01] [-1.69028937e-03 -3.19991110e-05 9.99998571e-01 -6.72763525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.22, Y:-37.78, Z:-0.67 [[ 9.70023850e-01 2.43004147e-01 1.64746507e-03 2.95215499e+02] [-2.43003853e-01 9.70025249e-01 -3.79421808e-04 -3.77833372e+01] [-1.69028379e-03 -3.22921582e-05 9.99998571e-01 -6.68836057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.24, Y:-37.79, Z:-0.67 [[ 9.69949353e-01 2.43301332e-01 1.64748274e-03 2.95243496e+02] [-2.43301039e-01 9.69950752e-01 -3.79345092e-04 -3.77879380e+01] [-1.69027229e-03 -3.28887342e-05 9.99998571e-01 -6.67189672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.27, Y:-37.79, Z:-0.67 [[ 9.69960614e-01 2.43256433e-01 1.64750522e-03 2.95272104e+02] [-2.43256140e-01 9.69962013e-01 -3.79247424e-04 -3.77944310e+01] [-1.69027186e-03 -3.29106955e-05 9.99998571e-01 -6.67239253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:295.30, Y:-37.80, Z:-0.67 [[ 9.69609186e-01 2.44653454e-01 1.64752277e-03 2.95300486e+02] [-2.44653163e-01 9.69610585e-01 -3.79171161e-04 -3.77963629e+01] [-1.69022105e-03 -3.54238166e-05 9.99998571e-01 -6.68949079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.33, Y:-37.80, Z:-0.67 [[ 9.69540094e-01 2.44927117e-01 1.64754459e-03 2.95329289e+02] [-2.44926826e-01 9.69541493e-01 -3.79076328e-04 -3.78014834e+01] [-1.69020891e-03 -3.59981689e-05 9.99998571e-01 -6.71513678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.36, Y:-37.81, Z:-0.67 [[ 9.69491623e-01 2.45118907e-01 1.64756204e-03 2.95356787e+02] [-2.45118616e-01 9.69493022e-01 -3.79000471e-04 -3.78062823e+01] [-1.69020008e-03 -3.64103465e-05 9.99998571e-01 -6.72404190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9757692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:295.39, Y:-37.81, Z:-0.67 [[ 9.69520706e-01 2.45003849e-01 1.64758438e-03 2.95386295e+02] [-2.45003559e-01 9.69522105e-01 -3.78903357e-04 -3.78086624e+01] [-1.69020225e-03 -3.63093857e-05 9.99998571e-01 -6.69170376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:295.42, Y:-37.81, Z:-0.67 [[ 9.69282526e-01 2.45944447e-01 1.64760164e-03 2.95415208e+02] [-2.45944158e-01 9.69283925e-01 -3.78828289e-04 -3.78090985e+01] [-1.69016449e-03 -3.80263557e-05 9.99998571e-01 -6.68038199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.44, Y:-37.81, Z:-0.67 [[ 9.69143577e-01 2.46491403e-01 1.64762739e-03 2.95442784e+02] [-2.46491116e-01 9.69144977e-01 -3.78716231e-04 -3.78127773e+01] [-1.69014011e-03 -3.90951108e-05 9.99998571e-01 -6.69123763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.47, Y:-37.82, Z:-0.67 [[ 9.69019570e-01 2.46978456e-01 1.64764872e-03 2.95470486e+02] [-2.46978169e-01 9.69020970e-01 -3.78623409e-04 -3.78168964e+01] [-1.69011799e-03 -4.00397719e-05 9.99998571e-01 -6.70240467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.50, Y:-37.82, Z:-0.67 [[ 9.68653525e-01 2.48410211e-01 1.64767418e-03 2.95498408e+02] [-2.48409926e-01 9.68654926e-01 -3.78512595e-04 -3.78172195e+01] [-1.69005410e-03 -4.26510620e-05 9.99998571e-01 -6.71922861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.53, Y:-37.82, Z:-0.67 [[ 9.68493853e-01 2.49032009e-01 1.64770376e-03 2.95526416e+02] [-2.49031725e-01 9.68495254e-01 -3.78383788e-04 -3.78200309e+01] [-1.69002294e-03 -4.38681373e-05 9.99998571e-01 -6.71467114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.155769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.56, Y:-37.82, Z:-0.67 [[ 9.68395533e-01 2.49414069e-01 1.64772910e-03 2.95556013e+02] [-2.49413786e-01 9.68396933e-01 -3.78273384e-04 -3.78212458e+01] [-1.69000252e-03 -4.46480983e-05 9.99998571e-01 -6.68982338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.58, Y:-37.83, Z:-0.67 [[ 9.68686382e-01 2.48282055e-01 1.64774599e-03 2.95584164e+02] [-2.48281771e-01 9.68687782e-01 -3.78199803e-04 -3.78254659e+01] [-1.69005164e-03 -4.27482941e-05 9.99998571e-01 -6.67698631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.61, Y:-37.83, Z:-0.67 [[ 9.69928158e-01 2.43385810e-01 1.64777124e-03 2.95611709e+02] [-2.43385519e-01 9.69929557e-01 -3.78089795e-04 -3.78275007e+01] [-1.69024372e-03 -3.43237192e-05 9.99998571e-01 -6.65821390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.64, Y:-37.83, Z:-0.67 [[ 9.70683140e-01 2.40357080e-01 1.64780056e-03 2.95638595e+02] [-2.40356785e-01 9.70684538e-01 -3.77961953e-04 -3.78317835e+01] [-1.69034036e-03 -2.91787486e-05 9.99998571e-01 -6.67142547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.275769231 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:295.67, Y:-37.84, Z:-0.67 [[ 9.72108538e-01 2.34525639e-01 1.64782970e-03 2.95665622e+02] [-2.34525335e-01 9.72109934e-01 -3.77834871e-04 -3.78373004e+01] [-1.69048358e-03 -1.91613091e-05 9.99998571e-01 -6.72389597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.69, Y:-37.84, Z:-0.67 [[ 9.72723579e-01 2.31961468e-01 1.64784624e-03 2.95693108e+02] [-2.31961161e-01 9.72724975e-01 -3.77762719e-04 -3.78435565e+01] [-1.69052759e-03 -1.47776218e-05 9.99998571e-01 -6.72406411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.72, Y:-37.85, Z:-0.67 [[ 9.73712769e-01 2.27773413e-01 1.64787105e-03 2.95721830e+02] [-2.27773100e-01 9.73714164e-01 -3.77654453e-04 -3.78484721e+01] [-1.69057503e-03 -7.61373493e-06 9.99998571e-01 -6.67256913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:295.75, Y:-37.85, Z:-0.67 [[ 9.74070038e-01 2.26240683e-01 1.64788768e-03 2.95749304e+02] [-2.26240368e-01 9.74071431e-01 -3.77581874e-04 -3.78531348e+01] [-1.69058469e-03 -5.02752395e-06 9.99998571e-01 -6.65193473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.78, Y:-37.86, Z:-0.67 [[ 9.74691008e-01 2.23550271e-01 1.64791453e-03 2.95776453e+02] [-2.23549952e-01 9.74692401e-01 -3.77464658e-04 -3.78560449e+01] [-1.69059210e-03 -4.79806131e-07 9.99998571e-01 -6.66434753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:-37.86, Z:-0.67 [[ 9.75038897e-01 2.22028000e-01 1.64795303e-03 2.95803562e+02] [-2.22027679e-01 9.75040290e-01 -3.77296492e-04 -3.78609078e+01] [-1.69059099e-03 1.98756859e-06 9.99998571e-01 -6.67250134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.83, Y:-37.86, Z:-0.67 [[ 9.75759576e-01 2.18839060e-01 1.64797740e-03 2.95830139e+02] [-2.18838735e-01 9.75760968e-01 -3.77190000e-04 -3.78649000e+01] [-1.69057593e-03 7.40546367e-06 9.99998571e-01 -6.68585545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:295.86, Y:-37.87, Z:-0.67 [[ 9.76199717e-01 2.16867234e-01 1.64800575e-03 2.95857614e+02] [-2.16866906e-01 9.76201108e-01 -3.77066129e-04 -3.78705935e+01] [-1.69055832e-03 1.06939398e-05 9.99998571e-01 -6.68954899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.88, Y:-37.88, Z:-0.67 [[ 9.76673610e-01 2.14722944e-01 1.64803147e-03 2.95884079e+02] [-2.14722614e-01 9.76675001e-01 -3.76953683e-04 -3.78765335e+01] [-1.69053174e-03 1.42910913e-05 9.99998571e-01 -6.69502374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:295.91, Y:-37.88, Z:-0.67 [[ 9.77409204e-01 2.11349314e-01 1.64806125e-03 2.95911347e+02] [-2.11348979e-01 9.77410593e-01 -3.76823403e-04 -3.78829980e+01] [-1.69047390e-03 1.99945986e-05 9.99998571e-01 -6.68747027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:-37.89, Z:-0.67 [[ 9.77754760e-01 2.09744876e-01 1.64808241e-03 2.95938442e+02] [-2.09744539e-01 9.77756149e-01 -3.76730850e-04 -3.78899305e+01] [-1.69044008e-03 2.26740964e-05 9.99998571e-01 -6.68080314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-37.90, Z:-0.67 [[ 9.77726135e-01 2.09878273e-01 1.64810775e-03 2.95965666e+02] [-2.09877936e-01 9.77727523e-01 -3.76619949e-04 -3.78974354e+01] [-1.69044466e-03 2.23297123e-05 9.99998571e-01 -6.68154470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.99, Y:-37.91, Z:-0.67 [[ 9.77589022e-01 2.10516005e-01 1.64812872e-03 2.95993155e+02] [-2.10515669e-01 9.77590411e-01 -3.76528157e-04 -3.79050818e+01] [-1.69046004e-03 2.11328712e-05 9.99998571e-01 -6.68473446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.02, Y:-37.91, Z:-0.67 [[ 9.76896075e-01 2.13708543e-01 1.64814647e-03 2.96019590e+02] [-2.13708212e-01 9.76897466e-01 -3.76450448e-04 -3.79134974e+01] [-1.69052079e-03 1.55305294e-05 9.99998571e-01 -6.67941153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.05, Y:-37.92, Z:-0.67 [[ 9.75615401e-01 2.19480917e-01 1.64816858e-03 2.96046843e+02] [-2.19480595e-01 9.75616793e-01 -3.76353621e-04 -3.79207934e+01] [-1.69058339e-03 5.43536837e-06 9.99998571e-01 -6.65674013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.07, Y:-37.93, Z:-0.67 [[ 9.74724854e-01 2.23402648e-01 1.64819447e-03 2.96073933e+02] [-2.23402332e-01 9.74726247e-01 -3.76240210e-04 -3.79273259e+01] [-1.69059147e-03 -1.47980416e-06 9.99998571e-01 -6.66858948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.10, Y:-37.93, Z:-0.67 [[ 9.73025560e-01 2.30691445e-01 1.64822077e-03 2.96101810e+02] [-2.30691139e-01 9.73026956e-01 -3.76124956e-04 -3.79332378e+01] [-1.69053205e-03 -1.42507317e-05 9.99998571e-01 -6.71127472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.13, Y:-37.94, Z:-0.67 [[ 9.72353002e-01 2.33510005e-01 1.64824262e-03 2.96129771e+02] [-2.33509703e-01 9.72354399e-01 -3.76029192e-04 -3.79384634e+01] [-1.69048254e-03 -1.92475310e-05 9.99998571e-01 -6.73283357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.16, Y:-37.94, Z:-0.68 [[ 9.71770848e-01 2.35920968e-01 1.64826016e-03 2.96156982e+02] [-2.35920669e-01 9.71772245e-01 -3.75952308e-04 -3.79434802e+01] [-1.69042851e-03 -2.35191463e-05 9.99998571e-01 -6.76419609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.18, Y:-37.95, Z:-0.68 [[ 9.71734107e-01 2.36072252e-01 1.64828189e-03 2.96183825e+02] [-2.36071954e-01 9.71735505e-01 -3.75856989e-04 -3.79496207e+01] [-1.69042344e-03 -2.38800710e-05 9.99998571e-01 -6.79468154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.21, Y:-37.96, Z:-0.67 [[ 9.72581649e-01 2.32555843e-01 1.64831184e-03 2.96211278e+02] [-2.32555540e-01 9.72583045e-01 -3.75725595e-04 -3.79578197e+01] [-1.69049733e-03 -1.79002328e-05 9.99998571e-01 -6.74285115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.905769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-37.96, Z:-0.67 [[ 9.72916844e-01 2.31149514e-01 1.64832882e-03 2.96238352e+02] [-2.31149210e-01 9.72918240e-01 -3.75651117e-04 -3.79637838e+01] [-1.69052075e-03 -1.55326038e-05 9.99998571e-01 -6.71280016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-37.97, Z:-0.67 [[ 9.73002161e-01 2.30790116e-01 1.64834991e-03 2.96266157e+02] [-2.30789811e-01 9.73003557e-01 -3.75558550e-04 -3.79689081e+01] [-1.69052552e-03 -1.50030832e-05 9.99998571e-01 -6.68947739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.29, Y:-37.97, Z:-0.67 [[ 9.72072892e-01 2.34673336e-01 1.64837517e-03 2.96293620e+02] [-2.34673037e-01 9.72074290e-01 -3.75447623e-04 -3.79700785e+01] [-1.69045067e-03 -2.18667513e-05 9.99998571e-01 -6.70159524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.32, Y:-37.97, Z:-0.67 [[ 9.71391796e-01 2.37476864e-01 1.64840449e-03 2.96322089e+02] [-2.37476569e-01 9.71393194e-01 -3.75318871e-04 -3.79727585e+01] [-1.69037845e-03 -2.68757708e-05 9.99998571e-01 -6.71766205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-37.97, Z:-0.67 [[ 9.70525454e-01 2.40992999e-01 1.64842959e-03 2.96351240e+02] [-2.40992709e-01 9.70526854e-01 -3.75208602e-04 -3.79718715e+01] [-1.69026783e-03 -3.31100134e-05 9.99998571e-01 -6.70930349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.38, Y:-37.98, Z:-0.67 [[ 9.70482149e-01 2.41167330e-01 1.64845633e-03 2.96379312e+02] [-2.41167040e-01 9.70483549e-01 -3.75091053e-04 -3.79755337e+01] [-1.69025946e-03 -3.35341642e-05 9.99998571e-01 -6.70322304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-37.98, Z:-0.67 [[ 9.71187708e-01 2.38310130e-01 1.64848375e-03 2.96405398e+02] [-2.38309837e-01 9.71189107e-01 -3.74970548e-04 -3.79809206e+01] [-1.69034874e-03 -2.86831054e-05 9.99998571e-01 -6.71461566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.43, Y:-37.99, Z:-0.67 [[ 9.71899185e-01 2.35391710e-01 1.64851557e-03 2.96431722e+02] [-2.35391413e-01 9.71900583e-01 -3.74830560e-04 -3.79873147e+01] [-1.69042525e-03 -2.37488941e-05 9.99998571e-01 -6.72349301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14576923100003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.46, Y:-37.99, Z:-0.67 [[ 9.72666786e-01 2.32199493e-01 1.64854695e-03 2.96459471e+02] [-2.32199192e-01 9.72668183e-01 -3.74692499e-04 -3.79933601e+01] [-1.69049258e-03 -1.83403219e-05 9.99998571e-01 -6.72093228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-38.00, Z:-0.67 [[ 9.73856233e-01 2.27159238e-01 1.64857399e-03 2.96485456e+02] [-2.27158930e-01 9.73857628e-01 -3.74573503e-04 -3.79993171e+01] [-1.69056419e-03 -9.70756245e-06 9.99998571e-01 -6.71914739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:-38.01, Z:-0.67 [[ 9.74465845e-01 2.24529730e-01 1.64860546e-03 2.96512275e+02] [-2.24529418e-01 9.74467239e-01 -3.74434970e-04 -3.80081767e+01] [-1.69058379e-03 -5.28633395e-06 9.99998571e-01 -6.72282064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.54, Y:-38.02, Z:-0.67 [[ 9.74674925e-01 2.23620378e-01 1.64863205e-03 2.96539515e+02] [-2.23620065e-01 9.74676319e-01 -3.74317834e-04 -3.80161673e+01] [-1.69058771e-03 -3.82899952e-06 9.99998571e-01 -6.73398845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:-38.02, Z:-0.68 [[ 9.75143081e-01 2.21569974e-01 1.64865954e-03 2.96566586e+02] [-2.21569658e-01 9.75144475e-01 -3.74196717e-04 -3.80247997e+01] [-1.69059200e-03 -3.97591315e-07 9.99998571e-01 -6.77084797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:-38.03, Z:-0.68 [[ 9.75310003e-01 2.20834057e-01 1.64867773e-03 2.96594184e+02] [-2.20833740e-01 9.75311396e-01 -3.74116551e-04 -3.80316902e+01] [-1.69059186e-03 7.95944664e-07 9.99998571e-01 -6.78381676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.62, Y:-38.04, Z:-0.68 [[ 9.75352030e-01 2.20648362e-01 1.64869537e-03 2.96621389e+02] [-2.20648045e-01 9.75353423e-01 -3.74038790e-04 -3.80384283e+01] [-1.69059172e-03 1.03808257e-06 9.99998571e-01 -6.78862722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:-38.05, Z:-0.68 [[ 9.75018266e-01 2.22118576e-01 1.64872221e-03 2.96648396e+02] [-2.22118261e-01 9.75019660e-01 -3.73920445e-04 -3.80452560e+01] [-1.69059125e-03 -1.63204800e-06 9.99998571e-01 -6.80119075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-38.05, Z:-0.68 [[ 9.74510325e-01 2.24336596e-01 1.64874441e-03 2.96675933e+02] [-2.24336285e-01 9.74511720e-01 -3.73822529e-04 -3.80510731e+01] [-1.69058283e-03 -5.57928200e-06 9.99998571e-01 -6.78692446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:-38.06, Z:-0.68 [[ 9.74339224e-01 2.25078560e-01 1.64877236e-03 2.96702289e+02] [-2.25078250e-01 9.74340619e-01 -3.73699222e-04 -3.80558268e+01] [-1.69057757e-03 -6.99298845e-06 9.99998571e-01 -6.80703598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:-38.06, Z:-0.68 [[ 9.74280172e-01 2.25334036e-01 1.64880465e-03 2.96730626e+02] [-2.25333727e-01 9.74281567e-01 -3.73556710e-04 -3.80609877e+01] [-1.69057502e-03 -7.58240089e-06 9.99998571e-01 -6.81708214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.76, Y:-38.07, Z:-0.68 [[ 9.74519573e-01 2.24296417e-01 1.64882229e-03 2.96758650e+02] [-2.24296106e-01 9.74520968e-01 -3.73478829e-04 -3.80653972e+01] [-1.69058186e-03 -5.86198993e-06 9.99998571e-01 -6.81060302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.79, Y:-38.07, Z:-0.68 [[ 9.74598420e-01 2.23953567e-01 1.64884421e-03 2.96786329e+02] [-2.23953256e-01 9.74599815e-01 -3.73382056e-04 -3.80678024e+01] [-1.69058350e-03 -5.36646714e-06 9.99998571e-01 -6.78515422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.81, Y:-38.07, Z:-0.68 [[ 9.74589618e-01 2.23991871e-01 1.64887180e-03 2.96814723e+02] [-2.23991560e-01 9.74591013e-01 -3.73260161e-04 -3.80712848e+01] [-1.69058288e-03 -5.55788895e-06 9.99998571e-01 -6.78688354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.84, Y:-38.07, Z:-0.68 [[ 9.74565210e-01 2.24098043e-01 1.64889933e-03 2.96841327e+02] [-2.24097733e-01 9.74566605e-01 -3.73138501e-04 -3.80747761e+01] [-1.69058183e-03 -5.86679989e-06 9.99998571e-01 -6.79375230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5957692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:296.87, Y:-38.08, Z:-0.68 [[ 9.75005673e-01 2.22173849e-01 1.64893132e-03 2.96869114e+02] [-2.22173535e-01 9.75007067e-01 -3.72997087e-04 -3.80776000e+01] [-1.69058989e-03 -2.67462544e-06 9.99998571e-01 -6.79525312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.90, Y:-38.08, Z:-0.68 [[ 9.75325885e-01 2.20763900e-01 1.64895807e-03 2.96897054e+02] [-2.20763585e-01 9.75327279e-01 -3.72878791e-04 -3.80822394e+01] [-1.69059196e-03 -3.51557870e-07 9.99998571e-01 -6.78962594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.93, Y:-38.09, Z:-0.67 [[ 9.75779561e-01 2.18749924e-01 1.64898991e-03 2.96925892e+02] [-2.18749607e-01 9.75780954e-01 -3.72737939e-04 -3.80865747e+01] [-1.69058934e-03 2.99416924e-06 9.99998571e-01 -6.74986656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-38.09, Z:-0.67 [[ 9.75845734e-01 2.18454536e-01 1.64900774e-03 2.96952372e+02] [-2.18454218e-01 9.75847127e-01 -3.72659031e-04 -3.80916678e+01] [-1.69058852e-03 3.42502931e-06 9.99998571e-01 -6.74898695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-38.10, Z:-0.68 [[ 9.75881957e-01 2.18292664e-01 1.64903866e-03 2.96981089e+02] [-2.18292346e-01 9.75883350e-01 -3.72522170e-04 -3.80970244e+01] [-1.69058823e-03 3.56514660e-06 9.99998571e-01 -6.78758917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:-38.10, Z:-0.68 [[ 9.76043083e-01 2.17571095e-01 1.64905662e-03 2.97007590e+02] [-2.17570776e-01 9.76044476e-01 -3.72442622e-04 -3.81024644e+01] [-1.69058536e-03 4.73351590e-06 9.99998571e-01 -6.80035205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-38.11, Z:-0.68 [[ 9.76058460e-01 2.17502101e-01 1.64908789e-03 2.97035418e+02] [-2.17501782e-01 9.76059853e-01 -3.72304136e-04 -3.81086052e+01] [-1.69058541e-03 4.71104594e-06 9.99998571e-01 -6.80083376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-38.11, Z:-0.68 [[ 9.76651447e-01 2.14823723e-01 1.64911420e-03 2.97064115e+02] [-2.14823401e-01 9.76652839e-01 -3.72187566e-04 -3.81139307e+01] [-1.69056678e-03 9.22920468e-06 9.99998571e-01 -6.77792865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-38.12, Z:-0.68 [[ 9.76876793e-01 2.13796658e-01 1.64913169e-03 2.97092690e+02] [-2.13796335e-01 9.76878185e-01 -3.72110020e-04 -3.81199979e+01] [-1.69055666e-03 1.09273313e-05 9.99998571e-01 -6.76336903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-38.13, Z:-0.68 [[ 9.76995461e-01 2.13253722e-01 1.64914913e-03 2.97119642e+02] [-2.13253398e-01 9.76996853e-01 -3.72032746e-04 -3.81260375e+01] [-1.69055087e-03 1.17876490e-05 9.99998571e-01 -6.76269373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-38.13, Z:-0.68 [[ 9.77337956e-01 2.11678532e-01 1.64917639e-03 2.97146675e+02] [-2.11678206e-01 9.77339347e-01 -3.71911861e-04 -3.81322233e+01] [-1.69053073e-03 1.43888789e-05 9.99998571e-01 -6.82399210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-38.14, Z:-0.69 [[ 9.77612610e-01 2.10406427e-01 1.64919907e-03 2.97174513e+02] [-2.10406099e-01 9.77614001e-01 -3.71811272e-04 -3.81380593e+01] [-1.69051158e-03 1.64858455e-05 9.99998571e-01 -6.86025937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-38.14, Z:-0.69 [[ 9.78277836e-01 2.07291476e-01 1.64921631e-03 2.97202376e+02] [-2.07291144e-01 9.78279226e-01 -3.71734748e-04 -3.81439421e+01] [-1.69045150e-03 2.17919288e-05 9.99998571e-01 -6.87344457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-38.15, Z:-0.69 [[ 9.78705320e-01 2.05263674e-01 1.64923387e-03 2.97230049e+02] [-2.05263339e-01 9.78706710e-01 -3.71656821e-04 -3.81511900e+01] [-1.69040390e-03 2.52152561e-05 9.99998571e-01 -6.85850081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:-38.16, Z:-0.69 [[ 9.79620436e-01 2.00850894e-01 1.64925144e-03 2.97256691e+02] [-2.00850553e-01 9.79621824e-01 -3.71578844e-04 -3.81596394e+01] [-1.69027465e-03 3.27531651e-05 9.99998571e-01 -6.85492101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-38.17, Z:-0.69 [[ 9.79969222e-01 1.99142172e-01 1.64927821e-03 2.97282756e+02] [-1.99141829e-01 9.79970609e-01 -3.71460016e-04 -3.81673545e+01] [-1.69021752e-03 3.55791052e-05 9.99998571e-01 -6.86669191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-38.18, Z:-0.69 [[ 9.80280515e-01 1.97604129e-01 1.64931645e-03 2.97309789e+02] [-1.97603784e-01 9.80281902e-01 -3.71290147e-04 -3.81765923e+01] [-1.69016353e-03 3.80573257e-05 9.99998571e-01 -6.86050909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-38.19, Z:-0.68 [[ 9.80732415e-01 1.95348946e-01 1.64933388e-03 2.97335722e+02] [-1.95348598e-01 9.80733801e-01 -3.71212683e-04 -3.81909105e+01] [-1.69007349e-03 4.18652501e-05 9.99998571e-01 -6.82889796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.36, Y:-38.20, Z:-0.68 [[ 9.80932762e-01 1.94340415e-01 1.64935139e-03 2.97361604e+02] [-1.94340066e-01 9.80934147e-01 -3.71134891e-04 -3.82038879e+01] [-1.69003160e-03 4.35233164e-05 9.99998571e-01 -6.79717802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.39, Y:-38.21, Z:-0.68 [[ 9.80736926e-01 1.95326294e-01 1.64937315e-03 2.97389438e+02] [-1.95325946e-01 9.80738312e-01 -3.71038140e-04 -3.82132283e+01] [-1.69007695e-03 4.17254347e-05 9.99998571e-01 -6.76775300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-38.22, Z:-0.67 [[ 9.80265386e-01 1.97679164e-01 1.64939143e-03 2.97416525e+02] [-1.97678820e-01 9.80266773e-01 -3.70956883e-04 -3.82218865e+01] [-1.69017406e-03 3.75864418e-05 9.99998571e-01 -6.74546550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:-38.23, Z:-0.67 [[ 9.78730482e-01 2.05143665e-01 1.64941616e-03 2.97444194e+02] [-2.05143331e-01 9.78731871e-01 -3.70846876e-04 -3.82308802e+01] [-1.69041305e-03 2.45924166e-05 9.99998571e-01 -6.73391070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:-38.24, Z:-0.67 [[ 9.77871076e-01 2.09201906e-01 1.64943326e-03 2.97472273e+02] [-2.09201578e-01 9.77872467e-01 -3.70770798e-04 -3.82375919e+01] [-1.69050133e-03 1.75019982e-05 9.99998571e-01 -6.74076914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.50, Y:-38.24, Z:-0.68 [[ 9.76431874e-01 2.15819544e-01 1.64945196e-03 2.97499097e+02] [-2.15819226e-01 9.76433267e-01 -3.70687611e-04 -3.82432008e+01] [-1.69058139e-03 5.96775452e-06 9.99998571e-01 -6.75129049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:-38.25, Z:-0.67 [[ 9.75976366e-01 2.17870173e-01 1.64947525e-03 2.97526389e+02] [-2.17869857e-01 9.75977760e-01 -3.70583950e-04 -3.82489164e+01] [-1.69059034e-03 2.31024065e-06 9.99998571e-01 -6.74778323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:-38.25, Z:-0.68 [[ 9.75728185e-01 2.18978965e-01 1.64950166e-03 2.97554028e+02] [-2.18978652e-01 9.75729580e-01 -3.70466335e-04 -3.82544025e+01] [-1.69059190e-03 2.68794297e-07 9.99998571e-01 -6.77689034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:-38.26, Z:-0.68 [[ 9.76037910e-01 2.17594294e-01 1.64952354e-03 2.97581186e+02] [-2.17593979e-01 9.76039304e-01 -3.70368877e-04 -3.82601723e+01] [-1.69058997e-03 2.56767368e-06 9.99998571e-01 -6.77526865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-38.27, Z:-0.67 [[ 9.77049747e-01 2.13004860e-01 1.64955006e-03 2.97609724e+02] [-2.13004538e-01 9.77051140e-01 -3.70250754e-04 -3.82664691e+01] [-1.69055997e-03 1.03917577e-05 9.99998571e-01 -6.74469383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-38.27, Z:-0.67 [[ 9.77507239e-01 2.10895418e-01 1.64956769e-03 2.97637084e+02] [-2.10895093e-01 9.77508630e-01 -3.70172178e-04 -3.82725900e+01] [-1.69053427e-03 1.39602522e-05 9.99998571e-01 -6.74287441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-38.28, Z:-0.68 [[ 9.77642340e-01 2.10268244e-01 1.64958961e-03 2.97665262e+02] [-2.10267919e-01 9.77643731e-01 -3.70074452e-04 -3.82793180e+01] [-1.69052585e-03 1.49446783e-05 9.99998571e-01 -6.76403041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49576923100005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:297.69, Y:-38.29, Z:-0.68 [[ 9.77339829e-01 2.11669879e-01 1.64960731e-03 2.97693347e+02] [-2.11669556e-01 9.77341221e-01 -3.69995537e-04 -3.82852725e+01] [-1.69054614e-03 1.24397277e-05 9.99998571e-01 -6.77786284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-38.29, Z:-0.68 [[ 9.76913158e-01 2.13630430e-01 1.64962494e-03 2.97720414e+02] [-2.13630110e-01 9.76914551e-01 -3.69916931e-04 -3.82904529e+01] [-1.69056812e-03 8.96715913e-06 9.99998571e-01 -6.79907035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-38.29, Z:-0.68 [[ 9.76078046e-01 2.17414185e-01 1.64964688e-03 2.97748885e+02] [-2.17413870e-01 9.76079440e-01 -3.69819085e-04 -3.82937938e+01] [-1.69059031e-03 2.31617780e-06 9.99998571e-01 -6.83533993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:-38.30, Z:-0.69 [[ 9.75674203e-01 2.19219359e-01 1.64966498e-03 2.97776257e+02] [-2.19219047e-01 9.75675598e-01 -3.69738317e-04 -3.82986472e+01] [-1.69059166e-03 -8.93846967e-07 9.99998571e-01 -6.85466291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:297.80, Y:-38.30, Z:-0.68 [[ 9.75384524e-01 2.20504668e-01 1.64968750e-03 2.97804455e+02] [-2.20504359e-01 9.75385919e-01 -3.69637799e-04 -3.83034197e+01] [-1.69058882e-03 -3.22429593e-06 9.99998571e-01 -6.84794190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-38.31, Z:-0.68 [[ 9.75560879e-01 2.19723120e-01 1.64970501e-03 2.97831282e+02] [-2.19722809e-01 9.75562274e-01 -3.69559659e-04 -3.83087037e+01] [-1.69059077e-03 -1.94987202e-06 9.99998571e-01 -6.84603203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.86, Y:-38.31, Z:-0.68 [[ 9.76487040e-01 2.15569801e-01 1.64972622e-03 2.97858688e+02] [-2.15569484e-01 9.76488434e-01 -3.69464940e-04 -3.83140400e+01] [-1.69058405e-03 5.14709639e-06 9.99998571e-01 -6.83714945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-38.32, Z:-0.68 [[ 9.77030466e-01 2.13093281e-01 1.64974713e-03 2.97886389e+02] [-2.13092961e-01 9.77031859e-01 -3.69371548e-04 -3.83206994e+01] [-1.69056610e-03 9.33775529e-06 9.99998571e-01 -6.84369371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-38.33, Z:-0.69 [[ 9.77833740e-01 2.09376350e-01 1.64977224e-03 2.97912755e+02] [-2.09376025e-01 9.77835131e-01 -3.69259344e-04 -3.83281306e+01] [-1.69051943e-03 1.56514905e-05 9.99998571e-01 -6.86185737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:-38.33, Z:-0.68 [[ 9.78185706e-01 2.07725788e-01 1.64979307e-03 2.97940465e+02] [-2.07725460e-01 9.78187097e-01 -3.69166266e-04 -3.83346231e+01] [-1.69049165e-03 1.84091391e-05 9.99998571e-01 -6.84546352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-38.34, Z:-0.68 [[ 9.78471325e-01 2.06376218e-01 1.64981062e-03 2.97968478e+02] [-2.06375889e-01 9.78472716e-01 -3.69087816e-04 -3.83415798e+01] [-1.69046563e-03 2.06607098e-05 9.99998571e-01 -6.82125185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:-38.35, Z:-0.68 [[ 9.78787392e-01 2.04871959e-01 1.64982813e-03 2.97995311e+02] [-2.04871628e-01 9.78788782e-01 -3.69009529e-04 -3.83496663e+01] [-1.69043297e-03 2.31788988e-05 9.99998571e-01 -6.77236363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.02, Y:-38.36, Z:-0.68 [[ 9.78682032e-01 2.05374678e-01 1.64984980e-03 2.98022494e+02] [-2.05374348e-01 9.78683422e-01 -3.68912610e-04 -3.83575726e+01] [-1.69044596e-03 2.22113151e-05 9.99998571e-01 -6.75762196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-38.37, Z:-0.67 [[ 9.78324523e-01 2.07071015e-01 1.64987135e-03 2.98049693e+02] [-2.07070688e-01 9.78325914e-01 -3.68816235e-04 -3.83669087e+01] [-1.69048304e-03 1.91819731e-05 9.99998571e-01 -6.74600697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-38.37, Z:-0.68 [[ 9.78216682e-01 2.07579864e-01 1.64988862e-03 2.98077884e+02] [-2.07579538e-01 9.78218074e-01 -3.68738927e-04 -3.83746774e+01] [-1.69049365e-03 1.82234519e-05 9.99998571e-01 -6.76764767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:298.11, Y:-38.38, Z:-0.68 [[ 9.77915721e-01 2.08993112e-01 1.64990628e-03 2.98105954e+02] [-2.08992788e-01 9.77917112e-01 -3.68659920e-04 -3.83833252e+01] [-1.69051897e-03 1.56998191e-05 9.99998571e-01 -6.80525641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:298.13, Y:-38.39, Z:-0.68 [[ 9.77783032e-01 2.09613026e-01 1.64992409e-03 2.98132747e+02] [-2.09612702e-01 9.77784424e-01 -3.68580166e-04 -3.83901263e+01] [-1.69052928e-03 1.45463843e-05 9.99998571e-01 -6.81441106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:298.16, Y:-38.40, Z:-0.68 [[ 9.77718020e-01 2.09916057e-01 1.64994618e-03 2.98160443e+02] [-2.09915734e-01 9.77719412e-01 -3.68481289e-04 -3.83965024e+01] [-1.69053454e-03 1.39211341e-05 9.99998571e-01 -6.79733298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:-38.40, Z:-0.68 [[ 9.77052767e-01 2.12991007e-01 1.64996401e-03 2.98188308e+02] [-2.12990689e-01 9.77054160e-01 -3.68401431e-04 -3.84030380e+01] [-1.69057039e-03 8.52066776e-06 9.99998571e-01 -6.75353176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:298.22, Y:-38.41, Z:-0.67 [[ 9.76130923e-01 2.17176655e-01 1.64998180e-03 2.98215481e+02] [-2.17176342e-01 9.76132317e-01 -3.68321697e-04 -3.84080133e+01] [-1.69059144e-03 1.19318468e-06 9.99998571e-01 -6.73442748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:-38.41, Z:-0.68 [[ 9.75801881e-01 2.18650329e-01 1.65000387e-03 2.98243925e+02] [-2.18650019e-01 9.75803276e-01 -3.68222844e-04 -3.84131407e+01] [-1.69059122e-03 -1.46083217e-06 9.99998571e-01 -6.75744298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:-38.42, Z:-0.68 [[ 9.75487857e-01 2.20047083e-01 1.65002139e-03 2.98272041e+02] [-2.20046775e-01 9.75489252e-01 -3.68144318e-04 -3.84186981e+01] [-1.69058721e-03 -3.96157194e-06 9.99998571e-01 -6.79043410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:-38.42, Z:-0.68 [[ 9.75084613e-01 2.21827128e-01 1.65003884e-03 2.98300723e+02] [-2.21826823e-01 9.75086009e-01 -3.68066071e-04 -3.84249055e+01] [-1.69057683e-03 -7.12731133e-06 9.99998571e-01 -6.82341390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:-38.43, Z:-0.68 [[ 9.74902395e-01 2.22626588e-01 1.65005192e-03 2.98328036e+02] [-2.22626284e-01 9.74903791e-01 -3.68007410e-04 -3.84300507e+01] [-1.69057011e-03 -8.57362202e-06 9.99998571e-01 -6.82247556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:-38.43, Z:-0.68 [[ 9.74302426e-01 2.25237785e-01 1.65007800e-03 2.98356040e+02] [-2.25237485e-01 9.74303823e-01 -3.67890456e-04 -3.84318677e+01] [-1.69054013e-03 -1.32228554e-05 9.99998571e-01 -6.76264732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:-38.44, Z:-0.67 [[ 9.73974756e-01 2.26650505e-01 1.65009962e-03 2.98384656e+02] [-2.26650207e-01 9.73976154e-01 -3.67793462e-04 -3.84358206e+01] [-1.69051825e-03 -1.57738721e-05 9.99998571e-01 -6.74088532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:-38.44, Z:-0.67 [[ 9.73595712e-01 2.28273229e-01 1.65011667e-03 2.98411758e+02] [-2.28272934e-01 9.73597110e-01 -3.67716943e-04 -3.84382801e+01] [-1.69048875e-03 -1.86693337e-05 9.99998571e-01 -6.74087054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.44, Y:-38.44, Z:-0.68 [[ 9.73495396e-01 2.28700660e-01 1.65015765e-03 2.98440204e+02] [-2.28700366e-01 9.73496794e-01 -3.67532928e-04 -3.84431510e+01] [-1.69047821e-03 -1.96000459e-05 9.99998571e-01 -6.75770802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:-38.45, Z:-0.68 [[ 9.73422616e-01 2.29010233e-01 1.65017445e-03 2.98467972e+02] [-2.29009939e-01 9.73424015e-01 -3.67457501e-04 -3.84474354e+01] [-1.69047097e-03 -2.02149084e-05 9.99998571e-01 -6.77546597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.50, Y:-38.45, Z:-0.67 [[ 9.73649676e-01 2.28042946e-01 1.65019536e-03 2.98497504e+02] [-2.28042651e-01 9.73651074e-01 -3.67363565e-04 -3.84489869e+01] [-1.69048916e-03 -1.86315090e-05 9.99998571e-01 -6.74890295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:298.53, Y:-38.45, Z:-0.67 [[ 9.74138026e-01 2.25947744e-01 1.65021201e-03 2.98526317e+02] [-2.25947446e-01 9.74139424e-01 -3.67288744e-04 -3.84524751e+01] [-1.69052464e-03 -1.50712584e-05 9.99998571e-01 -6.69621712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.55, Y:-38.46, Z:-0.67 [[ 9.74409915e-01 2.24772316e-01 1.65022858e-03 2.98553386e+02] [-2.24772017e-01 9.74411312e-01 -3.67214309e-04 -3.84583593e+01] [-1.69054101e-03 -1.31079411e-05 9.99998571e-01 -6.69153193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.58, Y:-38.46, Z:-0.67 [[ 9.74627001e-01 2.23829142e-01 1.65025438e-03 2.98579926e+02] [-2.23828842e-01 9.74628398e-01 -3.67098325e-04 -3.84642717e+01] [-1.69055209e-03 -1.15905861e-05 9.99998571e-01 -6.69696992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.61, Y:-38.47, Z:-0.67 [[ 9.74732393e-01 2.23369736e-01 1.65028440e-03 2.98607344e+02] [-2.23369434e-01 9.74733790e-01 -3.66963326e-04 -3.84685631e+01] [-1.69055647e-03 -1.09320511e-05 9.99998571e-01 -6.72633410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:-38.47, Z:-0.67 [[ 9.74665145e-01 2.23662985e-01 1.65031027e-03 2.98633820e+02] [-2.23662684e-01 9.74666543e-01 -3.66846922e-04 -3.84728387e+01] [-1.69055229e-03 -1.15599172e-05 9.99998571e-01 -6.73315512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.66, Y:-38.48, Z:-0.67 [[ 9.74069674e-01 2.26242229e-01 1.65034036e-03 2.98662531e+02] [-2.26241932e-01 9.74071072e-01 -3.66711509e-04 -3.84766821e+01] [-1.69051444e-03 -1.61736317e-05 9.99998571e-01 -6.71126219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:-38.48, Z:-0.67 [[ 9.73691322e-01 2.27865061e-01 1.65035745e-03 2.98689920e+02] [-2.27864767e-01 9.73692720e-01 -3.66634576e-04 -3.84805940e+01] [-1.69048425e-03 -1.90694125e-05 9.99998571e-01 -6.71125184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:-38.48, Z:-0.68 [[ 9.73012564e-01 2.30746240e-01 1.65038329e-03 2.98718677e+02] [-2.30745950e-01 9.73013963e-01 -3.66518238e-04 -3.84807447e+01] [-1.69041869e-03 -2.41924095e-05 9.99998571e-01 -6.77223019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.75, Y:-38.48, Z:-0.68 [[ 9.72772236e-01 2.31757314e-01 1.65040466e-03 2.98746272e+02] [-2.31757026e-01 9.72773636e-01 -3.66422004e-04 -3.84840214e+01] [-1.69039112e-03 -2.60477226e-05 9.99998571e-01 -6.81243523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.77, Y:-38.49, Z:-0.68 [[ 9.72787230e-01 2.31694370e-01 1.65042557e-03 2.98774123e+02] [-2.31694082e-01 9.72788630e-01 -3.66327783e-04 -3.84900548e+01] [-1.69039131e-03 -2.60348466e-05 9.99998571e-01 -6.81291695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:-38.49, Z:-0.68 [[ 9.72621880e-01 2.32387508e-01 1.65044927e-03 2.98803055e+02] [-2.32387221e-01 9.72623280e-01 -3.66220990e-04 -3.84936319e+01] [-1.69037056e-03 -2.73487706e-05 9.99998571e-01 -6.81284172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:-38.49, Z:-0.68 [[ 9.72472900e-01 2.33010159e-01 1.65046660e-03 2.98832299e+02] [-2.33009873e-01 9.72474300e-01 -3.66142842e-04 -3.84927610e+01] [-1.69035136e-03 -2.85110225e-05 9.99998571e-01 -6.81257172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.86, Y:-38.49, Z:-0.68 [[ 9.72848833e-01 2.31435571e-01 1.65049250e-03 2.98862368e+02] [-2.31435283e-01 9.72850233e-01 -3.66026069e-04 -3.84909837e+01] [-1.69039346e-03 -2.58941649e-05 9.99998571e-01 -6.81160975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.89, Y:-38.50, Z:-0.68 [[ 9.73422042e-01 2.29012674e-01 1.65051002e-03 2.98890319e+02] [-2.29012382e-01 9.73423441e-01 -3.65947034e-04 -3.84951780e+01] [-1.69045165e-03 -2.17663236e-05 9.99998571e-01 -6.81216373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.92, Y:-38.50, Z:-0.68 [[ 9.74335150e-01 2.25096180e-01 1.65053177e-03 2.98917604e+02] [-2.25095884e-01 9.74336548e-01 -3.65848930e-04 -3.85007576e+01] [-1.69052462e-03 -1.50684344e-05 9.99998571e-01 -6.80183170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:298.94, Y:-38.51, Z:-0.68 [[ 9.76684824e-01 2.14671913e-01 1.65055749e-03 2.98944456e+02] [-2.14671602e-01 9.76686219e-01 -3.65732865e-04 -3.85071001e+01] [-1.69058932e-03 2.87791916e-06 9.99998571e-01 -6.78730828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:298.97, Y:-38.52, Z:-0.68 [[ 9.78834927e-01 2.04644721e-01 1.65057886e-03 2.98972344e+02] [-2.04644396e-01 9.78836318e-01 -3.65636363e-04 -3.85157678e+01] [-1.69047209e-03 2.01159285e-05 9.99998571e-01 -6.76669686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.00, Y:-38.52, Z:-0.68 [[ 9.79574616e-01 2.01074233e-01 1.65059621e-03 2.98998147e+02] [-2.01073902e-01 9.79576006e-01 -3.65558040e-04 -3.85244272e+01] [-1.69038874e-03 2.61995552e-05 9.99998571e-01 -6.76363922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:-38.53, Z:-0.68 [[ 9.80185276e-01 1.98075997e-01 1.65062624e-03 2.99024862e+02] [-1.98075663e-01 9.80186665e-01 -3.65422398e-04 -3.85339690e+01] [-1.69030323e-03 3.12327684e-05 9.99998571e-01 -6.75565548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.05, Y:-38.55, Z:-0.68 [[ 9.80774939e-01 1.95135323e-01 1.65065211e-03 2.99050108e+02] [-1.95134985e-01 9.80776327e-01 -3.65305477e-04 -3.85472985e+01] [-1.69020452e-03 3.61824817e-05 9.99998571e-01 -6.77668560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:-38.56, Z:-0.68 [[ 9.80796549e-01 1.95026679e-01 1.65067734e-03 2.99076634e+02] [-1.95026340e-01 9.80797937e-01 -3.65191431e-04 -3.85574408e+01] [-1.69020301e-03 3.62529344e-05 9.99998571e-01 -6.75828919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:-38.57, Z:-0.68 [[ 9.80772165e-01 1.95149264e-01 1.65070293e-03 2.99101681e+02] [-1.95148926e-01 9.80773554e-01 -3.65075726e-04 -3.85677495e+01] [-1.69021004e-03 3.59232066e-05 9.99998571e-01 -6.75260574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:-38.58, Z:-0.67 [[ 9.80853471e-01 1.94740193e-01 1.65073270e-03 2.99127132e+02] [-1.94739855e-01 9.80854860e-01 -3.64941089e-04 -3.85840446e+01] [-1.69019789e-03 3.64902871e-05 9.99998571e-01 -6.74540588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.15, Y:-38.60, Z:-0.67 [[ 9.80634488e-01 1.95839925e-01 1.65074962e-03 2.99153418e+02] [-1.95839588e-01 9.80635877e-01 -3.64864520e-04 -3.85986392e+01] [-1.69023934e-03 3.45166050e-05 9.99998571e-01 -6.73513092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.18, Y:-38.61, Z:-0.68 [[ 9.80308849e-01 1.97463506e-01 1.65076675e-03 2.99179484e+02] [-1.97463172e-01 9.80310238e-01 -3.64787010e-04 -3.86085221e+01] [-1.69029567e-03 3.16382945e-05 9.99998571e-01 -6.75073515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.21, Y:-38.62, Z:-0.68 [[ 9.79867580e-01 1.99641678e-01 1.65078959e-03 2.99206666e+02] [-1.99641347e-01 9.79868971e-01 -3.64683645e-04 -3.86191530e+01] [-1.69036355e-03 2.77758238e-05 9.99998571e-01 -6.76258630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:-38.63, Z:-0.68 [[ 9.79143064e-01 2.03165288e-01 1.65080690e-03 2.99231829e+02] [-2.03164962e-01 9.79144456e-01 -3.64605268e-04 -3.86336665e+01] [-1.69045356e-03 2.16145989e-05 9.99998571e-01 -6.78957444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-38.64, Z:-0.68 [[ 9.78844335e-01 2.04599714e-01 1.65082841e-03 2.99259497e+02] [-2.04599390e-01 9.78845727e-01 -3.64507821e-04 -3.86431252e+01] [-1.69048453e-03 1.90379289e-05 9.99998571e-01 -6.78156558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.29, Y:-38.65, Z:-0.67 [[ 9.77821610e-01 2.09432982e-01 1.65084504e-03 2.99286571e+02] [-2.09432666e-01 9.77823003e-01 -3.64432515e-04 -3.86538326e+01] [-1.69055844e-03 1.06091116e-05 9.99998571e-01 -6.73711706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.31, Y:-38.66, Z:-0.67 [[ 9.77152937e-01 2.12530969e-01 1.65086210e-03 2.99314771e+02] [-2.12530656e-01 9.77154331e-01 -3.64355214e-04 -3.86616428e+01] [-1.69058382e-03 5.17196159e-06 9.99998571e-01 -6.73224783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:-38.67, Z:-0.67 [[ 9.76479030e-01 2.15606073e-01 1.65087936e-03 2.99341615e+02] [-2.15605766e-01 9.76480425e-01 -3.64276975e-04 -3.86686156e+01] [-1.69059171e-03 -2.30282010e-07 9.99998571e-01 -6.73213085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:-38.67, Z:-0.67 [[ 9.75265464e-01 2.21030652e-01 1.65090081e-03 2.99370350e+02] [-2.21030352e-01 9.75266861e-01 -3.64179732e-04 -3.86737890e+01] [-1.69056374e-03 -9.72727210e-06 9.99998571e-01 -6.73519322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:-38.68, Z:-0.68 [[ 9.74239637e-01 2.25509213e-01 1.65091808e-03 2.99398578e+02] [-2.25508920e-01 9.74241035e-01 -3.64101448e-04 -3.86782484e+01] [-1.69050037e-03 -1.75746897e-05 9.99998571e-01 -6.75891029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.43, Y:-38.68, Z:-0.68 [[ 9.73893570e-01 2.26999093e-01 1.65093540e-03 2.99427308e+02] [-2.26998802e-01 9.73894969e-01 -3.64022873e-04 -3.86838128e+01] [-1.69047055e-03 -2.02408240e-05 9.99998571e-01 -6.78394183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.46, Y:-38.69, Z:-0.68 [[ 9.73742063e-01 2.27648127e-01 1.65095275e-03 2.99455447e+02] [-2.27647838e-01 9.73743462e-01 -3.63944204e-04 -3.86888760e+01] [-1.69045566e-03 -2.14480428e-05 9.99998571e-01 -6.79569887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:-38.69, Z:-0.68 [[ 9.74038125e-01 2.26378012e-01 1.65097001e-03 2.99483226e+02] [-2.26377721e-01 9.74039524e-01 -3.63865868e-04 -3.86921835e+01] [-1.69048128e-03 -1.93235998e-05 9.99998571e-01 -6.77651720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.51, Y:-38.70, Z:-0.67 [[ 9.74398667e-01 2.24821068e-01 1.65099151e-03 2.99510512e+02] [-2.24820775e-01 9.74400065e-01 -3.63768296e-04 -3.86969679e+01] [-1.69050901e-03 -1.67218472e-05 9.99998571e-01 -6.74773287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:-38.70, Z:-0.67 [[ 9.75044438e-01 2.22003644e-01 1.65101263e-03 2.99538712e+02] [-2.22003346e-01 9.75045836e-01 -3.63672421e-04 -3.87005783e+01] [-1.69054959e-03 -1.19335564e-05 9.99998571e-01 -6.74499747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:-38.70, Z:-0.68 [[ 9.75367784e-01 2.20578693e-01 1.65103532e-03 2.99566818e+02] [-2.20578394e-01 9.75369181e-01 -3.63569357e-04 -3.87048691e+01] [-1.69056463e-03 -9.56888126e-06 9.99998571e-01 -6.76537230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.59, Y:-38.71, Z:-0.68 [[ 9.75656634e-01 2.19297530e-01 1.65105231e-03 2.99594359e+02] [-2.19297229e-01 9.75658031e-01 -3.63492207e-04 -3.87087309e+01] [-1.69057539e-03 -7.42761371e-06 9.99998571e-01 -6.78258121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:-38.71, Z:-0.68 [[ 9.76268239e-01 2.16558537e-01 1.65107346e-03 2.99622627e+02] [-2.16558232e-01 9.76269635e-01 -3.63396131e-04 -3.87119930e+01] [-1.69058941e-03 -2.78144757e-06 9.99998571e-01 -6.76702893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.65, Y:-38.72, Z:-0.67 [[ 9.76579268e-01 2.15151589e-01 1.65109421e-03 2.99650976e+02] [-2.15151282e-01 9.76580664e-01 -3.63301790e-04 -3.87168915e+01] [-1.69059164e-03 -4.42040560e-07 9.99998571e-01 -6.74476911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.68, Y:-38.72, Z:-0.67 [[ 9.76702211e-01 2.14592788e-01 1.65111125e-03 2.99678510e+02] [-2.14592480e-01 9.76703607e-01 -3.63224355e-04 -3.87197003e+01] [-1.69059164e-03 4.45972782e-07 9.99998571e-01 -6.71542905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.71, Y:-38.72, Z:-0.67 [[ 9.76627319e-01 2.14933372e-01 1.65113245e-03 2.99705244e+02] [-2.14933065e-01 9.76628714e-01 -3.63127966e-04 -3.87230560e+01] [-1.69059168e-03 -2.42266025e-07 9.99998571e-01 -6.71141785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.715769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.73, Y:-38.73, Z:-0.67 [[ 9.76367143e-01 2.16112183e-01 1.65116102e-03 2.99732779e+02] [-2.16111878e-01 9.76368539e-01 -3.62998001e-04 -3.87267420e+01] [-1.69058996e-03 -2.41618675e-06 9.99998571e-01 -6.71172440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.76, Y:-38.73, Z:-0.67 [[ 9.75738555e-01 2.18932742e-01 1.65118652e-03 2.99761174e+02] [-2.18932442e-01 9.75739952e-01 -3.62881952e-04 -3.87279227e+01] [-1.69057540e-03 -7.42038596e-06 9.99998571e-01 -6.70854651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.79, Y:-38.73, Z:-0.67 [[ 9.75331563e-01 2.20738797e-01 1.65121315e-03 2.99788586e+02] [-2.20738500e-01 9.75332960e-01 -3.62760761e-04 -3.87305874e+01] [-1.69055798e-03 -1.06742928e-05 9.99998571e-01 -6.70505493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.82, Y:-38.73, Z:-0.67 [[ 9.74539511e-01 2.24209759e-01 1.65124398e-03 2.99817192e+02] [-2.24209466e-01 9.74540909e-01 -3.62620371e-04 -3.87301366e+01] [-1.69050783e-03 -1.68366512e-05 9.99998571e-01 -6.68862647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:-38.73, Z:-0.67 [[ 9.74338136e-01 2.25083250e-01 1.65126889e-03 2.99845254e+02] [-2.25082959e-01 9.74339535e-01 -3.62506886e-04 -3.87335736e+01] [-1.69049079e-03 -1.84682035e-05 9.99998571e-01 -6.69422492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:299.87, Y:-38.73, Z:-0.67 [[ 9.74537538e-01 2.24218331e-01 1.65129414e-03 2.99874261e+02] [-2.24218038e-01 9.74538937e-01 -3.62391819e-04 -3.87338755e+01] [-1.69050533e-03 -1.70855024e-05 9.99998571e-01 -6.73781839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:299.90, Y:-38.74, Z:-0.68 [[ 9.74730462e-01 2.23378154e-01 1.65131940e-03 2.99903589e+02] [-2.23377861e-01 9.74731861e-01 -3.62276719e-04 -3.87367838e+01] [-1.69051833e-03 -1.57460401e-05 9.99998571e-01 -6.76604668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.93, Y:-38.74, Z:-0.68 [[ 9.75098296e-01 2.21766964e-01 1.65133638e-03 2.99931678e+02] [-2.21766668e-01 9.75099694e-01 -3.62199278e-04 -3.87365875e+01] [-1.69054143e-03 -1.30314681e-05 9.99998571e-01 -6.77371717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:299.96, Y:-38.74, Z:-0.68 [[ 9.75324754e-01 2.20768879e-01 1.65136602e-03 2.99958939e+02] [-2.20768582e-01 9.75326152e-01 -3.62064108e-04 -3.87394323e+01] [-1.69055295e-03 -1.14396480e-05 9.99998571e-01 -6.75152729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.99, Y:-38.74, Z:-0.67 [[ 9.75615705e-01 2.19479543e-01 1.65140881e-03 2.99986981e+02] [-2.19479245e-01 9.75617102e-01 -3.61868803e-04 -3.87427498e+01] [-1.69056548e-03 -9.40507313e-06 9.99998571e-01 -6.73514742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.01, Y:-38.75, Z:-0.67 [[ 9.76272087e-01 2.16541185e-01 1.65143218e-03 3.00014896e+02] [-2.16540882e-01 9.76273484e-01 -3.61762121e-04 -3.87454527e+01] [-1.69058585e-03 -4.42432106e-06 9.99998571e-01 -6.74333021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.04, Y:-38.75, Z:-0.68 [[ 9.76607118e-01 2.15025136e-01 1.65145782e-03 3.00042728e+02] [-2.15024832e-01 9.76608515e-01 -3.61645070e-04 -3.87497020e+01] [-1.69059055e-03 -1.91929001e-06 9.99998571e-01 -6.75153901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:300.07, Y:-38.75, Z:-0.68 [[ 9.77041746e-01 2.13041543e-01 1.65148353e-03 3.00069831e+02] [-2.13041236e-01 9.77043142e-01 -3.61527592e-04 -3.87505554e+01] [-1.69059106e-03 1.39345562e-06 9.99998571e-01 -6.75468030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:300.10, Y:-38.75, Z:-0.67 [[ 9.77142096e-01 2.12580802e-01 1.65151326e-03 3.00097500e+02] [-2.12580495e-01 9.77143491e-01 -3.61391756e-04 -3.87541800e+01] [-1.69059038e-03 2.05159157e-06 9.99998571e-01 -6.74957496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:300.13, Y:-38.76, Z:-0.67 [[ 9.77251685e-01 2.12076442e-01 1.65153875e-03 3.00125007e+02] [-2.12076134e-01 9.77253080e-01 -3.61275232e-04 -3.87573615e+01] [-1.69058929e-03 2.80487631e-06 9.99998571e-01 -6.73049221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:300.15, Y:-38.76, Z:-0.67 [[ 9.77407976e-01 2.11354965e-01 1.65155983e-03 3.00152071e+02] [-2.11354657e-01 9.77409371e-01 -3.61178812e-04 -3.87621276e+01] [-1.69058699e-03 3.95419029e-06 9.99998571e-01 -6.73287023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:300.18, Y:-38.77, Z:-0.67 [[ 9.77676672e-01 2.10108537e-01 1.65158913e-03 3.00179210e+02] [-2.10108227e-01 9.77678067e-01 -3.61044784e-04 -3.87672146e+01] [-1.69058106e-03 5.97259769e-06 9.99998571e-01 -6.73932012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2257692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:300.21, Y:-38.77, Z:-0.68 [[ 9.78410249e-01 2.06665568e-01 1.65161441e-03 3.00206807e+02] [-2.06665253e-01 9.78411643e-01 -3.60929110e-04 -3.87743629e+01] [-1.69055039e-03 1.18054300e-05 9.99998571e-01 -6.76121732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.23, Y:-38.78, Z:-0.68 [[ 9.78828047e-01 2.04677617e-01 1.65165670e-03 3.00233929e+02] [-2.04677300e-01 9.78829440e-01 -3.60735508e-04 -3.87828554e+01] [-1.69052468e-03 1.50413999e-05 9.99998571e-01 -6.75017685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.26, Y:-38.79, Z:-0.67 [[ 9.79525333e-01 2.01314169e-01 1.65168219e-03 3.00261344e+02] [-2.01313847e-01 9.79526725e-01 -3.60618757e-04 -3.87942682e+01] [-1.69046451e-03 2.07287131e-05 9.99998571e-01 -6.69144923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31576923100005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:300.29, Y:-38.80, Z:-0.67 [[ 9.79725014e-01 2.00340133e-01 1.65169910e-03 3.00288505e+02] [-2.00339809e-01 9.79726406e-01 -3.60541251e-04 -3.88020868e+01] [-1.69044411e-03 2.23301983e-05 9.99998571e-01 -6.67132243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3457692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:300.31, Y:-38.81, Z:-0.67 [[ 9.79770698e-01 2.00116595e-01 1.65172522e-03 3.00314618e+02] [-2.00116272e-01 9.79772090e-01 -3.60421564e-04 -3.88120484e+01] [-1.69044061e-03 2.25933942e-05 9.99998571e-01 -6.68722503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37576923100005 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:300.34, Y:-38.82, Z:-0.67 [[ 9.79638318e-01 2.00763638e-01 1.65175490e-03 3.00341074e+02] [-2.00763315e-01 9.79639710e-01 -3.60285478e-04 -3.88193267e+01] [-1.69045692e-03 2.13376683e-05 9.99998571e-01 -6.73068257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4057692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:300.37, Y:-38.83, Z:-0.68 [[ 9.79074995e-01 2.03493063e-01 1.65179607e-03 3.00368714e+02] [-2.03492745e-01 9.79076388e-01 -3.60096637e-04 -3.88278186e+01] [-1.69051170e-03 1.64330967e-05 9.99998571e-01 -6.76940939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.39, Y:-38.83, Z:-0.68 [[ 9.78832739e-01 2.04655177e-01 1.65181390e-03 3.00394709e+02] [-2.04654861e-01 9.78834132e-01 -3.60014847e-04 -3.88341216e+01] [-1.69053073e-03 1.43425742e-05 9.99998571e-01 -6.77478978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.465769231 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:300.42, Y:-38.84, Z:-0.67 [[ 9.78605402e-01 2.05739491e-01 1.65185190e-03 3.00422349e+02] [-2.05739177e-01 9.78606796e-01 -3.59840395e-04 -3.88408218e+01] [-1.69054688e-03 1.22911040e-05 9.99998571e-01 -6.74727166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:300.45, Y:-38.85, Z:-0.67 [[ 9.78318342e-01 2.07100202e-01 1.65186849e-03 3.00448785e+02] [-2.07099889e-01 9.78319736e-01 -3.59764247e-04 -3.88472438e+01] [-1.69056279e-03 9.86218050e-06 9.99998571e-01 -6.72526690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.525769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:300.48, Y:-38.85, Z:-0.67 [[ 9.78208254e-01 2.07619564e-01 1.65189737e-03 3.00475840e+02] [-2.07619253e-01 9.78209649e-01 -3.59631594e-04 -3.88524891e+01] [-1.69056850e-03 8.82889704e-06 9.99998571e-01 -6.73462891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.50, Y:-38.86, Z:-0.67 [[ 9.77794728e-01 2.09558445e-01 1.65192196e-03 3.00503354e+02] [-2.09558136e-01 9.77796123e-01 -3.59518596e-04 -3.88559119e+01] [-1.69058304e-03 5.36170095e-06 9.99998571e-01 -6.73967310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.53, Y:-38.86, Z:-0.67 [[ 9.77809537e-01 2.09489332e-01 1.65194738e-03 3.00531229e+02] [-2.09489024e-01 9.77810933e-01 -3.59401761e-04 -3.88618350e+01] [-1.69058304e-03 5.36162655e-06 9.99998571e-01 -6.74015482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.56, Y:-38.87, Z:-0.67 [[ 9.77642540e-01 2.10267296e-01 1.65197277e-03 3.00557963e+02] [-2.10266989e-01 9.77643935e-01 -3.59284997e-04 -3.88663840e+01] [-1.69058705e-03 3.89695649e-06 9.99998571e-01 -6.72976462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:300.59, Y:-38.87, Z:-0.67 [[ 9.77514555e-01 2.10861487e-01 1.65200223e-03 3.00585139e+02] [-2.10861181e-01 9.77515950e-01 -3.59149495e-04 -3.88696979e+01] [-1.69058933e-03 2.73071716e-06 9.99998571e-01 -6.71142785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:300.61, Y:-38.87, Z:-0.67 [[ 9.77546199e-01 2.10714734e-01 1.65203045e-03 3.00612854e+02] [-2.10714429e-01 9.77547595e-01 -3.59019642e-04 -3.88740608e+01] [-1.69058912e-03 2.85163405e-06 9.99998571e-01 -6.71712905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:300.64, Y:-38.88, Z:-0.67 [[ 9.77608081e-01 2.10427448e-01 1.65205451e-03 3.00640249e+02] [-2.10427142e-01 9.77609477e-01 -3.58908913e-04 -3.88780627e+01] [-1.69058843e-03 3.23514462e-06 9.99998571e-01 -6.73245057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.67, Y:-38.88, Z:-0.68 [[ 9.77598396e-01 2.10472435e-01 1.65207963e-03 3.00668720e+02] [-2.10472129e-01 9.77599792e-01 -3.58793246e-04 -3.88809893e+01] [-1.69058879e-03 3.03898578e-06 9.99998571e-01 -6.77187863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:300.70, Y:-38.89, Z:-0.68 [[ 9.77495684e-01 2.10948946e-01 1.65209676e-03 3.00695003e+02] [-2.10948641e-01 9.77497080e-01 -3.58714357e-04 -3.88851549e+01] [-1.69059017e-03 2.13417005e-06 9.99998571e-01 -6.79687340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79576923100007 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:300.72, Y:-38.89, Z:-0.68 [[ 9.77183818e-01 2.12388926e-01 1.65212663e-03 3.00724150e+02] [-2.12388623e-01 9.77185215e-01 -3.58576719e-04 -3.88878151e+01] [-1.69059144e-03 -4.97532554e-07 9.99998571e-01 -6.76374919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82576923100004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:300.75, Y:-38.89, Z:-0.67 [[ 9.77004026e-01 2.13214457e-01 1.65214387e-03 3.00751887e+02] [-2.13214155e-01 9.77005422e-01 -3.58497242e-04 -3.88920114e+01] [-1.69059032e-03 -2.00721197e-06 9.99998571e-01 -6.74850851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:300.78, Y:-38.90, Z:-0.67 [[ 9.76968848e-01 2.13375584e-01 1.65216533e-03 3.00781025e+02] [-2.13375283e-01 9.76970245e-01 -3.58398316e-04 -3.88955230e+01] [-1.69058982e-03 -2.38725499e-06 9.99998571e-01 -6.72870315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88576923100004 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:300.81, Y:-38.90, Z:-0.67 [[ 9.77164686e-01 2.12476934e-01 1.65218230e-03 3.00808805e+02] [-2.12476631e-01 9.77166082e-01 -3.58320086e-04 -3.89007232e+01] [-1.69059126e-03 -9.12395104e-07 9.99998571e-01 -6.73093937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91576923100007 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:300.84, Y:-38.91, Z:-0.67 [[ 9.77469048e-01 2.11072336e-01 1.65220771e-03 3.00836080e+02] [-2.11072032e-01 9.77470444e-01 -3.58202883e-04 -3.89065692e+01] [-1.69059092e-03 1.39739258e-06 9.99998571e-01 -6.73238983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:300.86, Y:-38.91, Z:-0.67 [[ 9.78396278e-01 2.06731694e-01 1.65223309e-03 3.00863357e+02] [-2.06731384e-01 9.78397673e-01 -3.58085785e-04 -3.89147490e+01] [-1.69056869e-03 8.78136637e-06 9.99998571e-01 -6.72909101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9757692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:300.89, Y:-38.92, Z:-0.67 [[ 9.79017873e-01 2.03767696e-01 1.65225853e-03 3.00890045e+02] [-2.03767382e-01 9.79019267e-01 -3.57968358e-04 -3.89223050e+01] [-1.69053532e-03 1.37810258e-05 9.99998571e-01 -6.72353727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:300.92, Y:-38.93, Z:-0.67 [[ 9.80218877e-01 1.97909635e-01 1.65228464e-03 3.00915630e+02] [-1.97909313e-01 9.80220269e-01 -3.57847808e-04 -3.89318175e+01] [-1.69042442e-03 2.37666589e-05 9.99998571e-01 -6.71737543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:300.94, Y:-38.94, Z:-0.67 [[ 9.80664967e-01 1.95687232e-01 1.65231493e-03 3.00941450e+02] [-1.95686907e-01 9.80666358e-01 -3.57707887e-04 -3.89393019e+01] [-1.69036853e-03 2.74551956e-05 9.99998571e-01 -6.72097619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:300.97, Y:-38.95, Z:-0.67 [[ 9.80968186e-01 1.94161499e-01 1.65234433e-03 3.00968626e+02] [-1.94161172e-01 9.80969577e-01 -3.57572029e-04 -3.89470012e+01] [-1.69032624e-03 2.99456736e-05 9.99998571e-01 -6.73118321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:300.99, Y:-38.96, Z:-0.67 [[ 9.81175050e-01 1.93113417e-01 1.65236992e-03 3.00993904e+02] [-1.93113089e-01 9.81176440e-01 -3.57453746e-04 -3.89578704e+01] [-1.69029555e-03 3.16304387e-05 9.99998571e-01 -6.73052350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:301.02, Y:-38.97, Z:-0.67 [[ 9.81212986e-01 1.92920566e-01 1.65239954e-03 3.01020888e+02] [-1.92920238e-01 9.81214377e-01 -3.57316740e-04 -3.89673659e+01] [-1.69029194e-03 3.18225126e-05 9.99998571e-01 -6.72674382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.05, Y:-38.98, Z:-0.67 [[ 9.81467376e-01 1.91622180e-01 1.65242494e-03 3.01045898e+02] [-1.91621850e-01 9.81468766e-01 -3.57199236e-04 -3.89792728e+01] [-1.69025077e-03 3.39386719e-05 9.99998571e-01 -6.73397509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.07, Y:-38.99, Z:-0.67 [[ 9.81781209e-01 1.90007703e-01 1.65245443e-03 3.01072581e+02] [-1.90007371e-01 9.81782599e-01 -3.57062795e-04 -3.89876925e+01] [-1.69019568e-03 3.65790208e-05 9.99998571e-01 -6.74769122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.10, Y:-39.00, Z:-0.68 [[ 9.82636432e-01 1.85534126e-01 1.65247532e-03 3.01099469e+02] [-1.85533787e-01 9.82637821e-01 -3.56966062e-04 -3.90009623e+01] [-1.69001413e-03 4.41778528e-05 9.99998571e-01 -6.76444760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:301.13, Y:-39.01, Z:-0.68 [[ 9.83086911e-01 1.83132179e-01 1.65249187e-03 3.01127124e+02] [-1.83131837e-01 9.83088299e-01 -3.56889434e-04 -3.90117957e+01] [-1.68990336e-03 4.82294585e-05 9.99998571e-01 -6.76167543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.275769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:301.15, Y:-39.02, Z:-0.67 [[ 9.83462301e-01 1.81105415e-01 1.65250851e-03 3.01153989e+02] [-1.81105071e-01 9.83463688e-01 -3.56812352e-04 -3.90224432e+01] [-1.68980277e-03 5.16338248e-05 9.99998571e-01 -6.74922274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.18, Y:-39.04, Z:-0.68 [[ 9.83530459e-01 1.80734905e-01 1.65252540e-03 3.01180372e+02] [-1.80734561e-01 9.83531846e-01 -3.56734150e-04 -3.90361661e+01] [-1.68978567e-03 5.21904508e-05 9.99998571e-01 -6.75706171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:301.21, Y:-39.05, Z:-0.68 [[ 9.83261726e-01 1.82191238e-01 1.65253797e-03 3.01206575e+02] [-1.82190896e-01 9.83263113e-01 -3.56675901e-04 -3.90451574e+01] [-1.68986285e-03 4.96283898e-05 9.99998571e-01 -6.78761507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:-39.06, Z:-0.68 [[ 9.82507211e-01 1.86217211e-01 1.65255822e-03 3.01233108e+02] [-1.86216875e-01 9.82508600e-01 -3.56582025e-04 -3.90570999e+01] [-1.69005438e-03 4.26101827e-05 9.99998571e-01 -6.82726131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.26, Y:-39.06, Z:-0.68 [[ 9.82184982e-01 1.87909364e-01 1.65258463e-03 3.01261209e+02] [-1.87909030e-01 9.82186372e-01 -3.56459607e-04 -3.90649135e+01] [-1.69012820e-03 3.95736978e-05 9.99998571e-01 -6.81416581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:301.29, Y:-39.07, Z:-0.68 [[ 9.81899261e-01 1.89396700e-01 1.65260081e-03 3.01288790e+02] [-1.89396368e-01 9.81900651e-01 -3.56384588e-04 -3.90723577e+01] [-1.69018787e-03 3.69371728e-05 9.99998571e-01 -6.79254782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:-39.08, Z:-0.68 [[ 9.81589700e-01 1.90994580e-01 1.65261697e-03 3.01315549e+02] [-1.90994251e-01 9.81591091e-01 -3.56309614e-04 -3.90817622e+01] [-1.69024730e-03 3.41095063e-05 9.99998571e-01 -6.78249670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.34, Y:-39.09, Z:-0.68 [[ 9.81689013e-01 1.90483463e-01 1.65263704e-03 3.01343090e+02] [-1.90483133e-01 9.81690404e-01 -3.56216535e-04 -3.90901485e+01] [-1.69023128e-03 3.48943784e-05 9.99998571e-01 -6.79902383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.37, Y:-39.10, Z:-0.68 [[ 9.82445676e-01 1.86541585e-01 1.65265297e-03 3.01372108e+02] [-1.86541250e-01 9.82447065e-01 -3.56142589e-04 -3.91014350e+01] [-1.69007946e-03 4.16027957e-05 9.99998571e-01 -6.80588645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.40, Y:-39.11, Z:-0.68 [[ 9.82915357e-01 1.84050727e-01 1.65265297e-03 3.01401489e+02] [-1.84050388e-01 9.82916745e-01 -3.56142589e-04 -3.91104521e+01] [-1.68996858e-03 4.58865993e-05 9.99998571e-01 -6.79170500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:301.43, Y:-39.12, Z:-0.68 [[ 9.83277971e-01 1.82103545e-01 1.65265297e-03 3.01430528e+02] [-1.82103204e-01 9.83279358e-01 -3.56142589e-04 -3.91197720e+01] [-1.68987438e-03 4.92337614e-05 9.99998571e-01 -6.77071676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60576923100007 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:301.46, Y:-39.13, Z:-0.67 [[ 9.83528983e-01 1.80742936e-01 1.65265297e-03 3.01458806e+02] [-1.80742593e-01 9.83530370e-01 -3.56142589e-04 -3.91320737e+01] [-1.68980464e-03 5.15717759e-05 9.99998571e-01 -6.73049799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.49, Y:-39.14, Z:-0.67 [[ 9.83544662e-01 1.80657596e-01 1.65263376e-03 3.01489003e+02] [-1.80657252e-01 9.83546049e-01 -3.56231729e-04 -3.91412366e+01] [-1.68979737e-03 5.18095433e-05 9.99998571e-01 -6.73132675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.52, Y:-39.15, Z:-0.68 [[ 9.83608808e-01 1.80308017e-01 1.65262537e-03 3.01518353e+02] [-1.80307672e-01 9.83610195e-01 -3.56270644e-04 -3.91538787e+01] [-1.68977761e-03 5.24499105e-05 9.99998571e-01 -6.77821694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.55, Y:-39.16, Z:-0.68 [[ 9.83553369e-01 1.80610184e-01 1.65259260e-03 3.01547933e+02] [-1.80609840e-01 9.83554756e-01 -3.56422572e-04 -3.91640432e+01] [-1.68978886e-03 5.20861367e-05 9.99998571e-01 -6.79412020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.58, Y:-39.17, Z:-0.68 [[ 9.83437836e-01 1.81238219e-01 1.65256024e-03 3.01578078e+02] [-1.81237875e-01 9.83439223e-01 -3.56572523e-04 -3.91741473e+01] [-1.68981713e-03 5.11604035e-05 9.99998571e-01 -6.79813719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.61, Y:-39.19, Z:-0.68 [[ 9.83208254e-01 1.82479582e-01 1.65255208e-03 3.01607957e+02] [-1.82479240e-01 9.83209642e-01 -3.56610381e-04 -3.91875846e+01] [-1.68987925e-03 4.90658232e-05 9.99998571e-01 -6.79530439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.64, Y:-39.20, Z:-0.68 [[ 9.83151668e-01 1.82784207e-01 1.65249104e-03 3.01639730e+02] [-1.82783865e-01 9.83153056e-01 -3.56893003e-04 -3.91975293e+01] [-1.68988602e-03 4.88312527e-05 9.99998571e-01 -6.77605501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:301.67, Y:-39.21, Z:-0.68 [[ 9.83039521e-01 1.83386393e-01 1.65242439e-03 3.01669905e+02] [-1.83386052e-01 9.83040909e-01 -3.57201310e-04 -3.92099479e+01] [-1.68990663e-03 4.81114202e-05 9.99998571e-01 -6.77157583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8457692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.70, Y:-39.22, Z:-0.68 [[ 9.82994623e-01 1.83626907e-01 1.65236246e-03 3.01700440e+02] [-1.83626565e-01 9.82996011e-01 -3.57487563e-04 -3.92195981e+01] [-1.68991004e-03 4.79907091e-05 9.99998571e-01 -6.77842844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:301.73, Y:-39.23, Z:-0.68 [[ 9.82995338e-01 1.83623082e-01 1.65230091e-03 3.01731917e+02] [-1.83622739e-01 9.82996725e-01 -3.57771799e-04 -3.92292807e+01] [-1.68990155e-03 4.82879907e-05 9.99998571e-01 -6.78640523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.76, Y:-39.24, Z:-0.68 [[ 9.82857617e-01 1.84358823e-01 1.65223569e-03 3.01761604e+02] [-1.84358481e-01 9.82859004e-01 -3.58072783e-04 -3.92424799e+01] [-1.68992860e-03 4.73308999e-05 9.99998571e-01 -6.78877156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.79, Y:-39.25, Z:-0.68 [[ 9.82649285e-01 1.85466041e-01 1.65217474e-03 3.01791751e+02] [-1.85465701e-01 9.82650673e-01 -3.58353753e-04 -3.92531920e+01] [-1.68997308e-03 4.57143130e-05 9.99998571e-01 -6.80620893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.965769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.82, Y:-39.27, Z:-0.68 [[ 9.82149197e-01 1.88096318e-01 1.65211447e-03 3.01821702e+02] [-1.88095981e-01 9.82150586e-01 -3.58631431e-04 -3.92653035e+01] [-1.69008244e-03 4.14734805e-05 9.99998571e-01 -6.84276760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.85, Y:-39.27, Z:-0.68 [[ 9.81860682e-01 1.89596604e-01 1.65205829e-03 3.01853270e+02] [-1.89596269e-01 9.81862071e-01 -3.58890044e-04 -3.92738458e+01] [-1.69013770e-03 3.91559368e-05 9.99998571e-01 -6.83789262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.89, Y:-39.28, Z:-0.68 [[ 9.81627019e-01 1.90802690e-01 1.65199380e-03 3.01885067e+02] [-1.90802355e-01 9.81628408e-01 -3.59186644e-04 -3.92821225e+01] [-1.69017782e-03 3.73830076e-05 9.99998571e-01 -6.81816162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.91, Y:-39.29, Z:-0.68 [[ 9.81385385e-01 1.92041657e-01 1.65192955e-03 3.01914353e+02] [-1.92041324e-01 9.81386774e-01 -3.59481875e-04 -3.92920397e+01] [-1.69021731e-03 3.55515194e-05 9.99998571e-01 -6.77855339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:-39.30, Z:-0.68 [[ 9.81332556e-01 1.92311428e-01 1.65189863e-03 3.01946040e+02] [-1.92311095e-01 9.81333946e-01 -3.59623925e-04 -3.93014122e+01] [-1.69022399e-03 3.52322308e-05 9.99998571e-01 -6.77540540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.98, Y:-39.31, Z:-0.68 [[ 9.81340412e-01 1.92271338e-01 1.65183507e-03 3.01977960e+02] [-1.92271005e-01 9.81341801e-01 -3.59915608e-04 -3.93111425e+01] [-1.69021626e-03 3.55997416e-05 9.99998571e-01 -6.78475190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.01, Y:-39.32, Z:-0.68 [[ 9.81494002e-01 1.91485757e-01 1.65177155e-03 3.02008203e+02] [-1.91485422e-01 9.81495392e-01 -3.60206879e-04 -3.93239151e+01] [-1.69018065e-03 3.72507186e-05 9.99998571e-01 -6.78928444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:-39.33, Z:-0.68 [[ 9.81464207e-01 1.91638415e-01 1.65173207e-03 3.02038566e+02] [-1.91638080e-01 9.81465596e-01 -3.60387842e-04 -3.93338234e+01] [-1.69018236e-03 3.71730057e-05 9.99998571e-01 -6.78014426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.07, Y:-39.34, Z:-0.68 [[ 9.80897310e-01 1.94519250e-01 1.65167304e-03 3.02069381e+02] [-1.94518918e-01 9.80898700e-01 -3.60658190e-04 -3.93442083e+01] [-1.69027890e-03 3.24869961e-05 9.99998571e-01 -6.78355449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.10, Y:-39.35, Z:-0.68 [[ 9.80309728e-01 1.97459133e-01 1.65163393e-03 3.02101171e+02] [-1.97458805e-01 9.80311119e-01 -3.60837195e-04 -3.93517869e+01] [-1.69036570e-03 2.76025507e-05 9.99998571e-01 -6.80119657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.13, Y:-39.36, Z:-0.68 [[ 9.79504001e-01 2.01417934e-01 1.65157187e-03 3.02133757e+02] [-2.01417612e-01 9.79505393e-01 -3.61121022e-04 -3.93586854e+01] [-1.69045980e-03 2.10638240e-05 9.99998571e-01 -6.79337129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.17, Y:-39.36, Z:-0.67 [[ 9.77582394e-01 2.10546756e-01 1.65151003e-03 3.02165224e+02] [-2.10546446e-01 9.77583789e-01 -3.61403594e-04 -3.93633603e+01] [-1.69058179e-03 5.58222289e-06 9.99998571e-01 -6.74573135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:302.20, Y:-39.37, Z:-0.67 [[ 9.76785597e-01 2.14212910e-01 1.65145623e-03 3.02196530e+02] [-2.14212604e-01 9.76786993e-01 -3.61649308e-04 -3.93675990e+01] [-1.69059091e-03 -5.08903259e-07 9.99998571e-01 -6.73224230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:-39.37, Z:-0.67 [[ 9.76178793e-01 2.16961371e-01 1.65140659e-03 3.02228341e+02] [-2.16961069e-01 9.76180190e-01 -3.61875821e-04 -3.93714072e+01] [-1.69058347e-03 -5.03543742e-06 9.99998571e-01 -6.73350734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.26, Y:-39.37, Z:-0.67 [[ 9.75756996e-01 2.18850538e-01 1.65135331e-03 3.02261559e+02] [-2.18850238e-01 9.75758393e-01 -3.62118791e-04 -3.93736999e+01] [-1.69057174e-03 -8.05912198e-06 9.99998571e-01 -6.73300330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.29, Y:-39.38, Z:-0.67 [[ 9.75969268e-01 2.17901953e-01 1.65128738e-03 3.02293167e+02] [-2.17901652e-01 9.75970665e-01 -3.62419174e-04 -3.93799069e+01] [-1.69057989e-03 -6.10827152e-06 9.99998571e-01 -6.71681775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.33, Y:-39.39, Z:-0.67 [[ 9.77435021e-01 2.11229858e-01 1.65122597e-03 3.02325074e+02] [-2.11229547e-01 9.77436416e-01 -3.62698773e-04 -3.93859055e+01] [-1.69058120e-03 5.72677021e-06 9.99998571e-01 -6.74191044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.36, Y:-39.39, Z:-0.67 [[ 9.77430634e-01 2.11250160e-01 1.65116930e-03 3.02356154e+02] [-2.11249849e-01 9.77432028e-01 -3.62956573e-04 -3.93927873e+01] [-1.69058039e-03 5.95560902e-06 9.99998571e-01 -6.74244904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.39, Y:-39.40, Z:-0.68 [[ 9.78343658e-01 2.06980581e-01 1.65116176e-03 3.02388278e+02] [-2.06980263e-01 9.78345051e-01 -3.62990869e-04 -3.93996748e+01] [-1.69053800e-03 1.33719197e-05 9.99998571e-01 -6.77934748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.42, Y:-39.41, Z:-0.68 [[ 9.79152530e-01 2.03119662e-01 1.65109303e-03 3.02420184e+02] [-2.03119338e-01 9.79153922e-01 -3.63303227e-04 -3.94071841e+01] [-1.69046824e-03 2.03603517e-05 9.99998571e-01 -6.80343665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:-39.42, Z:-0.68 [[ 9.80467767e-01 1.96672904e-01 1.65102404e-03 3.02450237e+02] [-1.96672570e-01 9.80469157e-01 -3.63616473e-04 -3.94174979e+01] [-1.69029166e-03 3.18030907e-05 9.99998571e-01 -6.78019875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5957692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:302.48, Y:-39.43, Z:-0.67 [[ 9.80957462e-01 1.94215684e-01 1.65095956e-03 3.02482202e+02] [-1.94215347e-01 9.80958851e-01 -3.63908981e-04 -3.94275094e+01] [-1.69020023e-03 3.63375462e-05 9.99998571e-01 -6.74348029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.51, Y:-39.44, Z:-0.68 [[ 9.81512537e-01 1.91390739e-01 1.65089077e-03 3.02510372e+02] [-1.91390397e-01 9.81513924e-01 -3.64220789e-04 -3.94426083e+01] [-1.69008077e-03 4.15226307e-05 9.99998571e-01 -6.83918481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.54, Y:-39.46, Z:-0.69 [[ 9.81638358e-01 1.90744355e-01 1.65083506e-03 3.02539425e+02] [-1.90744011e-01 9.81639745e-01 -3.64473118e-04 -3.94550726e+01] [-1.69004650e-03 4.28938914e-05 9.99998571e-01 -6.89193701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.57, Y:-39.47, Z:-0.69 [[ 9.81653684e-01 1.90665467e-01 1.65077977e-03 3.02569952e+02] [-1.90665123e-01 9.81655071e-01 -3.64723380e-04 -3.94686747e+01] [-1.69003649e-03 4.32859220e-05 9.99998571e-01 -6.87862100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.715769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:302.60, Y:-39.49, Z:-0.69 [[ 9.81349326e-01 1.92225845e-01 1.65070921e-03 3.02599606e+02] [-1.92225503e-01 9.81350713e-01 -3.65042454e-04 -3.94878291e+01] [-1.69009525e-03 4.09257579e-05 9.99998571e-01 -6.86107833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.63, Y:-39.50, Z:-0.68 [[ 9.80941350e-01 1.94297051e-01 1.65063759e-03 3.02630112e+02] [-1.94296711e-01 9.80942738e-01 -3.65365993e-04 -3.94996038e+01] [-1.69017050e-03 3.76891542e-05 9.99998571e-01 -6.83596301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.775769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:302.66, Y:-39.51, Z:-0.68 [[ 9.79637845e-01 2.00765955e-01 1.65057075e-03 3.02659919e+02] [-2.00765624e-01 9.79639235e-01 -3.65667738e-04 -3.95131430e+01] [-1.69037750e-03 2.68440895e-05 9.99998571e-01 -6.77772516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.69, Y:-39.52, Z:-0.68 [[ 9.78715380e-01 2.05215693e-01 1.65050909e-03 3.02691039e+02] [-2.05215367e-01 9.78716772e-01 -3.65945826e-04 -3.95225377e+01] [-1.69047875e-03 1.94469788e-05 9.99998571e-01 -6.76162444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.72, Y:-39.53, Z:-0.68 [[ 9.77737632e-01 2.09824685e-01 1.65059324e-03 3.02721571e+02] [-2.09824367e-01 9.77739025e-01 -3.65566447e-04 -3.95318202e+01] [-1.69055429e-03 1.10933906e-05 9.99998571e-01 -6.76770778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:-39.54, Z:-0.68 [[ 9.75987596e-01 2.17819855e-01 1.65041954e-03 3.02752163e+02] [-2.17819547e-01 9.75988991e-01 -3.66348990e-04 -3.95437924e+01] [-1.69058938e-03 -1.94156504e-06 9.99998571e-01 -6.79129368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.78, Y:-39.55, Z:-0.68 [[ 9.75085871e-01 2.21821597e-01 1.65035650e-03 3.02784339e+02] [-2.21821294e-01 9.75087267e-01 -3.66632730e-04 -3.95527110e+01] [-1.69056867e-03 -8.58581968e-06 9.99998571e-01 -6.78435849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.82, Y:-39.56, Z:-0.68 [[ 9.73254545e-01 2.29723457e-01 1.65028686e-03 3.02815969e+02] [-2.29723165e-01 9.73255944e-01 -3.66945941e-04 -3.95604735e+01] [-1.69044758e-03 -2.19773159e-05 9.99998571e-01 -6.77494918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.85, Y:-39.57, Z:-0.68 [[ 9.72394765e-01 2.33336019e-01 1.65021709e-03 3.02848393e+02] [-2.33335732e-01 9.72396165e-01 -3.67259422e-04 -3.95677947e+01] [-1.69035962e-03 -2.79334740e-05 9.99998571e-01 -6.77140786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:302.88, Y:-39.58, Z:-0.68 [[ 9.71562568e-01 2.36777225e-01 1.65014728e-03 3.02879168e+02] [-2.36776942e-01 9.71563968e-01 -3.67572838e-04 -3.95752999e+01] [-1.69025652e-03 -3.35968162e-05 9.99998571e-01 -6.76825871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.91, Y:-39.58, Z:-0.67 [[ 9.70336085e-01 2.41754338e-01 1.65008239e-03 3.02910742e+02] [-2.41754062e-01 9.70337487e-01 -3.67863923e-04 -3.95834728e+01] [-1.69006949e-03 -4.19624812e-05 9.99998571e-01 -6.74955109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.94, Y:-39.59, Z:-0.68 [[ 9.69841318e-01 2.43731606e-01 1.65001594e-03 3.02942765e+02] [-2.43731332e-01 9.69842720e-01 -3.68161700e-04 -3.95906347e+01] [-1.68998859e-03 -4.51021551e-05 9.99998571e-01 -6.76134691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.97, Y:-39.60, Z:-0.68 [[ 9.69308967e-01 2.45840202e-01 1.64994660e-03 3.02973906e+02] [-2.45839931e-01 9.69310370e-01 -3.68472210e-04 -3.95971486e+01] [-1.68989563e-03 -4.84593405e-05 9.99998571e-01 -6.79026687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.01, Y:-39.60, Z:-0.68 [[ 9.68310407e-01 2.49744335e-01 1.64988192e-03 3.03006356e+02] [-2.49744069e-01 9.68311811e-01 -3.68761608e-04 -3.96026788e+01] [-1.68969627e-03 -5.49725203e-05 9.99998571e-01 -6.82764399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.04, Y:-39.61, Z:-0.68 [[ 9.67999615e-01 2.50946258e-01 1.64981231e-03 3.03037926e+02] [-2.50945993e-01 9.68001019e-01 -3.69072755e-04 -3.96082935e+01] [-1.68963742e-03 -5.67515039e-05 9.99998571e-01 -6.83102031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.07, Y:-39.61, Z:-0.68 [[ 9.67561876e-01 2.52628768e-01 1.64974739e-03 3.03070633e+02] [-2.52628505e-01 9.67563281e-01 -3.69362738e-04 -3.96131123e+01] [-1.68954665e-03 -5.93919120e-05 9.99998571e-01 -6.79699903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.10, Y:-39.62, Z:-0.68 [[ 9.67561284e-01 2.52631037e-01 1.64967822e-03 3.03101635e+02] [-2.52630774e-01 9.67562688e-01 -3.69671409e-04 -3.96194301e+01] [-1.68955756e-03 -5.90797415e-05 9.99998571e-01 -6.77117754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.13, Y:-39.63, Z:-0.68 [[ 9.67685780e-01 2.52153743e-01 1.64963533e-03 3.03133839e+02] [-2.52153478e-01 9.67687184e-01 -3.69862711e-04 -3.96255352e+01] [-1.68959323e-03 -5.80503999e-05 9.99998571e-01 -6.75043735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.17, Y:-39.63, Z:-0.67 [[ 9.68167823e-01 2.50296515e-01 1.64956584e-03 3.03166300e+02] [-2.50296248e-01 9.68169227e-01 -3.70172365e-04 -3.96292071e+01] [-1.68971173e-03 -5.44911664e-05 9.99998571e-01 -6.74977695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.20, Y:-39.63, Z:-0.68 [[ 9.68458264e-01 2.49170362e-01 1.64952258e-03 3.03198783e+02] [-2.49170092e-01 9.68459668e-01 -3.70365020e-04 -3.96343480e+01] [-1.68978008e-03 -5.23286297e-05 9.99998571e-01 -6.76467872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.23, Y:-39.64, Z:-0.68 [[ 9.68675109e-01 2.48326022e-01 1.64945416e-03 3.03230566e+02] [-2.48325750e-01 9.68676512e-01 -3.70669468e-04 -3.96399524e+01] [-1.68983438e-03 -5.05436553e-05 9.99998571e-01 -6.77382855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:303.26, Y:-39.64, Z:-0.68 [[ 9.69034238e-01 2.46920890e-01 1.64939012e-03 3.03263508e+02] [-2.46920616e-01 9.69035640e-01 -3.70954245e-04 -3.96440112e+01] [-1.68991416e-03 -4.78010594e-05 9.99998571e-01 -6.79975918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:303.29, Y:-39.65, Z:-0.68 [[ 9.69363163e-01 2.45626418e-01 1.64932098e-03 3.03294836e+02] [-2.45626142e-01 9.69364565e-01 -3.71261376e-04 -3.96489215e+01] [-1.68998492e-03 -4.52292476e-05 9.99998571e-01 -6.81819336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.33, Y:-39.65, Z:-0.68 [[ 9.70538348e-01 2.40941062e-01 1.64925626e-03 3.03326407e+02] [-2.40940778e-01 9.70539748e-01 -3.71548657e-04 -3.96532871e+01] [-1.69019009e-03 -3.67708686e-05 9.99998571e-01 -6.82841719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:-39.66, Z:-0.68 [[ 9.71229969e-01 2.38137833e-01 1.64918880e-03 3.03358280e+02] [-2.38137545e-01 9.71231369e-01 -3.71847879e-04 -3.96605945e+01] [-1.69029494e-03 -3.15839673e-05 9.99998571e-01 -6.82417546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.39, Y:-39.67, Z:-0.68 [[ 9.72058001e-01 2.34735005e-01 1.64912096e-03 3.03389650e+02] [-2.34734711e-01 9.72059400e-01 -3.72148508e-04 -3.96681356e+01] [-1.69039981e-03 -2.53559961e-05 9.99998571e-01 -6.82131848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:303.42, Y:-39.67, Z:-0.68 [[ 9.73766120e-01 2.27545213e-01 1.64905765e-03 3.03421737e+02] [-2.27544909e-01 9.73767516e-01 -3.72428791e-04 -3.96743381e+01] [-1.69054317e-03 -1.25761344e-05 9.99998571e-01 -6.83451653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.45, Y:-39.68, Z:-0.68 [[ 9.74425343e-01 2.24705434e-01 1.64898991e-03 3.03453818e+02] [-2.24705125e-01 9.74426738e-01 -3.72728496e-04 -3.96811040e+01] [-1.69057398e-03 -7.34039215e-06 9.99998571e-01 -6.84456893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.48, Y:-39.69, Z:-0.68 [[ 9.74840455e-01 2.22897663e-01 1.64891868e-03 3.03484870e+02] [-2.22897351e-01 9.74841850e-01 -3.73043340e-04 -3.96883444e+01] [-1.69058543e-03 -3.88186750e-06 9.99998571e-01 -6.84915071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.52, Y:-39.70, Z:-0.68 [[ 9.74981965e-01 2.22277863e-01 1.64885205e-03 3.03516782e+02] [-2.22277549e-01 9.74983360e-01 -3.73337645e-04 -3.96971023e+01] [-1.69058800e-03 -2.50532106e-06 9.99998571e-01 -6.81866398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.55, Y:-39.70, Z:-0.68 [[ 9.74902421e-01 2.22626485e-01 1.64878088e-03 3.03547868e+02] [-2.22626172e-01 9.74903815e-01 -3.73651656e-04 -3.97035964e+01] [-1.69058753e-03 -2.78787255e-06 9.99998571e-01 -6.81750936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.58, Y:-39.71, Z:-0.68 [[ 9.74571448e-01 2.24070915e-01 1.64871447e-03 3.03579975e+02] [-2.24070603e-01 9.74572842e-01 -3.73944466e-04 -3.97088869e+01] [-1.69058243e-03 -4.99284614e-06 9.99998571e-01 -6.81719494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.61, Y:-39.72, Z:-0.68 [[ 9.74347683e-01 2.25041939e-01 1.64864280e-03 3.03611100e+02] [-2.25041628e-01 9.74349078e-01 -3.74260173e-04 -3.97159678e+01] [-1.69057783e-03 -6.35372753e-06 9.99998571e-01 -6.82382079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.64, Y:-39.72, Z:-0.68 [[ 9.74153957e-01 2.25879061e-01 1.64857583e-03 3.03643227e+02] [-2.25878751e-01 9.74155352e-01 -3.74554965e-04 -3.97239854e+01] [-1.69057309e-03 -7.50404713e-06 9.99998571e-01 -6.82211302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:303.67, Y:-39.73, Z:-0.68 [[ 9.73531806e-01 2.28545629e-01 1.64850610e-03 3.03674079e+02] [-2.28545321e-01 9.73533202e-01 -3.74861572e-04 -3.97311325e+01] [-1.69054840e-03 -1.18186946e-05 9.99998571e-01 -6.80716694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.71, Y:-39.74, Z:-0.68 [[ 9.73065204e-01 2.30524165e-01 1.64844104e-03 3.03706599e+02] [-2.30523860e-01 9.73066601e-01 -3.75147486e-04 -3.97375719e+01] [-1.69052348e-03 -1.49620264e-05 9.99998571e-01 -6.79511914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.74, Y:-39.74, Z:-0.68 [[ 9.72230993e-01 2.34017476e-01 1.64836882e-03 3.03738481e+02] [-2.34017176e-01 9.72232390e-01 -3.75464537e-04 -3.97423783e+01] [-1.69046282e-03 -2.07083563e-05 9.99998571e-01 -6.76202342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.77, Y:-39.75, Z:-0.68 [[ 9.72020911e-01 2.34888551e-01 1.64830175e-03 3.03771001e+02] [-2.34888251e-01 9.72022308e-01 -3.75758744e-04 -3.97483957e+01] [-1.69044750e-03 -2.19213591e-05 9.99998571e-01 -6.75652379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.80, Y:-39.75, Z:-0.68 [[ 9.71947142e-01 2.35193614e-01 1.64822935e-03 3.03802167e+02] [-2.35193314e-01 9.71948540e-01 -3.76076060e-04 -3.97542246e+01] [-1.69044480e-03 -2.21264714e-05 9.99998571e-01 -6.75190105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.83, Y:-39.76, Z:-0.67 [[ 9.72701552e-01 2.32053816e-01 1.64816174e-03 3.03834780e+02] [-2.32053512e-01 9.72702949e-01 -3.76372126e-04 -3.97614166e+01] [-1.69051037e-03 -1.63639684e-05 9.99998571e-01 -6.72873963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.87, Y:-39.77, Z:-0.67 [[ 9.73432015e-01 2.28970297e-01 1.64809024e-03 3.03865314e+02] [-2.28969987e-01 9.73433410e-01 -3.76684971e-04 -3.97704803e+01] [-1.69055577e-03 -1.06859894e-05 9.99998571e-01 -6.72611706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:-39.78, Z:-0.67 [[ 9.74311389e-01 2.25199028e-01 1.64802344e-03 3.03896102e+02] [-2.25198713e-01 9.74312782e-01 -3.76976959e-04 -3.97805457e+01] [-1.69058515e-03 -3.83981394e-06 9.99998571e-01 -6.72468720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:-39.79, Z:-0.67 [[ 9.76138888e-01 2.17140866e-01 1.64795696e-03 3.03927010e+02] [-2.17140539e-01 9.76140279e-01 -3.77267362e-04 -3.97941480e+01] [-1.69055733e-03 1.04270809e-05 9.99998571e-01 -6.73927326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.96, Y:-39.80, Z:-0.68 [[ 9.76785629e-01 2.14212788e-01 1.64792639e-03 3.03957264e+02] [-2.14212456e-01 9.76787019e-01 -3.77400855e-04 -3.98045887e+01] [-1.69051720e-03 1.56333721e-05 9.99998571e-01 -6.75778850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:-39.82, Z:-0.68 [[ 9.77627650e-01 2.10336548e-01 1.64786095e-03 3.03988127e+02] [-2.10336210e-01 9.77629038e-01 -3.77686372e-04 -3.98196498e+01] [-1.69043796e-03 2.26318134e-05 9.99998571e-01 -6.80648525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.02, Y:-39.83, Z:-0.68 [[ 9.77882796e-01 2.09147131e-01 1.64778838e-03 3.04018940e+02] [-2.09146791e-01 9.77884184e-01 -3.78002730e-04 -3.98307557e+01] [-1.69040438e-03 2.50127153e-05 9.99998571e-01 -6.81384388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0957692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:304.05, Y:-39.84, Z:-0.68 [[ 9.77998805e-01 2.08603985e-01 1.64771186e-03 3.04049690e+02] [-2.08603644e-01 9.78000193e-01 -3.78335989e-04 -3.98416163e+01] [-1.69038491e-03 2.62934479e-05 9.99998571e-01 -6.81480457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.08, Y:-39.86, Z:-0.68 [[ 9.78027346e-01 2.08470133e-01 1.64766420e-03 3.04080062e+02] [-2.08469791e-01 9.78028733e-01 -3.78543419e-04 -3.98571269e+01] [-1.69037793e-03 2.67376026e-05 9.99998571e-01 -6.75913753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.11, Y:-39.87, Z:-0.67 [[ 9.77995786e-01 2.08618141e-01 1.64759439e-03 3.04111175e+02] [-2.08617798e-01 9.77997173e-01 -3.78847038e-04 -3.98692697e+01] [-1.69037702e-03 2.67932928e-05 9.99998571e-01 -6.73663766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.14, Y:-39.89, Z:-0.68 [[ 9.78171584e-01 2.07792294e-01 1.64752469e-03 3.04139681e+02] [-2.07791950e-01 9.78172971e-01 -3.79149894e-04 -3.98871215e+01] [-1.69034855e-03 2.85312845e-05 9.99998571e-01 -6.78471416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.17, Y:-39.90, Z:-0.68 [[ 9.78330066e-01 2.07044844e-01 1.64745975e-03 3.04170145e+02] [-2.07044499e-01 9.78331453e-01 -3.79431858e-04 -3.99001258e+01] [-1.69032110e-03 3.01121164e-05 9.99998571e-01 -6.83534975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.20, Y:-39.91, Z:-0.69 [[ 9.78472348e-01 2.06371390e-01 1.64738841e-03 3.04199136e+02] [-2.06371043e-01 9.78473734e-01 -3.79741330e-04 -3.99127773e+01] [-1.69029404e-03 3.15931269e-05 9.99998571e-01 -6.87848029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.23, Y:-39.93, Z:-0.69 [[ 9.78593925e-01 2.05794113e-01 1.64735328e-03 3.04229931e+02] [-2.05793765e-01 9.78595311e-01 -3.79893676e-04 -3.99256347e+01] [-1.69027208e-03 3.27466093e-05 9.99998571e-01 -6.87754978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:-39.94, Z:-0.68 [[ 9.78712063e-01 2.05231537e-01 1.64728122e-03 3.04258571e+02] [-2.05231188e-01 9.78713449e-01 -3.80205877e-04 -3.99429162e+01] [-1.69024652e-03 3.40385960e-05 9.99998571e-01 -6.79408344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:-39.95, Z:-0.68 [[ 9.78654366e-01 2.05506491e-01 1.64721685e-03 3.04288430e+02] [-2.05506141e-01 9.78655752e-01 -3.80484564e-04 -3.99540832e+01] [-1.69025029e-03 3.38497012e-05 9.99998571e-01 -6.77269752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.32, Y:-39.97, Z:-0.68 [[ 9.78232008e-01 2.07507650e-01 1.64727529e-03 3.04317465e+02] [-2.07507304e-01 9.78233395e-01 -3.80231621e-04 -3.99683658e+01] [-1.69032067e-03 3.01330873e-05 9.99998571e-01 -6.79558051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.35, Y:-39.98, Z:-0.68 [[ 9.78193838e-01 2.07687512e-01 1.64715634e-03 3.04350025e+02] [-2.07687166e-01 9.78195224e-01 -3.80746221e-04 -3.99760993e+01] [-1.69031670e-03 3.03503751e-05 9.99998571e-01 -6.79614779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.38, Y:-39.99, Z:-0.68 [[ 9.77676420e-01 2.10109743e-01 1.64708628e-03 3.04380802e+02] [-2.10109400e-01 9.77677807e-01 -3.81049067e-04 -3.99879378e+01] [-1.69038182e-03 2.64743786e-05 9.99998571e-01 -6.82304789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:-40.00, Z:-0.68 [[ 9.77143086e-01 2.12576285e-01 1.64701234e-03 3.04411347e+02] [-2.12575944e-01 9.77144474e-01 -3.81368364e-04 -3.99997664e+01] [-1.69043888e-03 2.25362563e-05 9.99998571e-01 -6.83130565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.44, Y:-40.01, Z:-0.68 [[ 9.76139008e-01 2.17140336e-01 1.64694348e-03 3.04440549e+02] [-2.17140001e-01 9.76140397e-01 -3.81665523e-04 -4.00141309e+01] [-1.69052304e-03 1.49412960e-05 9.99998571e-01 -6.82289217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.47, Y:-40.02, Z:-0.68 [[ 9.75531590e-01 2.19853142e-01 1.64687575e-03 3.04472057e+02] [-2.19852811e-01 9.75532980e-01 -3.81957571e-04 -4.00245083e+01] [-1.69055618e-03 1.05414147e-05 9.99998571e-01 -6.80879287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.50, Y:-40.04, Z:-0.68 [[ 9.74474298e-01 2.24493054e-01 1.64680252e-03 3.04501664e+02] [-2.24492729e-01 9.74475689e-01 -3.82273031e-04 -4.00379863e+01] [-1.69058666e-03 2.82005278e-06 9.99998571e-01 -6.79576467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.53, Y:-40.05, Z:-0.68 [[ 9.74073786e-01 2.26224550e-01 1.64673424e-03 3.04532400e+02] [-2.26224226e-01 9.74075178e-01 -3.82566912e-04 -4.00491255e+01] [-1.69058898e-03 1.17220397e-07 9.99998571e-01 -6.80493899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.56, Y:-40.06, Z:-0.68 [[ 9.73661247e-01 2.27993563e-01 1.64666173e-03 3.04562976e+02] [-2.27993242e-01 9.73662639e-01 -3.82878765e-04 -4.00602598e+01] [-1.69058690e-03 -2.63352986e-06 9.99998571e-01 -6.80401830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.59, Y:-40.07, Z:-0.68 [[ 9.72683468e-01 2.32129618e-01 1.64659405e-03 3.04592997e+02] [-2.32129302e-01 9.72684862e-01 -3.83169620e-04 -4.00731152e+01] [-1.69056212e-03 -9.51997255e-06 9.99998571e-01 -6.78603863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.62, Y:-40.08, Z:-0.68 [[ 9.72000746e-01 2.34971994e-01 1.64655010e-03 3.04624511e+02] [-2.34971681e-01 9.72002141e-01 -3.83358390e-04 -4.00824754e+01] [-1.69052871e-03 -1.42680036e-05 9.99998571e-01 -6.78588656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.66, Y:-40.09, Z:-0.68 [[ 9.70414635e-01 2.41438863e-01 1.64647974e-03 3.04655381e+02] [-2.41438560e-01 9.70416032e-01 -3.83660330e-04 -4.00917092e+01] [-1.69040085e-03 -2.52140987e-05 9.99998571e-01 -6.80614898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.69, Y:-40.10, Z:-0.68 [[ 9.69533220e-01 2.44954334e-01 1.64641422e-03 3.04687657e+02] [-2.44954035e-01 9.69534617e-01 -3.83941294e-04 -4.00992485e+01] [-1.69030366e-03 -3.10519672e-05 9.99998571e-01 -6.81844543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.72, Y:-40.11, Z:-0.68 [[ 9.68708314e-01 2.48196480e-01 1.64634451e-03 3.04719550e+02] [-2.48196185e-01 9.68709712e-01 -3.84240000e-04 -4.01057408e+01] [-1.69019693e-03 -3.63999429e-05 9.99998571e-01 -6.82393699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:-40.11, Z:-0.68 [[ 9.66982163e-01 2.54838745e-01 1.64627232e-03 3.04752950e+02] [-2.54838459e-01 9.66983563e-01 -3.84549037e-04 -4.01096703e+01] [-1.68991627e-03 -4.76814415e-05 9.99998571e-01 -6.81237090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:-40.11, Z:-0.68 [[ 9.66196823e-01 2.57800289e-01 1.64619997e-03 3.04784271e+02] [-2.57800008e-01 9.66198224e-01 -3.84858513e-04 -4.01146141e+01] [-1.68977212e-03 -5.25412919e-05 9.99998571e-01 -6.81194239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.82, Y:-40.12, Z:-0.68 [[ 9.65397332e-01 2.60778224e-01 1.64613264e-03 3.04817765e+02] [-2.60777946e-01 9.65398733e-01 -3.85146270e-04 -4.01156369e+01] [-1.68961213e-03 -5.74559079e-05 9.99998571e-01 -6.83678780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:-40.12, Z:-0.68 [[ 9.65246496e-01 2.61335978e-01 1.64606284e-03 3.04850623e+02] [-2.61335700e-01 9.65247897e-01 -3.85444361e-04 -4.01189964e+01] [-1.68958917e-03 -5.81261655e-05 9.99998571e-01 -6.84540064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.88, Y:-40.12, Z:-0.68 [[ 9.65189690e-01 2.61545701e-01 1.64599313e-03 3.04883375e+02] [-2.61545423e-01 9.65191091e-01 -3.85741831e-04 -4.01220618e+01] [-1.68958702e-03 -5.81879313e-05 9.99998571e-01 -6.83678457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:-40.12, Z:-0.68 [[ 9.65206626e-01 2.61483193e-01 1.64592173e-03 3.04915885e+02] [-2.61482915e-01 9.65208027e-01 -3.86046213e-04 -4.01213593e+01] [-1.68960147e-03 -5.77660499e-05 9.99998571e-01 -6.79483092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.95, Y:-40.13, Z:-0.68 [[ 9.65549584e-01 2.60213935e-01 1.64585521e-03 3.04949363e+02] [-2.60213654e-01 9.65550985e-01 -3.86329632e-04 -4.01251548e+01] [-1.68968547e-03 -5.52535822e-05 9.99998571e-01 -6.78546265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:-40.12, Z:-0.68 [[ 9.66406780e-01 2.57012114e-01 1.64578386e-03 3.04982262e+02] [-2.57011827e-01 9.66408180e-01 -3.86633354e-04 -4.01242683e+01] [-1.68986844e-03 -4.93408217e-05 9.99998571e-01 -6.80726813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.02, Y:-40.13, Z:-0.68 [[ 9.66643711e-01 2.56119557e-01 1.64571705e-03 3.05015152e+02] [-2.56119270e-01 9.66645111e-01 -3.86917497e-04 -4.01282589e+01] [-1.68992148e-03 -4.74884844e-05 9.99998571e-01 -6.80958724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:-40.13, Z:-0.68 [[ 9.66619157e-01 2.56212212e-01 1.64564595e-03 3.05046686e+02] [-2.56211924e-01 9.66620556e-01 -3.87219694e-04 -4.01322305e+01] [-1.68992561e-03 -4.73401399e-05 9.99998571e-01 -6.79979567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08576923100003 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:305.08, Y:-40.13, Z:-0.68 [[ 9.66277382e-01 2.57498182e-01 1.64557957e-03 3.05079927e+02] [-2.57497896e-01 9.66278782e-01 -3.87501582e-04 -4.01318980e+01] [-1.68986957e-03 -4.92992617e-05 9.99998571e-01 -6.78269358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11576923100006 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:305.11, Y:-40.14, Z:-0.68 [[ 9.66185241e-01 2.57843696e-01 1.64553547e-03 3.05112643e+02] [-2.57843410e-01 9.66186641e-01 -3.87688760e-04 -4.01351689e+01] [-1.68985749e-03 -4.97113176e-05 9.99998571e-01 -6.78426756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14576923100003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:305.15, Y:-40.14, Z:-0.68 [[ 9.66365491e-01 2.57167318e-01 1.64546533e-03 3.05145998e+02] [-2.57167030e-01 9.66366891e-01 -3.87986228e-04 -4.01361413e+01] [-1.68990059e-03 -4.82229293e-05 9.99998571e-01 -6.80732024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:305.18, Y:-40.14, Z:-0.68 [[ 9.66499300e-01 2.56663975e-01 1.64539175e-03 3.05177231e+02] [-2.56663686e-01 9.66500699e-01 -3.88297997e-04 -4.01412660e+01] [-1.68993439e-03 -4.70225698e-05 9.99998571e-01 -6.82225585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:305.21, Y:-40.15, Z:-0.68 [[ 9.66640435e-01 2.56131925e-01 1.64532311e-03 3.05210411e+02] [-2.56131634e-01 9.66641834e-01 -3.88588627e-04 -4.01463455e+01] [-1.68996810e-03 -4.57938184e-05 9.99998571e-01 -6.83866066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:305.24, Y:-40.15, Z:-0.69 [[ 9.67029147e-01 2.54660404e-01 1.64525188e-03 3.05243252e+02] [-2.54660110e-01 9.67030546e-01 -3.88890007e-04 -4.01461260e+01] [-1.69004371e-03 -4.29120523e-05 9.99998571e-01 -6.86259917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26576923100004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:305.28, Y:-40.15, Z:-0.69 [[ 9.67342203e-01 2.53468649e-01 1.64518538e-03 3.05275935e+02] [-2.53468354e-01 9.67343601e-01 -3.89171092e-04 -4.01494938e+01] [-1.69010222e-03 -4.05408096e-05 9.99998571e-01 -6.85888481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29576923100007 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:305.31, Y:-40.15, Z:-0.69 [[ 9.68157891e-01 2.50334960e-01 1.64511084e-03 3.05309129e+02] [-2.50334659e-01 9.68159288e-01 -3.89485940e-04 -4.01493485e+01] [-1.69023129e-03 -3.47443760e-05 9.99998571e-01 -6.85272993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32576923100004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:305.34, Y:-40.15, Z:-0.69 [[ 9.68630011e-01 2.48501902e-01 1.64504133e-03 3.05341060e+02] [-2.48501598e-01 9.68631408e-01 -3.89779299e-04 -4.01528058e+01] [-1.69029960e-03 -3.12434745e-05 9.99998571e-01 -6.85546947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35576923100007 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:305.37, Y:-40.16, Z:-0.69 [[ 9.69138739e-01 2.46510444e-01 1.64497345e-03 3.05373676e+02] [-2.46510137e-01 9.69140134e-01 -3.90065579e-04 -4.01560905e+01] [-1.69036503e-03 -2.74749676e-05 9.99998571e-01 -6.85893294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:305.41, Y:-40.16, Z:-0.69 [[ 9.70286354e-01 2.41953890e-01 1.64490058e-03 3.05405841e+02] [-2.41953576e-01 9.70287748e-01 -3.90372606e-04 -4.01569392e+01] [-1.69047906e-03 -1.92163661e-05 9.99998571e-01 -6.89109689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41576923100007 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:305.44, Y:-40.16, Z:-0.69 [[ 9.71058266e-01 2.38837053e-01 1.64482802e-03 3.05438418e+02] [-2.38836733e-01 9.71059659e-01 -3.90678135e-04 -4.01627376e+01] [-1.69053455e-03 -1.34741180e-05 9.99998571e-01 -6.89551997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:305.47, Y:-40.17, Z:-0.69 [[ 9.73084969e-01 2.30440748e-01 1.64475504e-03 3.05469873e+02] [-2.30440417e-01 9.73086359e-01 -3.90985134e-04 -4.01680241e+01] [-1.69058760e-03 1.44372126e-06 9.99998571e-01 -6.91449104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4757692310001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:305.50, Y:-40.18, Z:-0.69 [[ 9.74079209e-01 2.26201214e-01 1.64470963e-03 3.05501816e+02] [-2.26200876e-01 9.74080598e-01 -3.91176034e-04 -4.01750834e+01] [-1.69056424e-03 9.00168164e-06 9.99998571e-01 -6.88957358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50576923100004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:305.53, Y:-40.18, Z:-0.69 [[ 9.74965858e-01 2.22348537e-01 1.64463595e-03 3.05533595e+02] [-2.22348193e-01 9.74967245e-01 -3.91485596e-04 -4.01825510e+01] [-1.69051243e-03 1.60032593e-05 9.99998571e-01 -6.86940588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5357692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:305.56, Y:-40.19, Z:-0.68 [[ 9.76329622e-01 2.16281680e-01 1.64456219e-03 3.05564378e+02] [-2.16281326e-01 9.76331007e-01 -3.91795194e-04 -4.01920265e+01] [-1.69037518e-03 2.68331626e-05 9.99998571e-01 -6.81917286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:305.60, Y:-40.20, Z:-0.68 [[ 9.76889468e-01 2.13738775e-01 1.64449311e-03 3.05595927e+02] [-2.13738417e-01 9.76890851e-01 -3.92084942e-04 -4.02020006e+01] [-1.69029403e-03 3.15322961e-05 9.99998571e-01 -6.81234143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5957692310001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:305.63, Y:-40.21, Z:-0.68 [[ 9.77370492e-01 2.11528290e-01 1.64441761e-03 3.05626321e+02] [-2.11527929e-01 9.77371875e-01 -3.92401339e-04 -4.02123467e+01] [-1.69021150e-03 3.56812403e-05 9.99998571e-01 -6.82779246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62576923100005 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:305.66, Y:-40.23, Z:-0.69 [[ 9.77616343e-01 2.10389119e-01 1.64434715e-03 3.05657032e+02] [-2.10388756e-01 9.77617725e-01 -3.92696356e-04 -4.02252781e+01] [-1.69016196e-03 3.79542234e-05 9.99998571e-01 -6.85759142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6557692310001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:305.69, Y:-40.24, Z:-0.69 [[ 9.77277075e-01 2.11959466e-01 1.64427047e-03 3.05688672e+02] [-2.11959105e-01 9.77278457e-01 -3.93017146e-04 -4.02363029e+01] [-1.69021382e-03 3.55685490e-05 9.99998571e-01 -6.85805550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68576923100005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:305.72, Y:-40.25, Z:-0.69 [[ 9.76118924e-01 2.17230620e-01 1.64419319e-03 3.05718880e+02] [-2.17230266e-01 9.76120309e-01 -3.93340218e-04 -4.02500778e+01] [-1.69037590e-03 2.67783082e-05 9.99998571e-01 -6.85109502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.715769231 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:305.75, Y:-40.26, Z:-0.69 [[ 9.75334503e-01 2.20725858e-01 1.64411616e-03 3.05749603e+02] [-2.20725508e-01 9.75335888e-01 -3.93661932e-04 -4.02593078e+01] [-1.69045686e-03 2.10536921e-05 9.99998571e-01 -6.85310577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74576923100005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:305.78, Y:-40.27, Z:-0.69 [[ 9.74443205e-01 2.24627997e-01 1.64406845e-03 3.05780047e+02] [-2.24627652e-01 9.74444592e-01 -3.93861057e-04 -4.02674192e+01] [-1.69052583e-03 1.44919943e-05 9.99998571e-01 -6.85247442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.775769231 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:305.81, Y:-40.28, Z:-0.68 [[ 9.72781903e-01 2.31716779e-01 1.64402300e-03 3.05812309e+02] [-2.31716444e-01 9.72783293e-01 -3.94050700e-04 -4.02757362e+01] [-1.69058626e-03 2.37822751e-06 9.99998571e-01 -6.81991921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80576923100006 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:305.84, Y:-40.28, Z:-0.68 [[ 9.72176616e-01 2.34243301e-01 1.64394851e-03 3.05843396e+02] [-2.34242969e-01 9.72178006e-01 -3.94361197e-04 -4.02831728e+01] [-1.69058706e-03 -1.69464683e-06 9.99998571e-01 -6.81237066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83576923100003 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:305.88, Y:-40.29, Z:-0.68 [[ 9.71407787e-01 2.37411478e-01 1.64390231e-03 3.05875731e+02] [-2.37411150e-01 9.71409178e-01 -3.94553710e-04 -4.02907264e+01] [-1.69057337e-03 -7.00819118e-06 9.99998571e-01 -6.79557203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86576923100006 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:305.91, Y:-40.30, Z:-0.68 [[ 9.71272256e-01 2.37965340e-01 1.64382657e-03 3.05907936e+02] [-2.37965013e-01 9.71273647e-01 -3.94869019e-04 -4.02987167e+01] [-1.69057056e-03 -7.64788743e-06 9.99998571e-01 -6.79744706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89576923100003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:305.94, Y:-40.31, Z:-0.68 [[ 9.71388898e-01 2.37488749e-01 1.64375121e-03 3.05940028e+02] [-2.37488421e-01 9.71390289e-01 -3.95182461e-04 -4.03068705e+01] [-1.69057535e-03 -6.49602335e-06 9.99998571e-01 -6.80378102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92576923100006 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:305.97, Y:-40.31, Z:-0.68 [[ 9.71866476e-01 2.35526754e-01 1.64367616e-03 3.05971013e+02] [-2.35526422e-01 9.71867866e-01 -3.95494365e-04 -4.03140364e+01] [-1.69058555e-03 -2.76145080e-06 9.99998571e-01 -6.82041529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95576923100003 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:306.00, Y:-40.32, Z:-0.68 [[ 9.72033756e-01 2.34835423e-01 1.64360587e-03 3.06003368e+02] [-2.34835090e-01 9.72035145e-01 -3.95786268e-04 -4.03209196e+01] [-1.69058731e-03 -1.25872002e-06 9.99998571e-01 -6.82383370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:306.03, Y:-40.33, Z:-0.68 [[ 9.71845047e-01 2.35615160e-01 1.64357327e-03 3.06034804e+02] [-2.35614828e-01 9.71846437e-01 -3.95921598e-04 -4.03257202e+01] [-1.69058596e-03 -2.47578898e-06 9.99998571e-01 -6.84235396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01576923100004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:306.07, Y:-40.33, Z:-0.69 [[ 9.71606519e-01 2.36596850e-01 1.64414269e-03 3.06066790e+02] [-2.36596523e-01 9.71607910e-01 -3.93558488e-04 -4.03318911e+01] [-1.69057674e-03 -6.61445114e-06 9.99998571e-01 -6.86636218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04576923100007 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:306.10, Y:-40.34, Z:-0.68 [[ 9.71076444e-01 2.38763145e-01 1.64348394e-03 3.06097078e+02] [-2.38762816e-01 9.71077834e-01 -3.96290448e-04 -4.03382713e+01] [-1.69057037e-03 -7.57453382e-06 9.99998571e-01 -6.84423729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07576923100004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:306.13, Y:-40.34, Z:-0.68 [[ 9.70562204e-01 2.40844979e-01 1.64428317e-03 3.06128969e+02] [-2.40844659e-01 9.70563597e-01 -3.92977368e-04 -4.03432775e+01] [-1.69052801e-03 -1.46078377e-05 9.99998571e-01 -6.82509206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10576923100007 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:306.16, Y:-40.35, Z:-0.68 [[ 9.70314871e-01 2.41839513e-01 1.64335779e-03 3.06161026e+02] [-2.41839188e-01 9.70316263e-01 -3.96809752e-04 -4.03503836e+01] [-1.69054106e-03 -1.23979089e-05 9.99998571e-01 -6.81052027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:306.19, Y:-40.36, Z:-0.68 [[ 9.69984047e-01 2.43163007e-01 1.64328502e-03 3.06192811e+02] [-2.43162683e-01 9.69985439e-01 -3.97110890e-04 -4.03555099e+01] [-1.69052522e-03 -1.43943658e-05 9.99998571e-01 -6.81204575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:306.23, Y:-40.36, Z:-0.68 [[ 9.69954282e-01 2.43281709e-01 1.64321717e-03 3.06225281e+02] [-2.43281385e-01 9.69955674e-01 -3.97391437e-04 -4.03610967e+01] [-1.69052589e-03 -1.43126226e-05 9.99998571e-01 -6.81757690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19576923100004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:306.26, Y:-40.37, Z:-0.68 [[ 9.70016613e-01 2.43033064e-01 1.64314477e-03 3.06258301e+02] [-2.43032739e-01 9.70018005e-01 -3.97690552e-04 -4.03663600e+01] [-1.69053197e-03 -1.35715328e-05 9.99998571e-01 -6.81718530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2257692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:306.29, Y:-40.37, Z:-0.68 [[ 9.70155473e-01 2.42478160e-01 1.64306687e-03 3.06290240e+02] [-2.42477834e-01 9.70156865e-01 -3.98012141e-04 -4.03709757e+01] [-1.69054186e-03 -1.22736394e-05 9.99998571e-01 -6.81394775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:306.32, Y:-40.38, Z:-0.68 [[ 9.70277799e-01 2.41988207e-01 1.64299395e-03 3.06322136e+02] [-2.41987880e-01 9.70279190e-01 -3.98312962e-04 -4.03777505e+01] [-1.69054987e-03 -1.11103969e-05 9.99998571e-01 -6.79725338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2857692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:306.35, Y:-40.39, Z:-0.68 [[ 9.70233830e-01 2.42164440e-01 1.64292157e-03 3.06354625e+02] [-2.42164112e-01 9.70235221e-01 -3.98611258e-04 -4.03858370e+01] [-1.69054985e-03 -1.11105164e-05 9.99998571e-01 -6.79782003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31576923100005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:306.39, Y:-40.39, Z:-0.68 [[ 9.70754409e-01 2.40069112e-01 1.64284912e-03 3.06387916e+02] [-2.40068781e-01 9.70755799e-01 -3.98909657e-04 -4.03904271e+01] [-1.69057119e-03 -7.15347553e-06 9.99998571e-01 -6.79295301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3457692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:306.42, Y:-40.40, Z:-0.68 [[ 9.71198282e-01 2.38267075e-01 1.64277682e-03 3.06419433e+02] [-2.38266741e-01 9.71199671e-01 -3.99207153e-04 -4.03964212e+01] [-1.69058223e-03 -3.70977763e-06 9.99998571e-01 -6.81703975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:306.45, Y:-40.40, Z:-0.68 [[ 9.71575201e-01 2.36725431e-01 1.64273167e-03 3.06451192e+02] [-2.36725094e-01 9.71576590e-01 -3.99392883e-04 -4.04039613e+01] [-1.69058608e-03 -8.35588039e-07 9.99998571e-01 -6.84195099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4057692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:306.48, Y:-40.41, Z:-0.68 [[ 9.72176500e-01 2.34243791e-01 1.64265862e-03 3.06482786e+02] [-2.34243450e-01 9.72177888e-01 -3.99693070e-04 -4.04132817e+01] [-1.69058201e-03 3.79018591e-06 9.99998571e-01 -6.84097218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:306.51, Y:-40.42, Z:-0.68 [[ 9.72190560e-01 2.34185434e-01 1.64258562e-03 3.06514333e+02] [-2.34185092e-01 9.72191947e-01 -3.99992864e-04 -4.04209007e+01] [-1.69058102e-03 4.20022220e-06 9.99998571e-01 -6.83073116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.465769231 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:306.55, Y:-40.43, Z:-0.68 [[ 9.71838537e-01 2.35642017e-01 1.64251741e-03 3.06546612e+02] [-2.35641677e-01 9.71839925e-01 -4.00272763e-04 -4.04259163e+01] [-1.69058508e-03 1.95493847e-06 9.99998571e-01 -6.84452430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:306.58, Y:-40.43, Z:-0.69 [[ 9.71562247e-01 2.36778594e-01 1.64244638e-03 3.06578264e+02] [-2.36778255e-01 9.71563635e-01 -4.00564016e-04 -4.04332397e+01] [-1.69058616e-03 2.77287517e-07 9.99998571e-01 -6.86122081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.525769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:306.61, Y:-40.44, Z:-0.69 [[ 9.71281757e-01 2.37926568e-01 1.64237552e-03 3.06609093e+02] [-2.37926230e-01 9.71283145e-01 -4.00854318e-04 -4.04410855e+01] [-1.69058556e-03 -1.42173038e-06 9.99998571e-01 -6.86832804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:306.64, Y:-40.45, Z:-0.68 [[ 9.70651668e-01 2.40484183e-01 1.64233206e-03 3.06640984e+02] [-2.40483849e-01 9.70653057e-01 -4.01032315e-04 -4.04491357e+01] [-1.69057656e-03 -5.69164933e-06 9.99998571e-01 -6.84560495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58576923100003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:306.67, Y:-40.46, Z:-0.68 [[ 9.70206442e-01 2.42274150e-01 1.64225572e-03 3.06672422e+02] [-2.42273818e-01 9.70207831e-01 -4.01344695e-04 -4.04563353e+01] [-1.69056480e-03 -8.48835502e-06 9.99998571e-01 -6.84113791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:306.71, Y:-40.46, Z:-0.68 [[ 9.69614467e-01 2.44632557e-01 1.64218456e-03 3.06705120e+02] [-2.44632228e-01 9.69615858e-01 -4.01635648e-04 -4.04631393e+01] [-1.69054135e-03 -1.22995325e-05 9.99998571e-01 -6.84264457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64576923100003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:306.74, Y:-40.47, Z:-0.69 [[ 9.69440852e-01 2.45319665e-01 1.64210841e-03 3.06735384e+02] [-2.45319336e-01 9.69442243e-01 -4.01946742e-04 -4.04699677e+01] [-1.69053470e-03 -1.31773534e-05 9.99998571e-01 -6.87186440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67576923100006 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:306.77, Y:-40.48, Z:-0.69 [[ 9.69298013e-01 2.45883437e-01 1.64204685e-03 3.06766817e+02] [-2.45883109e-01 9.69299404e-01 -4.02198074e-04 -4.04765723e+01] [-1.69052888e-03 -1.39017906e-05 9.99998571e-01 -6.88311834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70576923100003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:306.80, Y:-40.48, Z:-0.69 [[ 9.69179145e-01 2.46351557e-01 1.64197854e-03 3.06798546e+02] [-2.46351228e-01 9.69180535e-01 -4.02476775e-04 -4.04799685e+01] [-1.69052442e-03 -1.44313333e-05 9.99998571e-01 -6.89091098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:306.83, Y:-40.48, Z:-0.69 [[ 9.68863035e-01 2.47591847e-01 1.64190572e-03 3.06830472e+02] [-2.47591520e-01 9.68864426e-01 -4.02773618e-04 -4.04832183e+01] [-1.69050751e-03 -1.62894628e-05 9.99998571e-01 -6.85601855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76576923100004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:306.86, Y:-40.49, Z:-0.69 [[ 9.68564851e-01 2.48755771e-01 1.64183839e-03 3.06862349e+02] [-2.48755445e-01 9.68566243e-01 -4.03047892e-04 -4.04883990e+01] [-1.69048973e-03 -1.80382176e-05 9.99998571e-01 -6.85066983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79576923100007 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:306.89, Y:-40.49, Z:-0.68 [[ 9.68261623e-01 2.49933458e-01 1.64176640e-03 3.06894114e+02] [-2.49933133e-01 9.68263015e-01 -4.03340932e-04 -4.04923486e+01] [-1.69047007e-03 -1.97922731e-05 9.99998571e-01 -6.84429733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:306.93, Y:-40.50, Z:-0.68 [[ 9.67966241e-01 2.51075010e-01 1.64169784e-03 3.06927229e+02] [-2.51074687e-01 9.67967633e-01 -4.03619766e-04 -4.04960486e+01] [-1.69044921e-03 -2.14984642e-05 9.99998571e-01 -6.83673220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:306.96, Y:-40.50, Z:-0.68 [[ 9.67873647e-01 2.51431719e-01 1.64162144e-03 3.06961584e+02] [-2.51431395e-01 9.67875039e-01 -4.03930257e-04 -4.04952483e+01] [-1.69044530e-03 -2.18017189e-05 9.99998571e-01 -6.83433714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:306.99, Y:-40.50, Z:-0.68 [[ 9.68023962e-01 2.50852377e-01 1.64154406e-03 3.06994286e+02] [-2.50852052e-01 9.68025353e-01 -4.04244500e-04 -4.04999772e+01] [-1.69046196e-03 -2.04663342e-05 9.99998571e-01 -6.84201230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91576923100007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:307.03, Y:-40.50, Z:-0.69 [[ 9.68713655e-01 2.48175664e-01 1.64146635e-03 3.07027220e+02] [-2.48175334e-01 9.68715046e-01 -4.04559803e-04 -4.05013504e+01] [-1.69051505e-03 -1.54688547e-05 9.99998571e-01 -6.86019723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94576923100004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:307.06, Y:-40.51, Z:-0.69 [[ 9.69107652e-01 2.46632652e-01 1.64139382e-03 3.07058473e+02] [-2.46632320e-01 9.69109042e-01 -4.04853847e-04 -4.05054462e+01] [-1.69053977e-03 -1.24738059e-05 9.99998571e-01 -6.85132621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9757692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:307.09, Y:-40.51, Z:-0.68 [[ 9.69825968e-01 2.43792734e-01 1.64138417e-03 3.07089128e+02] [-2.43792398e-01 9.69827357e-01 -4.04892989e-04 -4.05060753e+01] [-1.69056924e-03 -7.48124606e-06 9.99998571e-01 -6.81860325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00576923100004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:307.12, Y:-40.51, Z:-0.68 [[ 9.70151512e-01 2.42494020e-01 1.64137936e-03 3.07119728e+02] [-2.42493682e-01 9.70152901e-01 -4.04912458e-04 -4.05111579e+01] [-1.69057780e-03 -5.19769173e-06 9.99998571e-01 -6.81079936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0357692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.15, Y:-40.52, Z:-0.68 [[ 9.70607764e-01 2.40661327e-01 1.64137936e-03 3.07149283e+02] [-2.40660987e-01 9.70609152e-01 -4.04912458e-04 -4.05163620e+01] [-1.69058460e-03 -2.00480208e-06 9.99998571e-01 -6.83183930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:307.18, Y:-40.52, Z:-0.69 [[ 9.71716011e-01 2.36146776e-01 1.64138416e-03 3.07179058e+02] [-2.36146429e-01 9.71717397e-01 -4.04893016e-04 -4.05213241e+01] [-1.69057572e-03 5.83401855e-06 9.99998571e-01 -6.89108587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0957692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:307.21, Y:-40.53, Z:-0.69 [[ 9.72316275e-01 2.33662934e-01 1.64137942e-03 3.07207914e+02] [-2.33662584e-01 9.72317661e-01 -4.04912237e-04 -4.05286717e+01] [-1.69055518e-03 1.01738020e-05 9.99998571e-01 -6.90832288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12576923100005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:307.24, Y:-40.54, Z:-0.69 [[ 9.73305763e-01 2.29506423e-01 1.64138416e-03 3.07237863e+02] [-2.29506067e-01 9.73307147e-01 -4.04893003e-04 -4.05378344e+01] [-1.69049648e-03 1.73770705e-05 9.99998571e-01 -6.90705051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1557692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.27, Y:-40.55, Z:-0.69 [[ 9.73705802e-01 2.27803242e-01 1.64137475e-03 3.07267668e+02] [-2.27802883e-01 9.73707185e-01 -4.04931162e-04 -4.05450831e+01] [-1.69046302e-03 2.03739213e-05 9.99998571e-01 -6.91393472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.30, Y:-40.55, Z:-0.69 [[ 9.74109749e-01 2.26069686e-01 1.64137475e-03 3.07296149e+02] [-2.26069324e-01 9.74111132e-01 -4.04931162e-04 -4.05516932e+01] [-1.69042408e-03 2.33829124e-05 9.99998571e-01 -6.91523650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.215769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:307.32, Y:-40.56, Z:-0.69 [[ 9.74367021e-01 2.24958249e-01 1.64137946e-03 3.07323673e+02] [-2.24957886e-01 9.74368403e-01 -4.04912082e-04 -4.05585963e+01] [-1.69039659e-03 2.52917268e-05 9.99998571e-01 -6.85410517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:307.35, Y:-40.57, Z:-0.68 [[ 9.74291646e-01 2.25284474e-01 1.64139306e-03 3.07351503e+02] [-2.25284112e-01 9.74293028e-01 -4.04856919e-04 -4.05658413e+01] [-1.69040580e-03 2.46689361e-05 9.99998571e-01 -6.84500281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.275769231 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:307.38, Y:-40.57, Z:-0.69 [[ 9.74058047e-01 2.26292350e-01 1.64140278e-03 3.07381575e+02] [-2.26291989e-01 9.74059429e-01 -4.04817535e-04 -4.05743465e+01] [-1.69043096e-03 2.28794780e-05 9.99998571e-01 -6.88154854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.41, Y:-40.58, Z:-0.69 [[ 9.73935798e-01 2.26817917e-01 1.64139296e-03 3.07412200e+02] [-2.26817557e-01 9.73937181e-01 -4.04857330e-04 -4.05816830e+01] [-1.69044253e-03 2.20083058e-05 9.99998571e-01 -6.92637690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33576923100003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:307.44, Y:-40.59, Z:-0.70 [[ 9.73747567e-01 2.27624651e-01 1.64135379e-03 3.07441443e+02] [-2.27624292e-01 9.73748950e-01 -4.05016056e-04 -4.05885132e+01] [-1.69045817e-03 2.07714042e-05 9.99998571e-01 -6.95396774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36576923100006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:307.47, Y:-40.60, Z:-0.69 [[ 9.73129101e-01 2.30254334e-01 1.64136292e-03 3.07471733e+02] [-2.30253978e-01 9.73130485e-01 -4.04979049e-04 -4.05961701e+01] [-1.69050848e-03 1.61665551e-05 9.99998571e-01 -6.91879608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39576923100003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:307.50, Y:-40.60, Z:-0.69 [[ 9.72724971e-01 2.31955678e-01 1.64135296e-03 3.07501379e+02] [-2.31955325e-01 9.72726356e-01 -4.05019419e-04 -4.06035540e+01] [-1.69053384e-03 1.32519427e-05 9.99998571e-01 -6.89707996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:307.53, Y:-40.61, Z:-0.68 [[ 9.72001755e-01 2.34967858e-01 1.64134799e-03 3.07532197e+02] [-2.34967509e-01 9.72003141e-01 -4.05039562e-04 -4.06098460e+01] [-1.69056668e-03 8.03571687e-06 9.99998571e-01 -6.81803825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:307.56, Y:-40.62, Z:-0.68 [[ 9.71889141e-01 2.35433225e-01 1.64133804e-03 3.07562875e+02] [-2.35432877e-01 9.71890527e-01 -4.05079882e-04 -4.06175707e+01] [-1.69057016e-03 7.26780176e-06 9.99998571e-01 -6.81661768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:307.59, Y:-40.63, Z:-0.68 [[ 9.72004399e-01 2.34956922e-01 1.64129855e-03 3.07591753e+02] [-2.34956573e-01 9.72005784e-01 -4.05239845e-04 -4.06262481e+01] [-1.69056559e-03 8.26103021e-06 9.99998571e-01 -6.82907474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.62, Y:-40.64, Z:-0.69 [[ 9.72498520e-01 2.32903271e-01 1.64129365e-03 3.07621382e+02] [-2.32902919e-01 9.72499905e-01 -4.05259685e-04 -4.06372452e+01] [-1.69054422e-03 1.18523622e-05 9.99998571e-01 -6.85896028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:307.65, Y:-40.65, Z:-0.69 [[ 9.72747246e-01 2.31862246e-01 1.64123079e-03 3.07650343e+02] [-2.31861892e-01 9.72748631e-01 -4.05514096e-04 -4.06454220e+01] [-1.69052841e-03 1.39238446e-05 9.99998571e-01 -6.86019995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:307.68, Y:-40.66, Z:-0.69 [[ 9.72960348e-01 2.30966378e-01 1.64123967e-03 3.07680505e+02] [-2.30966023e-01 9.72961732e-01 -4.05478147e-04 -4.06554418e+01] [-1.69051521e-03 1.54435601e-05 9.99998571e-01 -6.87645820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:307.71, Y:-40.66, Z:-0.69 [[ 9.72794844e-01 2.31662466e-01 1.64123022e-03 3.07709335e+02] [-2.31662111e-01 9.72796228e-01 -4.05516391e-04 -4.06646312e+01] [-1.69052549e-03 1.42733967e-05 9.99998571e-01 -6.88712366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:307.74, Y:-40.67, Z:-0.69 [[ 9.72122997e-01 2.34465746e-01 1.64120810e-03 3.07739633e+02] [-2.34465395e-01 9.72124382e-01 -4.05605876e-04 -4.06726436e+01] [-1.69055910e-03 9.49229291e-06 9.99998571e-01 -6.85552431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:307.77, Y:-40.68, Z:-0.68 [[ 9.71605403e-01 2.36601453e-01 1.64119858e-03 3.07772033e+02] [-2.36601105e-01 9.71606789e-01 -4.05644396e-04 -4.06795698e+01] [-1.69057574e-03 5.81688793e-06 9.99998571e-01 -6.84760170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.80, Y:-40.69, Z:-0.69 [[ 9.71102620e-01 2.38656675e-01 1.64111815e-03 3.07802097e+02] [-2.38656330e-01 9.71104006e-01 -4.05969554e-04 -4.06866909e+01] [-1.69058375e-03 2.57486311e-06 9.99998571e-01 -6.85998343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7257692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:307.83, Y:-40.70, Z:-0.68 [[ 9.70527645e-01 2.40984226e-01 1.64105335e-03 3.07833290e+02] [-2.40983884e-01 9.70529032e-01 -4.06231330e-04 -4.06960540e+01] [-1.69058526e-03 -1.20867243e-06 9.99998571e-01 -6.83239874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:307.86, Y:-40.70, Z:-0.68 [[ 9.70277826e-01 2.41988116e-01 1.64098449e-03 3.07864090e+02] [-2.41987775e-01 9.70279213e-01 -4.06509304e-04 -4.07033394e+01] [-1.69058356e-03 -2.67122052e-06 9.99998571e-01 -6.81086734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7857692310001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:307.89, Y:-40.71, Z:-0.68 [[ 9.69707435e-01 2.44263786e-01 1.64092090e-03 3.07893434e+02] [-2.44263447e-01 9.69708824e-01 -4.06765807e-04 -4.07073701e+01] [-1.69057363e-03 -6.37316949e-06 9.99998571e-01 -6.81822321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:307.92, Y:-40.71, Z:-0.69 [[ 9.69297732e-01 2.45884556e-01 1.64093021e-03 3.07921383e+02] [-2.45884220e-01 9.69299120e-01 -4.06728263e-04 -4.07135655e+01] [-1.69056041e-03 -9.23806235e-06 9.99998571e-01 -6.86272282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8457692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:307.95, Y:-40.72, Z:-0.68 [[ 9.68816077e-01 2.47775534e-01 1.64094408e-03 3.07950911e+02] [-2.47775201e-01 9.68817467e-01 -4.06672300e-04 -4.07209692e+01] [-1.69053873e-03 -1.25945853e-05 9.99998571e-01 -6.84553058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:307.98, Y:-40.73, Z:-0.69 [[ 9.68017953e-01 2.50875568e-01 1.64094408e-03 3.07979541e+02] [-2.50875239e-01 9.68019343e-01 -4.06672300e-04 -4.07269094e+01] [-1.69048975e-03 -1.80061502e-05 9.99998571e-01 -6.85496923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9057692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:308.01, Y:-40.73, Z:-0.68 [[ 9.67679789e-01 2.52176790e-01 1.64094892e-03 3.08009174e+02] [-2.52176463e-01 9.67681180e-01 -4.06652775e-04 -4.07326144e+01] [-1.69046377e-03 -2.02990227e-05 9.99998571e-01 -6.84530972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:308.04, Y:-40.74, Z:-0.69 [[ 9.67203381e-01 2.53997887e-01 1.64095856e-03 3.08037853e+02] [-2.53997562e-01 9.67204773e-01 -4.06613870e-04 -4.07369207e+01] [-1.69042201e-03 -2.35211632e-05 9.99998571e-01 -6.86721458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.965769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:308.07, Y:-40.74, Z:-0.69 [[ 9.67086832e-01 2.54441284e-01 1.64097292e-03 3.08065136e+02] [-2.54440960e-01 9.67088224e-01 -4.06555877e-04 -4.07419748e+01] [-1.69041019e-03 -2.43558917e-05 9.99998571e-01 -6.88799085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.09, Y:-40.74, Z:-0.69 [[ 9.66911535e-01 2.55106628e-01 1.64099644e-03 3.08094147e+02] [-2.55106305e-01 9.66912927e-01 -4.06460920e-04 -4.07444984e+01] [-1.69039155e-03 -2.56167873e-05 9.99998571e-01 -6.89924603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.025769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.12, Y:-40.75, Z:-0.69 [[ 9.66710025e-01 2.55869175e-01 1.64101554e-03 3.08121533e+02] [-2.55868854e-01 9.66711417e-01 -4.06383799e-04 -4.07482082e+01] [-1.69036955e-03 -2.70294734e-05 9.99998571e-01 -6.88622239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:308.15, Y:-40.75, Z:-0.69 [[ 9.66355623e-01 2.57204428e-01 1.64103935e-03 3.08150390e+02] [-2.57204108e-01 9.66357016e-01 -4.06287656e-04 -4.07525587e+01] [-1.69032887e-03 -2.94637007e-05 9.99998571e-01 -6.86512666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08576923100003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:308.18, Y:-40.75, Z:-0.68 [[ 9.65842497e-01 2.59124638e-01 1.64105835e-03 3.08180098e+02] [-2.59124322e-01 9.65843891e-01 -4.06210883e-04 -4.07533051e+01] [-1.69026543e-03 -3.29023979e-05 9.99998571e-01 -6.84324733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.21, Y:-40.76, Z:-0.69 [[ 9.65879541e-01 2.58986522e-01 1.64107748e-03 3.08207979e+02] [-2.58986205e-01 9.65880935e-01 -4.06133572e-04 -4.07559436e+01] [-1.69026857e-03 -3.27403216e-05 9.99998571e-01 -6.85634394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:308.24, Y:-40.75, Z:-0.69 [[ 9.66288882e-01 2.57455049e-01 1.64110128e-03 3.08237714e+02] [-2.57454731e-01 9.66290276e-01 -4.06037393e-04 -4.07540612e+01] [-1.69031658e-03 -3.01598694e-05 9.99998571e-01 -6.87072218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.27, Y:-40.76, Z:-0.69 [[ 9.66699787e-01 2.55907853e-01 1.64112893e-03 3.08266308e+02] [-2.55907533e-01 9.66701179e-01 -4.05925583e-04 -4.07569839e+01] [-1.69036082e-03 -2.75690824e-05 9.99998571e-01 -6.86952586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.29, Y:-40.76, Z:-0.69 [[ 9.66717412e-01 2.55841263e-01 1.64115679e-03 3.08294010e+02] [-2.55840942e-01 9.66718805e-01 -4.05812929e-04 -4.07636924e+01] [-1.69036082e-03 -2.75686753e-05 9.99998571e-01 -6.87000758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.32, Y:-40.77, Z:-0.69 [[ 9.67204258e-01 2.53994545e-01 1.64118474e-03 3.08322458e+02] [-2.53994222e-01 9.67205651e-01 -4.05699878e-04 -4.07665269e+01] [-1.69040871e-03 -2.44567912e-05 9.99998571e-01 -6.85942712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.35, Y:-40.77, Z:-0.68 [[ 9.68526881e-01 2.48903569e-01 1.64121285e-03 3.08350708e+02] [-2.48903239e-01 9.68528272e-01 -4.05586119e-04 -4.07664847e+01] [-1.69051288e-03 -1.56821345e-05 9.99998571e-01 -6.84091044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:308.38, Y:-40.77, Z:-0.68 [[ 9.69226749e-01 2.46164204e-01 1.64123618e-03 3.08378988e+02] [-2.46163870e-01 9.69228139e-01 -4.05491682e-04 -4.07702370e+01] [-1.69054983e-03 -1.09996658e-05 9.99998571e-01 -6.83039072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:308.41, Y:-40.77, Z:-0.68 [[ 9.70090571e-01 2.42737699e-01 1.64126535e-03 3.08407895e+02] [-2.42737361e-01 9.70091959e-01 -4.05373573e-04 -4.07705241e+01] [-1.69057777e-03 -5.14733911e-06 9.99998571e-01 -6.84783783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.43, Y:-40.77, Z:-0.69 [[ 9.70413767e-01 2.41442388e-01 1.64128961e-03 3.08434418e+02] [-2.41442048e-01 9.70415155e-01 -4.05275333e-04 -4.07739795e+01] [-1.69058296e-03 -2.99156298e-06 9.99998571e-01 -6.85453608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:308.46, Y:-40.78, Z:-0.68 [[ 9.70704197e-01 2.40272072e-01 1.64132235e-03 3.08462308e+02] [-2.40271731e-01 9.70705584e-01 -4.05142716e-04 -4.07782738e+01] [-1.69058525e-03 -1.08962604e-06 9.99998571e-01 -6.84587794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.49, Y:-40.78, Z:-0.68 [[ 9.71223185e-01 2.38165553e-01 1.64135039e-03 3.08489251e+02] [-2.38165209e-01 9.71224572e-01 -4.05029079e-04 -4.07814203e+01] [-1.69058380e-03 2.46107445e-06 9.99998571e-01 -6.82913315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.52, Y:-40.79, Z:-0.68 [[ 9.71642044e-01 2.36450936e-01 1.64138303e-03 3.08516861e+02] [-2.36450589e-01 9.71643430e-01 -4.04896735e-04 -4.07865610e+01] [-1.69057725e-03 5.30870572e-06 9.99998571e-01 -6.83708746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:-40.79, Z:-0.69 [[ 9.72780093e-01 2.31724396e-01 1.64141068e-03 3.08543354e+02] [-2.31724043e-01 9.72781478e-01 -4.04784652e-04 -4.07913492e+01] [-1.69053238e-03 1.34121335e-05 9.99998571e-01 -6.86715138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:-40.80, Z:-0.69 [[ 9.73371617e-01 2.29226962e-01 1.64145399e-03 3.08571523e+02] [-2.29226606e-01 9.73373001e-01 -4.04608938e-04 -4.07978398e+01] [-1.69049427e-03 1.75699299e-05 9.99998571e-01 -6.87907310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:-40.80, Z:-0.69 [[ 9.73786749e-01 2.27456969e-01 1.64146884e-03 3.08598311e+02] [-2.27456610e-01 9.73788132e-01 -4.04548690e-04 -4.08045984e+01] [-1.69046029e-03 2.05812167e-05 9.99998571e-01 -6.91720620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:-40.81, Z:-0.69 [[ 9.74288703e-01 2.25297201e-01 1.64149359e-03 3.08625857e+02] [-2.25296839e-01 9.74290086e-01 -4.04448232e-04 -4.08120286e+01] [-1.69041198e-03 2.42260271e-05 9.99998571e-01 -6.92481560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:-40.82, Z:-0.69 [[ 9.74358240e-01 2.24996280e-01 1.64151316e-03 3.08652611e+02] [-2.24995918e-01 9.74359622e-01 -4.04368761e-04 -4.08186411e+01] [-1.69040561e-03 2.46662719e-05 9.99998571e-01 -6.90835377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:-40.82, Z:-0.69 [[ 9.74486914e-01 2.24438321e-01 1.64154001e-03 3.08679620e+02] [-2.24437958e-01 9.74488296e-01 -4.04259766e-04 -4.08246930e+01] [-1.69039291e-03 2.55219645e-05 9.99998571e-01 -6.85637072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:-40.83, Z:-0.68 [[ 9.74569052e-01 2.24081386e-01 1.64156857e-03 3.08706756e+02] [-2.24081023e-01 9.74570435e-01 -4.04143737e-04 -4.08309625e+01] [-1.69038529e-03 2.60216140e-05 9.99998571e-01 -6.83844893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:-40.84, Z:-0.69 [[ 9.74741382e-01 2.23330571e-01 1.64159709e-03 3.08733746e+02] [-2.23330208e-01 9.74742764e-01 -4.04027875e-04 -4.08382211e+01] [-1.69036666e-03 2.72044702e-05 9.99998571e-01 -6.85065938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.715769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:308.76, Y:-40.85, Z:-0.69 [[ 9.75090089e-01 2.21803119e-01 1.64162082e-03 3.08760429e+02] [-2.21802753e-01 9.75091470e-01 -4.03931439e-04 -4.08472706e+01] [-1.69032371e-03 2.97535258e-05 9.99998571e-01 -6.88689588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.79, Y:-40.86, Z:-0.69 [[ 9.75454469e-01 2.20195104e-01 1.64164276e-03 3.08787908e+02] [-2.20194736e-01 9.75455850e-01 -4.03842256e-04 -4.08564837e+01] [-1.69027412e-03 3.24486394e-05 9.99998571e-01 -6.92424014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.775769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:308.81, Y:-40.86, Z:-0.69 [[ 9.75760846e-01 2.18833444e-01 1.64166016e-03 3.08814030e+02] [-2.18833074e-01 9.75762226e-01 -4.03771477e-04 -4.08640349e+01] [-1.69022868e-03 3.47348579e-05 9.99998571e-01 -6.93776053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:308.84, Y:-40.87, Z:-0.69 [[ 9.75983645e-01 2.17837624e-01 1.64169052e-03 3.08841242e+02] [-2.17837253e-01 9.75985025e-01 -4.03648018e-04 -4.08723947e+01] [-1.69019509e-03 3.63325112e-05 9.99998571e-01 -6.91376468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:308.87, Y:-40.88, Z:-0.69 [[ 9.76064869e-01 2.17473392e-01 1.64170993e-03 3.08867708e+02] [-2.17473020e-01 9.76066249e-01 -4.03569043e-04 -4.08813865e+01] [-1.69018319e-03 3.68819474e-05 9.99998571e-01 -6.90831104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.89, Y:-40.89, Z:-0.69 [[ 9.76054809e-01 2.17518536e-01 1.64173608e-03 3.08894833e+02] [-2.17518165e-01 9.76056189e-01 -4.03462640e-04 -4.08882548e+01] [-1.69018727e-03 3.66942300e-05 9.99998571e-01 -6.90279928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.92, Y:-40.90, Z:-0.69 [[ 9.76115690e-01 2.17245170e-01 1.64175918e-03 3.08921375e+02] [-2.17244799e-01 9.76117070e-01 -4.03368612e-04 -4.08956475e+01] [-1.69017905e-03 3.70707870e-05 9.99998571e-01 -6.90327863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.95, Y:-40.90, Z:-0.69 [[ 9.76175917e-01 2.16974387e-01 1.64178206e-03 3.08948834e+02] [-2.16974015e-01 9.76177296e-01 -4.03275478e-04 -4.09041175e+01] [-1.69017082e-03 3.74437637e-05 9.99998571e-01 -6.89647694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.98, Y:-40.91, Z:-0.69 [[ 9.76321510e-01 2.16318318e-01 1.64180042e-03 3.08975453e+02] [-2.16317945e-01 9.76322889e-01 -4.03200715e-04 -4.09149440e+01] [-1.69014703e-03 3.85026374e-05 9.99998571e-01 -6.90478987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.00, Y:-40.92, Z:-0.69 [[ 9.76444353e-01 2.15763135e-01 1.64181940e-03 3.09003433e+02] [-2.15762762e-01 9.76445732e-01 -4.03123423e-04 -4.09228304e+01] [-1.69012672e-03 3.93841017e-05 9.99998571e-01 -6.90920352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:309.03, Y:-40.93, Z:-0.69 [[ 9.76518461e-01 2.15427482e-01 1.64183875e-03 3.09030533e+02] [-2.15427109e-01 9.76519840e-01 -4.03044614e-04 -4.09306845e+01] [-1.69011500e-03 3.98839325e-05 9.99998571e-01 -6.91577194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.06, Y:-40.94, Z:-0.69 [[ 9.76385859e-01 2.16027682e-01 1.64186272e-03 3.09056708e+02] [-2.16027309e-01 9.76387238e-01 -4.02946930e-04 -4.09408756e+01] [-1.69014150e-03 3.87444989e-05 9.99998571e-01 -6.87325264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.08, Y:-40.95, Z:-0.68 [[ 9.76086316e-01 2.17377111e-01 1.64188630e-03 3.09084780e+02] [-2.17376741e-01 9.76087696e-01 -4.02850818e-04 -4.09494386e+01] [-1.69019556e-03 3.63092769e-05 9.99998571e-01 -6.84504593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.11, Y:-40.96, Z:-0.68 [[ 9.74983915e-01 2.22269362e-01 1.64190564e-03 3.09111336e+02] [-2.22268999e-01 9.74985297e-01 -4.02771978e-04 -4.09569600e+01] [-1.69035773e-03 2.77514763e-05 9.99998571e-01 -6.83874555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.14, Y:-40.96, Z:-0.68 [[ 9.74289016e-01 2.25295844e-01 1.64193148e-03 3.09139156e+02] [-2.25295485e-01 9.74290399e-01 -4.02666600e-04 -4.09632755e+01] [-1.69043719e-03 2.23938961e-05 9.99998571e-01 -6.84881543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.17, Y:-40.97, Z:-0.69 [[ 9.73615353e-01 2.28189500e-01 1.64195002e-03 3.09167027e+02] [-2.28189146e-01 9.73616738e-01 -4.02591017e-04 -4.09697877e+01] [-1.69049706e-03 1.72936236e-05 9.99998571e-01 -6.86467553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.20, Y:-40.98, Z:-0.69 [[ 9.72726830e-01 2.31947880e-01 1.64196911e-03 3.09195149e+02] [-2.31947531e-01 9.72728215e-01 -4.02513108e-04 -4.09770120e+01] [-1.69055175e-03 1.06846171e-05 9.99998571e-01 -6.87028431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:309.22, Y:-40.98, Z:-0.69 [[ 9.72561854e-01 2.32638654e-01 1.64198871e-03 3.09222291e+02] [-2.32638306e-01 9.72563240e-01 -4.02433147e-04 -4.09831114e+01] [-1.69055937e-03 9.40165542e-06 9.99998571e-01 -6.87536738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:-40.99, Z:-0.69 [[ 9.72673353e-01 2.32172032e-01 1.64201308e-03 3.09251016e+02] [-2.32171683e-01 9.72674739e-01 -4.02333709e-04 -4.09888764e+01] [-1.69055528e-03 1.01103375e-05 9.99998571e-01 -6.86009539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:-41.00, Z:-0.69 [[ 9.72779337e-01 2.31727565e-01 1.64203250e-03 3.09278490e+02] [-2.31727216e-01 9.72780723e-01 -4.02254432e-04 -4.09955789e+01] [-1.69055100e-03 1.08011808e-05 9.99998571e-01 -6.88143355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.31, Y:-41.00, Z:-0.69 [[ 9.72983520e-01 2.30868735e-01 1.64205666e-03 3.09306229e+02] [-2.30868385e-01 9.72984906e-01 -4.02155757e-04 -4.10006771e+01] [-1.69054154e-03 1.21919530e-05 9.99998571e-01 -6.91504335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:-41.01, Z:-0.69 [[ 9.72920485e-01 2.31134232e-01 1.64207891e-03 3.09334826e+02] [-2.31133883e-01 9.72921871e-01 -4.02064914e-04 -4.10061622e+01] [-1.69054545e-03 1.16371174e-05 9.99998571e-01 -6.89892405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:-41.01, Z:-0.69 [[ 9.72444872e-01 2.33127163e-01 1.64209809e-03 3.09362920e+02] [-2.33126817e-01 9.72446258e-01 -4.01986574e-04 -4.10102148e+01] [-1.69056613e-03 8.09268231e-06 9.99998571e-01 -6.88197743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:-41.02, Z:-0.69 [[ 9.72148019e-01 2.34361970e-01 1.64212449e-03 3.09389911e+02] [-2.34361625e-01 9.72149406e-01 -4.01878700e-04 -4.10154335e+01] [-1.69057543e-03 5.83461839e-06 9.99998571e-01 -6.88014548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.42, Y:-41.02, Z:-0.69 [[ 9.71937130e-01 2.35235030e-01 1.64214737e-03 3.09416911e+02] [-2.35234687e-01 9.71938517e-01 -4.01785172e-04 -4.10204408e+01] [-1.69058023e-03 4.21990334e-06 9.99998571e-01 -6.89696416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:-41.02, Z:-0.69 [[ 9.71765969e-01 2.35941103e-01 1.64217835e-03 3.09444519e+02] [-2.35940761e-01 9.71767357e-01 -4.01658517e-04 -4.10249043e+01] [-1.69058307e-03 2.86126866e-06 9.99998571e-01 -6.91886833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:-41.03, Z:-0.69 [[ 9.71956926e-01 2.35153222e-01 1.64220007e-03 3.09472299e+02] [-2.35152879e-01 9.71958313e-01 -4.01569701e-04 -4.10311325e+01] [-1.69058041e-03 4.14037754e-06 9.99998571e-01 -6.88715825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:-41.04, Z:-0.69 [[ 9.72698390e-01 2.32067112e-01 1.64221881e-03 3.09499753e+02] [-2.32066765e-01 9.72699777e-01 -4.01493026e-04 -4.10370193e+01] [-1.69055920e-03 9.42721395e-06 9.99998571e-01 -6.87207669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.53, Y:-41.04, Z:-0.69 [[ 9.73014611e-01 2.30737664e-01 1.64224215e-03 3.09528045e+02] [-2.30737315e-01 9.73015997e-01 -4.01397549e-04 -4.10437969e+01] [-1.69054541e-03 1.16391370e-05 9.99998571e-01 -6.88236965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:-41.05, Z:-0.69 [[ 9.73235719e-01 2.29803259e-01 1.64226136e-03 3.09555365e+02] [-2.29802909e-01 9.73237105e-01 -4.01318937e-04 -4.10510512e+01] [-1.69053409e-03 1.31814864e-05 9.99998571e-01 -6.90837924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:-41.06, Z:-0.69 [[ 9.73184570e-01 2.30019774e-01 1.64228706e-03 3.09583249e+02] [-2.30019424e-01 9.73185955e-01 -4.01213727e-04 -4.10577079e+01] [-1.69053779e-03 1.26970842e-05 9.99998571e-01 -6.89383615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:-41.06, Z:-0.69 [[ 9.72996250e-01 2.30815078e-01 1.64230695e-03 3.09609793e+02] [-2.30814730e-01 9.72997636e-01 -4.01132312e-04 -4.10642126e+01] [-1.69054816e-03 1.12316017e-05 9.99998571e-01 -6.90427147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:-41.07, Z:-0.69 [[ 9.72908548e-01 2.31184471e-01 1.64232319e-03 3.09637254e+02] [-2.31184124e-01 9.72909934e-01 -4.01065804e-04 -4.10732889e+01] [-1.69055273e-03 1.05213025e-05 9.99998571e-01 -6.86406963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:-41.08, Z:-0.68 [[ 9.73029506e-01 2.30674841e-01 1.64234153e-03 3.09664932e+02] [-2.30674493e-01 9.73030892e-01 -4.00990690e-04 -4.10823537e+01] [-1.69054751e-03 1.13294746e-05 9.99998571e-01 -6.84476695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.69, Y:-41.09, Z:-0.69 [[ 9.73300144e-01 2.29530243e-01 1.64236084e-03 3.09691147e+02] [-2.29529893e-01 9.73301530e-01 -4.00911566e-04 -4.10921976e+01] [-1.69053365e-03 1.32363762e-05 9.99998571e-01 -6.87908845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:-41.10, Z:-0.69 [[ 9.73494917e-01 2.28702754e-01 1.64238484e-03 3.09718138e+02] [-2.28702403e-01 9.73496302e-01 -4.00813232e-04 -4.10998545e+01] [-1.69052266e-03 1.45722836e-05 9.99998571e-01 -6.90202570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:-41.11, Z:-0.69 [[ 9.73523229e-01 2.28582208e-01 1.64240790e-03 3.09745588e+02] [-2.28581857e-01 9.73524614e-01 -4.00718727e-04 -4.11091111e+01] [-1.69052169e-03 1.46843416e-05 9.99998571e-01 -6.87810728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.77, Y:-41.12, Z:-0.69 [[ 9.73329879e-01 2.29404118e-01 1.64242697e-03 3.09772462e+02] [-2.29403769e-01 9.73331264e-01 -4.00640535e-04 -4.11165003e+01] [-1.69053411e-03 1.31764667e-05 9.99998571e-01 -6.86645735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:-41.12, Z:-0.68 [[ 9.73083728e-01 2.30446006e-01 1.64245202e-03 3.09800686e+02] [-2.30445658e-01 9.73085114e-01 -4.00537834e-04 -4.11239574e+01] [-1.69054795e-03 1.12609136e-05 9.99998571e-01 -6.84966869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:-41.13, Z:-0.69 [[ 9.72409061e-01 2.33276491e-01 1.64247101e-03 3.09828336e+02] [-2.33276147e-01 9.72410448e-01 -4.00459924e-04 -4.11289074e+01] [-1.69057386e-03 6.26154818e-06 9.99998571e-01 -6.86119226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:-41.13, Z:-0.69 [[ 9.72004534e-01 2.34956355e-01 1.64249463e-03 3.09856328e+02] [-2.34956014e-01 9.72005921e-01 -4.00363029e-04 -4.11342351e+01] [-1.69058235e-03 3.24068729e-06 9.99998571e-01 -6.86579425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:-41.14, Z:-0.69 [[ 9.71683394e-01 2.36280942e-01 1.64252243e-03 3.09883598e+02] [-2.36280603e-01 9.71684782e-01 -4.00248947e-04 -4.11396785e+01] [-1.69058525e-03 8.19064382e-07 9.99998571e-01 -6.87396638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:-41.15, Z:-0.69 [[ 9.71882058e-01 2.35462454e-01 1.64254542e-03 3.09910911e+02] [-2.35462114e-01 9.71883446e-01 -4.00154600e-04 -4.11464422e+01] [-1.69058408e-03 2.14586028e-06 9.99998571e-01 -6.88129120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:-41.15, Z:-0.69 [[ 9.72192886e-01 2.34175775e-01 1.64257288e-03 3.09938321e+02] [-2.34175433e-01 9.72194274e-01 -4.00041811e-04 -4.11530257e+01] [-1.69058005e-03 4.26758615e-06 9.99998571e-01 -6.88154377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:309.97, Y:-41.16, Z:-0.69 [[ 9.73076223e-01 2.30477690e-01 1.64260032e-03 3.09965645e+02] [-2.30477343e-01 9.73077610e-01 -3.99929119e-04 -4.11599871e+01] [-1.69055233e-03 1.05793587e-05 9.99998571e-01 -6.88198207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.99, Y:-41.17, Z:-0.69 [[ 9.73718789e-01 2.27747717e-01 1.64261850e-03 3.09991965e+02] [-2.27747366e-01 9.73720174e-01 -3.99854429e-04 -4.11692514e+01] [-1.69051671e-03 1.52437321e-05 9.99998571e-01 -6.86045299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.02, Y:-41.18, Z:-0.69 [[ 9.73729090e-01 2.27703671e-01 1.64264119e-03 3.10020489e+02] [-2.27703320e-01 9.73730475e-01 -3.99761197e-04 -4.11760955e+01] [-1.69051688e-03 1.52242528e-05 9.99998571e-01 -6.86094881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:-41.18, Z:-0.69 [[ 9.73792944e-01 2.27430439e-01 1.64265927e-03 3.10048275e+02] [-2.27430089e-01 9.73794329e-01 -3.99686892e-04 -4.11836777e+01] [-1.69051325e-03 1.56221308e-05 9.99998571e-01 -6.86668195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:-41.19, Z:-0.69 [[ 9.73634156e-01 2.28109253e-01 1.64267733e-03 3.10075837e+02] [-2.28108904e-01 9.73635542e-01 -3.99612645e-04 -4.11904357e+01] [-1.69052438e-03 1.43671951e-05 9.99998571e-01 -6.88647725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.10, Y:-41.20, Z:-0.69 [[ 9.73114591e-01 2.30315640e-01 1.64269531e-03 3.10104267e+02] [-2.30315294e-01 9.73115978e-01 -3.99538742e-04 -4.11969988e+01] [-1.69055307e-03 1.04591261e-05 9.99998571e-01 -6.91183543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.215769231 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:310.13, Y:-41.20, Z:-0.69 [[ 9.71688905e-01 2.36258277e-01 1.64271324e-03 3.10131381e+02] [-2.36257939e-01 9.71690294e-01 -3.99465003e-04 -4.12030897e+01] [-1.69058542e-03 5.16666787e-08 9.99998571e-01 -6.91503292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:310.16, Y:-41.21, Z:-0.69 [[ 9.70987798e-01 2.39123392e-01 1.64273932e-03 3.10157923e+02] [-2.39123059e-01 9.70989188e-01 -3.99357737e-04 -4.12115589e+01] [-1.69057789e-03 -5.04536055e-06 9.99998571e-01 -6.89722600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.275769231 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:310.18, Y:-41.22, Z:-0.69 [[ 9.70952550e-01 2.39266478e-01 1.64276128e-03 3.10184612e+02] [-2.39266145e-01 9.70953939e-01 -3.99267368e-04 -4.12187544e+01] [-1.69057683e-03 -5.38748992e-06 9.99998571e-01 -6.88047007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30576923100006 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:310.21, Y:-41.23, Z:-0.69 [[ 9.71106863e-01 2.38639396e-01 1.64278300e-03 3.10212712e+02] [-2.38639062e-01 9.71108253e-01 -3.99177975e-04 -4.12259485e+01] [-1.69057972e-03 -4.38772340e-06 9.99998571e-01 -6.87062783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33576923100003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:310.24, Y:-41.23, Z:-0.69 [[ 9.71441380e-01 2.37273990e-01 1.64280050e-03 3.10239277e+02] [-2.37273654e-01 9.71442769e-01 -3.99105942e-04 -4.12324920e+01] [-1.69058413e-03 -2.08525058e-06 9.99998571e-01 -6.87910305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36576923100006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:310.27, Y:-41.24, Z:-0.69 [[ 9.72328026e-01 2.33614023e-01 1.64282232e-03 3.10266233e+02] [-2.33613682e-01 9.72329414e-01 -3.99016099e-04 -4.12415811e+01] [-1.69058022e-03 4.18876392e-06 9.99998571e-01 -6.90070449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:310.29, Y:-41.25, Z:-0.69 [[ 9.72979143e-01 2.30887177e-01 1.64284104e-03 3.10292502e+02] [-2.30886833e-01 9.72980530e-01 -3.98939035e-04 -4.12519578e+01] [-1.69056225e-03 8.84899645e-06 9.99998571e-01 -6.90672401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.32, Y:-41.26, Z:-0.69 [[ 9.73112108e-01 2.30326129e-01 1.64286436e-03 3.10319953e+02] [-2.30325783e-01 9.73113495e-01 -3.98842951e-04 -4.12607296e+01] [-1.69055744e-03 9.72488359e-06 9.99998571e-01 -6.89001702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:310.35, Y:-41.27, Z:-0.69 [[ 9.73174989e-01 2.30060301e-01 1.64288341e-03 3.10346725e+02] [-2.30059956e-01 9.73176375e-01 -3.98764480e-04 -4.12689691e+01] [-1.69055520e-03 1.01059334e-05 9.99998571e-01 -6.90131989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:310.37, Y:-41.28, Z:-0.69 [[ 9.73216378e-01 2.29885152e-01 1.64290231e-03 3.10373414e+02] [-2.29884807e-01 9.73217764e-01 -3.98686619e-04 -4.12775347e+01] [-1.69055384e-03 1.03300685e-05 9.99998571e-01 -6.90349602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51576923100004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:310.40, Y:-41.29, Z:-0.69 [[ 9.73225576e-01 2.29846206e-01 1.64292790e-03 3.10399950e+02] [-2.29845860e-01 9.73226963e-01 -3.98581121e-04 -4.12881952e+01] [-1.69055409e-03 1.02891653e-05 9.99998571e-01 -6.93155848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:310.43, Y:-41.30, Z:-0.69 [[ 9.73096685e-01 2.30391282e-01 1.64294904e-03 3.10428149e+02] [-2.30390938e-01 9.73098072e-01 -3.98493966e-04 -4.12963428e+01] [-1.69056008e-03 9.25258677e-06 9.99998571e-01 -6.93094786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:310.46, Y:-41.30, Z:-0.69 [[ 9.72315759e-01 2.33665071e-01 1.64295844e-03 3.10455918e+02] [-2.33664731e-01 9.72317147e-01 -3.98455197e-04 -4.13037895e+01] [-1.69058173e-03 3.52282529e-06 9.99998571e-01 -6.90961404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:310.48, Y:-41.31, Z:-0.69 [[ 9.71806799e-01 2.35772869e-01 1.64297248e-03 3.10484209e+02] [-2.35772532e-01 9.71808188e-01 -3.98397290e-04 -4.13098773e+01] [-1.69058538e-03 -2.02587602e-07 9.99998571e-01 -6.86204628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:310.51, Y:-41.31, Z:-0.68 [[ 9.70792505e-01 2.39915012e-01 1.64299074e-03 3.10511360e+02] [-2.39914681e-01 9.70793895e-01 -3.98321969e-04 -4.13146171e+01] [-1.69056880e-03 -7.48961897e-06 9.99998571e-01 -6.84309257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.54, Y:-41.32, Z:-0.69 [[ 9.70447025e-01 2.41308665e-01 1.64301341e-03 3.10539621e+02] [-2.41308336e-01 9.70448416e-01 -3.98228466e-04 -4.13208503e+01] [-1.69055574e-03 -1.00132010e-05 9.99998571e-01 -6.87128697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:310.57, Y:-41.33, Z:-0.69 [[ 9.70305349e-01 2.41877718e-01 1.64303135e-03 3.10567999e+02] [-2.41877390e-01 9.70306740e-01 -3.98154420e-04 -4.13274149e+01] [-1.69054908e-03 -1.10807719e-05 9.99998571e-01 -6.91186068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7257692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:310.60, Y:-41.33, Z:-0.69 [[ 9.70553540e-01 2.40879899e-01 1.64304925e-03 3.10596531e+02] [-2.40879570e-01 9.70554931e-01 -3.98080544e-04 -4.13339488e+01] [-1.69055915e-03 -9.41851469e-06 9.99998571e-01 -6.94478738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:310.62, Y:-41.34, Z:-0.69 [[ 9.70809404e-01 2.39846621e-01 1.64306709e-03 3.10624890e+02] [-2.39846291e-01 9.70810794e-01 -3.98006901e-04 -4.13404487e+01] [-1.69056788e-03 -7.69470509e-06 9.99998571e-01 -6.93078229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7857692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:310.65, Y:-41.35, Z:-0.69 [[ 9.71346663e-01 2.37661442e-01 1.64308568e-03 3.10653497e+02] [-2.37661109e-01 9.71348052e-01 -3.97930144e-04 -4.13468831e+01] [-1.69058072e-03 -3.96944677e-06 9.99998571e-01 -6.90976365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:310.68, Y:-41.35, Z:-0.69 [[ 9.71419875e-01 2.37362017e-01 1.64309526e-03 3.10680979e+02] [-2.37361684e-01 9.71421264e-01 -3.97890565e-04 -4.13534626e+01] [-1.69058178e-03 -3.48905523e-06 9.99998571e-01 -6.90465725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8457692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:310.71, Y:-41.36, Z:-0.69 [[ 9.71446325e-01 2.37253743e-01 1.64310958e-03 3.10709219e+02] [-2.37253410e-01 9.71447714e-01 -3.97831432e-04 -4.13601430e+01] [-1.69058204e-03 -3.36146826e-06 9.99998571e-01 -6.90562202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:310.74, Y:-41.37, Z:-0.69 [[ 9.71192834e-01 2.38289278e-01 1.64312377e-03 3.10737129e+02] [-2.38288946e-01 9.71194224e-01 -3.97772831e-04 -4.13660273e+01] [-1.69057731e-03 -5.22410740e-06 9.99998571e-01 -6.87324987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9057692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:310.76, Y:-41.37, Z:-0.69 [[ 9.70960168e-01 2.39235558e-01 1.64314206e-03 3.10763967e+02] [-2.39235227e-01 9.70961558e-01 -3.97697264e-04 -4.13716127e+01] [-1.69057110e-03 -6.94926124e-06 9.99998571e-01 -6.86216821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93576923100005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.79, Y:-41.38, Z:-0.69 [[ 9.70407248e-01 2.41468575e-01 1.64316478e-03 3.10792147e+02] [-2.41468248e-01 9.70408639e-01 -3.97603350e-04 -4.13764513e+01] [-1.69055001e-03 -1.09349477e-05 9.99998571e-01 -6.86956352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.965769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:310.82, Y:-41.38, Z:-0.69 [[ 9.70200318e-01 2.42298665e-01 1.64318384e-03 3.10819557e+02] [-2.42298339e-01 9.70201709e-01 -3.97524572e-04 -4.13814099e+01] [-1.69053944e-03 -1.24622488e-05 9.99998571e-01 -6.88571295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.85, Y:-41.39, Z:-0.69 [[ 9.70115915e-01 2.42636377e-01 1.64320845e-03 3.10847741e+02] [-2.42636052e-01 9.70117306e-01 -3.97422793e-04 -4.13863864e+01] [-1.69053419e-03 -1.31554360e-05 9.99998571e-01 -6.88797411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.025769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:310.87, Y:-41.39, Z:-0.69 [[ 9.70369187e-01 2.41621484e-01 1.64322711e-03 3.10874953e+02] [-2.41621158e-01 9.70370578e-01 -3.97345642e-04 -4.13933846e+01] [-1.69054648e-03 -1.14664691e-05 9.99998571e-01 -6.87392954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:310.90, Y:-41.40, Z:-0.69 [[ 9.70748829e-01 2.40091672e-01 1.64325030e-03 3.10903183e+02] [-2.40091343e-01 9.70750220e-01 -3.97249707e-04 -4.14008918e+01] [-1.69056194e-03 -8.90048472e-06 9.99998571e-01 -6.87232882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:310.93, Y:-41.41, Z:-0.69 [[ 9.71294942e-01 2.37872731e-01 1.64326875e-03 3.10931802e+02] [-2.37872399e-01 9.71296332e-01 -3.97173376e-04 -4.14095627e+01] [-1.69057763e-03 -5.11578932e-06 9.99998571e-01 -6.88421647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:310.96, Y:-41.42, Z:-0.69 [[ 9.71349078e-01 2.37651570e-01 1.64327843e-03 3.10960036e+02] [-2.37651238e-01 9.71350468e-01 -3.97133328e-04 -4.14166397e+01] [-1.69057863e-03 -4.77206144e-06 9.99998571e-01 -6.89718066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:310.99, Y:-41.42, Z:-0.69 [[ 9.70794954e-01 2.39905100e-01 1.64329286e-03 3.10987985e+02] [-2.39904772e-01 9.70796345e-01 -3.97073603e-04 -4.14242932e+01] [-1.69056269e-03 -8.75674894e-06 9.99998571e-01 -6.91168076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.02, Y:-41.43, Z:-0.69 [[ 9.70069765e-01 2.42820818e-01 1.64331109e-03 3.11015382e+02] [-2.42820494e-01 9.70071157e-01 -3.96998135e-04 -4.14307291e+01] [-1.69052811e-03 -1.39137243e-05 9.99998571e-01 -6.90249563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.04, Y:-41.44, Z:-0.69 [[ 9.69220392e-01 2.46189218e-01 1.64333369e-03 3.11043532e+02] [-2.46188899e-01 9.69221785e-01 -3.96904589e-04 -4.14365537e+01] [-1.69046844e-03 -1.98824901e-05 9.99998571e-01 -6.88649150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:311.07, Y:-41.44, Z:-0.69 [[ 9.67530992e-01 2.52747063e-01 1.64335251e-03 3.11071962e+02] [-2.52746754e-01 9.67532388e-01 -3.96826637e-04 -4.14402689e+01] [-1.69029354e-03 -3.14099426e-05 9.99998571e-01 -6.89621752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:311.10, Y:-41.45, Z:-0.69 [[ 9.66756299e-01 2.55694267e-01 1.64337168e-03 3.11099033e+02] [-2.55693962e-01 9.66757695e-01 -3.96747245e-04 -4.14451699e+01] [-1.69018821e-03 -3.66423174e-05 9.99998571e-01 -6.91037869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:311.13, Y:-41.45, Z:-0.69 [[ 9.65894095e-01 2.58932223e-01 1.64339543e-03 3.11127838e+02] [-2.58931923e-01 9.65895492e-01 -3.96648844e-04 -4.14493546e+01] [-1.69005340e-03 -4.24067626e-05 9.99998571e-01 -6.94477056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:311.16, Y:-41.45, Z:-0.70 [[ 9.65961748e-01 2.58679728e-01 1.64341411e-03 3.11155662e+02] [-2.58679427e-01 9.65963145e-01 -3.96571428e-04 -4.14543399e+01] [-1.69006245e-03 -4.20445905e-05 9.99998571e-01 -6.96689527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.18, Y:-41.46, Z:-0.70 [[ 9.66305601e-01 2.57392278e-01 1.64343724e-03 3.11183836e+02] [-2.57391976e-01 9.66306998e-01 -3.96475541e-04 -4.14589008e+01] [-1.69011465e-03 -3.98910222e-05 9.99998571e-01 -6.96586962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38576923100004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.21, Y:-41.46, Z:-0.69 [[ 9.67467641e-01 2.52989453e-01 1.64345598e-03 3.11212689e+02] [-2.52989145e-01 9.67469036e-01 -3.96397838e-04 -4.14636085e+01] [-1.69027725e-03 -3.22744420e-05 9.99998571e-01 -6.94985875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.24, Y:-41.47, Z:-0.69 [[ 9.68150766e-01 2.50362525e-01 1.64347526e-03 3.11239726e+02] [-2.50362213e-01 9.68152160e-01 -3.96317897e-04 -4.14703201e+01] [-1.69035727e-03 -2.77686276e-05 9.99998571e-01 -6.94214718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.27, Y:-41.48, Z:-0.69 [[ 9.69516069e-01 2.45022223e-01 1.64349929e-03 3.11267970e+02] [-2.45021904e-01 9.69517462e-01 -3.96218219e-04 -4.14773347e+01] [-1.69048353e-03 -1.85533943e-05 9.99998571e-01 -6.92636925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.30, Y:-41.48, Z:-0.69 [[ 9.70145195e-01 2.42519276e-01 1.64351795e-03 3.11296194e+02] [-2.42518953e-01 9.70146587e-01 -3.96140799e-04 -4.14835452e+01] [-1.69052511e-03 -1.42701602e-05 9.99998571e-01 -6.92449527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.32, Y:-41.49, Z:-0.69 [[ 9.70638053e-01 2.40539121e-01 1.64353681e-03 3.11324734e+02] [-2.40538795e-01 9.70639445e-01 -3.96062554e-04 -4.14901197e+01] [-1.69055019e-03 -1.09009768e-05 9.99998571e-01 -6.93083094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:311.35, Y:-41.50, Z:-0.69 [[ 9.71298492e-01 2.37858230e-01 1.64355557e-03 3.11351686e+02] [-2.37857901e-01 9.71299883e-01 -3.95984662e-04 -4.14969739e+01] [-1.69057355e-03 -6.31337326e-06 9.99998571e-01 -6.94868511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:311.38, Y:-41.50, Z:-0.70 [[ 9.71431852e-01 2.37312991e-01 1.64357931e-03 3.11379509e+02] [-2.37312661e-01 9.71433242e-01 -3.95886131e-04 -4.15041846e+01] [-1.69057650e-03 -5.46578218e-06 9.99998571e-01 -6.96725121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:311.41, Y:-41.51, Z:-0.70 [[ 9.71425739e-01 2.37338014e-01 1.64359831e-03 3.11406632e+02] [-2.37337684e-01 9.71427129e-01 -3.95807215e-04 -4.15106630e+01] [-1.69057609e-03 -5.59050058e-06 9.99998571e-01 -6.98934926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.43, Y:-41.52, Z:-0.70 [[ 9.71394683e-01 2.37465088e-01 1.64362204e-03 3.11434487e+02] [-2.37464759e-01 9.71396074e-01 -3.95708655e-04 -4.15172558e+01] [-1.69057499e-03 -5.91302803e-06 9.99998571e-01 -6.97308962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.46, Y:-41.52, Z:-0.70 [[ 9.71455762e-01 2.37215093e-01 1.64364072e-03 3.11462172e+02] [-2.37214763e-01 9.71457153e-01 -3.95631040e-04 -4.15243604e+01] [-1.69057619e-03 -5.55779074e-06 9.99998571e-01 -6.95797501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.49, Y:-41.53, Z:-0.70 [[ 9.71977180e-01 2.35069479e-01 1.64365938e-03 3.11489670e+02] [-2.35069147e-01 9.71978570e-01 -3.95553516e-04 -4.15326288e+01] [-1.69058425e-03 -1.90461617e-06 9.99998571e-01 -6.96745048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.715769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:311.52, Y:-41.54, Z:-0.70 [[ 9.72272936e-01 2.33843188e-01 1.64367824e-03 3.11516754e+02] [-2.33842854e-01 9.72274325e-01 -3.95475122e-04 -4.15400029e+01] [-1.69058532e-03 1.47347982e-07 9.99998571e-01 -6.99935168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.54, Y:-41.55, Z:-0.70 [[ 9.72838944e-01 2.31477183e-01 1.64370173e-03 3.11542775e+02] [-2.31476846e-01 9.72840333e-01 -3.95377479e-04 -4.15498951e+01] [-1.69058020e-03 4.15971815e-06 9.99998571e-01 -7.04257593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.775769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.57, Y:-41.56, Z:-0.70 [[ 9.73049679e-01 2.30589722e-01 1.64372763e-03 3.11570706e+02] [-2.30589383e-01 9.73051068e-01 -3.95269743e-04 -4.15587574e+01] [-1.69057607e-03 5.59095548e-06 9.99998571e-01 -7.03465156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:311.60, Y:-41.57, Z:-0.70 [[ 9.73358953e-01 2.29280718e-01 1.64374593e-03 3.11597414e+02] [-2.29280377e-01 9.73360341e-01 -3.95193654e-04 -4.15684343e+01] [-1.69056738e-03 7.78659520e-06 9.99998571e-01 -7.03829094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.63, Y:-41.58, Z:-0.70 [[ 9.73515625e-01 2.28614581e-01 1.64376868e-03 3.11626096e+02] [-2.28614240e-01 9.73517012e-01 -3.95098988e-04 -4.15774378e+01] [-1.69056217e-03 8.84611101e-06 9.99998571e-01 -7.04281179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.65, Y:-41.59, Z:-0.71 [[ 9.73747885e-01 2.27623271e-01 1.64377824e-03 3.11654462e+02] [-2.27622929e-01 9.73749273e-01 -3.95059233e-04 -4.15862451e+01] [-1.69055254e-03 1.05264759e-05 9.99998571e-01 -7.06236221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.68, Y:-41.60, Z:-0.70 [[ 9.73922257e-01 2.26876035e-01 1.64377288e-03 3.11680162e+02] [-2.26875691e-01 9.73923644e-01 -3.95081513e-04 -4.15971187e+01] [-1.69054380e-03 1.18465704e-05 9.99998571e-01 -7.02090228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.71, Y:-41.61, Z:-0.70 [[ 9.73882385e-01 2.27047127e-01 1.64379529e-03 3.11706888e+02] [-2.27046783e-01 9.73883772e-01 -3.94988266e-04 -4.16059857e+01] [-1.69054651e-03 1.14536816e-05 9.99998571e-01 -7.01470708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.74, Y:-41.62, Z:-0.70 [[ 9.73789894e-01 2.27443490e-01 1.64381744e-03 3.11735223e+02] [-2.27443147e-01 9.73791281e-01 -3.94896056e-04 -4.16205913e+01] [-1.69055163e-03 1.06707761e-05 9.99998571e-01 -6.99909335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.76, Y:-41.63, Z:-0.70 [[ 9.73874821e-01 2.27079571e-01 1.64380795e-03 3.11764318e+02] [-2.27079228e-01 9.73876208e-01 -3.94935547e-04 -4.16325020e+01] [-1.69054725e-03 1.13431440e-05 9.99998571e-01 -6.98659665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:311.79, Y:-41.64, Z:-0.70 [[ 9.73879852e-01 2.27057994e-01 1.64374657e-03 3.11793661e+02] [-2.27057650e-01 9.73881239e-01 -3.95190850e-04 -4.16395076e+01] [-1.69054519e-03 1.16431723e-05 9.99998571e-01 -6.98710704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:311.82, Y:-41.65, Z:-0.70 [[ 9.73953284e-01 2.26742801e-01 1.64375533e-03 3.11820912e+02] [-2.26742457e-01 9.73954671e-01 -3.95154428e-04 -4.16512127e+01] [-1.69054160e-03 1.21528310e-05 9.99998571e-01 -6.96552712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.85, Y:-41.67, Z:-0.69 [[ 9.73969843e-01 2.26671662e-01 1.64376409e-03 3.11849502e+02] [-2.26671318e-01 9.73971230e-01 -3.95117955e-04 -4.16663832e+01] [-1.69054098e-03 1.22387994e-05 9.99998571e-01 -6.94715736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.88, Y:-41.68, Z:-0.69 [[ 9.73772513e-01 2.27517893e-01 1.64375527e-03 3.11877787e+02] [-2.27517550e-01 9.73773900e-01 -3.95154647e-04 -4.16765220e+01] [-1.69055074e-03 1.08075613e-05 9.99998571e-01 -6.94180851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:-41.69, Z:-0.69 [[ 9.72930844e-01 2.31090612e-01 1.64375089e-03 3.11905365e+02] [-2.31090275e-01 9.72932232e-01 -3.95172877e-04 -4.16908942e+01] [-1.69057897e-03 4.62103607e-06 9.99998571e-01 -6.94277995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:-41.70, Z:-0.70 [[ 9.72425025e-01 2.33209926e-01 1.64375089e-03 3.11935369e+02] [-2.33209591e-01 9.72426414e-01 -3.95172877e-04 -4.17022094e+01] [-1.69058502e-03 9.37521934e-07 9.99998571e-01 -6.95303885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:-41.71, Z:-0.70 [[ 9.71868630e-01 2.35517865e-01 1.64374222e-03 3.11965762e+02] [-2.35517533e-01 9.71870020e-01 -3.95208924e-04 -4.17125982e+01] [-1.69058255e-03 -3.03895892e-06 9.99998571e-01 -6.96947316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:-41.72, Z:-0.70 [[ 9.70696872e-01 2.40301647e-01 1.64368147e-03 3.11994217e+02] [-2.40301322e-01 9.70698263e-01 -3.95461444e-04 -4.17242124e+01] [-1.69054878e-03 -1.11056439e-05 9.99998571e-01 -7.02585058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.03, Y:-41.73, Z:-0.70 [[ 9.70002212e-01 2.43090532e-01 1.64367714e-03 3.12025826e+02] [-2.43090211e-01 9.70003605e-01 -3.95479429e-04 -4.17342813e+01] [-1.69051006e-03 -1.59459021e-05 9.99998571e-01 -7.02739347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.06, Y:-41.75, Z:-0.70 [[ 9.68695393e-01 2.48246924e-01 1.64360564e-03 3.12056330e+02] [-2.48246609e-01 9.68696787e-01 -3.95776352e-04 -4.17463785e+01] [-1.69040577e-03 -2.46327998e-05 9.99998571e-01 -6.98885388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:-41.75, Z:-0.70 [[ 9.68011545e-01 2.50900275e-01 1.64353779e-03 3.12088053e+02] [-2.50899964e-01 9.68012940e-01 -3.96057933e-04 -4.17548944e+01] [-1.69033689e-03 -2.89749204e-05 9.99998571e-01 -6.97275375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:312.12, Y:-41.76, Z:-0.70 [[ 9.67308485e-01 2.53597307e-01 1.64346422e-03 3.12118799e+02] [-2.53596999e-01 9.67309880e-01 -3.96362988e-04 -4.17620024e+01] [-1.69025576e-03 -3.33723123e-05 9.99998571e-01 -6.97122921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:-41.77, Z:-0.70 [[ 9.65752623e-01 2.59459380e-01 1.64339554e-03 3.12150277e+02] [-2.59459080e-01 9.65754021e-01 -3.96647525e-04 -4.17695317e+01] [-1.69002977e-03 -4.33305086e-05 9.99998571e-01 -6.99922153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.18, Y:-41.78, Z:-0.70 [[ 9.65114939e-01 2.61821415e-01 1.64333235e-03 3.12182601e+02] [-2.61821118e-01 9.65116337e-01 -3.96909168e-04 -4.17777102e+01] [-1.68992622e-03 -4.71961457e-05 9.99998571e-01 -7.01031993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:-41.79, Z:-0.70 [[ 9.64607041e-01 2.63686473e-01 1.64325723e-03 3.12214640e+02] [-2.63686179e-01 9.64608439e-01 -3.97219918e-04 -4.17859533e+01] [-1.68984131e-03 -5.01430903e-05 9.99998571e-01 -7.01469999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.25, Y:-41.79, Z:-0.70 [[ 9.64689094e-01 2.63386126e-01 1.64318178e-03 3.12245647e+02] [-2.63385831e-01 9.64690492e-01 -3.97531780e-04 -4.17939564e+01] [-1.68986620e-03 -4.92962271e-05 9.99998571e-01 -7.00306613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.28, Y:-41.80, Z:-0.70 [[ 9.64833643e-01 2.62856125e-01 1.64311118e-03 3.12277216e+02] [-2.62855828e-01 9.64835041e-01 -3.97823377e-04 -4.18023933e+01] [-1.68990156e-03 -4.80679728e-05 9.99998571e-01 -6.99932458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:-41.81, Z:-0.70 [[ 9.65055766e-01 2.62039443e-01 1.64303924e-03 3.12309226e+02] [-2.62039144e-01 9.65057163e-01 -3.98120266e-04 -4.18116758e+01] [-1.68995000e-03 -4.63323399e-05 9.99998571e-01 -7.00129415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.34, Y:-41.82, Z:-0.70 [[ 9.65096602e-01 2.61889003e-01 1.64296510e-03 3.12340591e+02] [-2.61888704e-01 9.65097999e-01 -3.98425991e-04 -4.18191088e+01] [-1.68996572e-03 -4.57544311e-05 9.99998571e-01 -6.99901472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:-41.82, Z:-0.70 [[ 9.64798412e-01 2.62985408e-01 1.64289560e-03 3.12371675e+02] [-2.62985110e-01 9.64799810e-01 -3.98712373e-04 -4.18249876e+01] [-1.68992090e-03 -4.73800165e-05 9.99998571e-01 -6.97594625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.40, Y:-41.83, Z:-0.70 [[ 9.64526445e-01 2.63981133e-01 1.64282827e-03 3.12402309e+02] [-2.63980836e-01 9.64527842e-01 -3.98989635e-04 -4.18321188e+01] [-1.68987934e-03 -4.88391254e-05 9.99998571e-01 -6.97278700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.43, Y:-41.84, Z:-0.70 [[ 9.64293395e-01 2.64831172e-01 1.64279350e-03 3.12434333e+02] [-2.64830876e-01 9.64294793e-01 -3.99132726e-04 -4.18395148e+01] [-1.68984001e-03 -5.01813899e-05 9.99998571e-01 -6.97937893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.47, Y:-41.84, Z:-0.70 [[ 9.64194176e-01 2.65192181e-01 1.64271950e-03 3.12466360e+02] [-2.65191885e-01 9.64195574e-01 -3.99437053e-04 -4.18440580e+01] [-1.68983046e-03 -5.05009996e-05 9.99998571e-01 -6.99891804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:-41.85, Z:-0.70 [[ 9.64189922e-01 2.65207646e-01 1.64265044e-03 3.12497374e+02] [-2.65207349e-01 9.64191320e-01 -3.99720873e-04 -4.18489079e+01] [-1.68983832e-03 -5.02361307e-05 9.99998571e-01 -7.00062620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.53, Y:-41.85, Z:-0.70 [[ 9.64274654e-01 2.64899403e-01 1.64259098e-03 3.12529147e+02] [-2.64899105e-01 9.64276052e-01 -3.99965040e-04 -4.18507816e+01] [-1.68986165e-03 -4.94447309e-05 9.99998571e-01 -6.98052778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.56, Y:-41.86, Z:-0.70 [[ 9.64345987e-01 2.64639604e-01 1.64258189e-03 3.12559958e+02] [-2.64639307e-01 9.64347384e-01 -4.00002365e-04 -4.18551219e+01] [-1.68987602e-03 -4.89510580e-05 9.99998571e-01 -6.95899457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:-41.86, Z:-0.69 [[ 9.64440141e-01 2.64296267e-01 1.64257283e-03 3.12591046e+02] [-2.64295968e-01 9.64441538e-01 -4.00039583e-04 -4.18582487e+01] [-1.68989443e-03 -4.83111451e-05 9.99998571e-01 -6.94738225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:-41.86, Z:-0.70 [[ 9.64486630e-01 2.64126566e-01 1.64257283e-03 3.12624240e+02] [-2.64126267e-01 9.64488027e-01 -4.00039583e-04 -4.18566038e+01] [-1.68990291e-03 -4.80138009e-05 9.99998571e-01 -6.96728275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:-41.86, Z:-0.70 [[ 9.64607009e-01 2.63686594e-01 1.64250434e-03 3.12655008e+02] [-2.63686295e-01 9.64608406e-01 -4.00320586e-04 -4.18592486e+01] [-1.68993267e-03 -4.69538410e-05 9.99998571e-01 -6.97460452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.69, Y:-41.86, Z:-0.70 [[ 9.65594160e-01 2.60048496e-01 1.64249947e-03 3.12685166e+02] [-2.60048191e-01 9.65595556e-01 -4.00340580e-04 -4.18570839e+01] [-1.69009815e-03 -4.05624900e-05 9.99998571e-01 -6.98555143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:-41.86, Z:-0.70 [[ 9.66453798e-01 2.56835276e-01 1.64251771e-03 3.12713789e+02] [-2.56834966e-01 9.66455193e-01 -4.00265719e-04 -4.18591724e+01] [-1.69022213e-03 -3.50176564e-05 9.99998571e-01 -6.98920626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:-41.86, Z:-0.70 [[ 9.67298707e-01 2.53634607e-01 1.64254048e-03 3.12742180e+02] [-2.53634293e-01 9.67300101e-01 -4.00172275e-04 -4.18621474e+01] [-1.69032711e-03 -2.95184677e-05 9.99998571e-01 -6.99444132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:-41.86, Z:-0.70 [[ 9.69023677e-01 2.46962375e-01 1.64256251e-03 3.12770797e+02] [-2.46962051e-01 9.69025069e-01 -4.00081818e-04 -4.18638403e+01] [-1.69048941e-03 -1.79618524e-05 9.99998571e-01 -7.02391170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.80, Y:-41.87, Z:-0.70 [[ 9.69883781e-01 2.43562626e-01 1.64258441e-03 3.12799238e+02] [-2.43562298e-01 9.69885172e-01 -3.99991889e-04 -4.18686222e+01] [-1.69054134e-03 -1.21259875e-05 9.99998571e-01 -7.03825870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.83, Y:-41.87, Z:-0.70 [[ 9.70617956e-01 2.40620211e-01 1.64260195e-03 3.12828089e+02] [-2.40619879e-01 9.70619346e-01 -3.99919823e-04 -4.18733679e+01] [-1.69057003e-03 -7.07332203e-06 9.99998571e-01 -7.04125044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.86, Y:-41.88, Z:-0.70 [[ 9.71513720e-01 2.36977624e-01 1.64261954e-03 3.12855995e+02] [-2.36977287e-01 9.71515108e-01 -3.99847599e-04 -4.18780916e+01] [-1.69058463e-03 -8.06092814e-07 9.99998571e-01 -7.01823991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.88, Y:-41.89, Z:-0.70 [[ 9.72029463e-01 2.34853198e-01 1.64264146e-03 3.12884759e+02] [-2.34852858e-01 9.72030851e-01 -3.99757493e-04 -4.18863705e+01] [-1.69058251e-03 2.79701835e-06 9.99998571e-01 -6.98555513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.91, Y:-41.89, Z:-0.70 [[ 9.72252670e-01 2.33927440e-01 1.64265101e-03 3.12912448e+02] [-2.33927099e-01 9.72254058e-01 -3.99718261e-04 -4.18940780e+01] [-1.69057918e-03 4.36656095e-06 9.99998571e-01 -6.99342753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.94, Y:-41.90, Z:-0.70 [[ 9.72406437e-01 2.33287425e-01 1.64266528e-03 3.12940493e+02] [-2.33287082e-01 9.72407825e-01 -3.99659623e-04 -4.19024172e+01] [-1.69057613e-03 5.41900056e-06 9.99998571e-01 -7.03722806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.97, Y:-41.91, Z:-0.71 [[ 9.72493525e-01 2.32924118e-01 1.64268252e-03 3.12967195e+02] [-2.32923776e-01 9.72494913e-01 -3.99588728e-04 -4.19109107e+01] [-1.69057425e-03 5.97763594e-06 9.99998571e-01 -7.06717077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.00, Y:-41.92, Z:-0.70 [[ 9.72662934e-01 2.32215671e-01 1.64270400e-03 3.12995187e+02] [-2.32215328e-01 9.72664321e-01 -3.99500396e-04 -4.19198976e+01] [-1.69056983e-03 7.11817804e-06 9.99998571e-01 -7.03704257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.02, Y:-41.93, Z:-0.70 [[ 9.72915621e-01 2.31154701e-01 1.64271342e-03 3.13023196e+02] [-2.31154356e-01 9.72917008e-01 -3.99461660e-04 -4.19271574e+01] [-1.69056127e-03 8.92212456e-06 9.99998571e-01 -7.00819141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.275769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.05, Y:-41.94, Z:-0.70 [[ 9.73325911e-01 2.29420952e-01 1.64272748e-03 3.13050740e+02] [-2.29420604e-01 9.73327297e-01 -3.99403864e-04 -4.19376879e+01] [-1.69054311e-03 1.18745995e-05 9.99998571e-01 -7.02057799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.08, Y:-41.95, Z:-0.70 [[ 9.73414717e-01 2.29043859e-01 1.64273674e-03 3.13077783e+02] [-2.29043511e-01 9.73416104e-01 -3.99365754e-04 -4.19475253e+01] [-1.69053867e-03 1.24903116e-05 9.99998571e-01 -7.02736781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.11, Y:-41.96, Z:-0.70 [[ 9.73579791e-01 2.28341175e-01 1.64275058e-03 3.13105613e+02] [-2.28340827e-01 9.73581177e-01 -3.99308825e-04 -4.19566674e+01] [-1.69052969e-03 1.36519769e-05 9.99998571e-01 -7.04046437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:313.13, Y:-41.97, Z:-0.71 [[ 9.73874167e-01 2.27082383e-01 1.64276738e-03 3.13134453e+02] [-2.27082032e-01 9.73875552e-01 -3.99239706e-04 -4.19654293e+01] [-1.69051129e-03 1.57662814e-05 9.99998571e-01 -7.07678606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:313.16, Y:-41.97, Z:-0.71 [[ 9.73901017e-01 2.26967203e-01 1.64276738e-03 3.13162653e+02] [-2.26966852e-01 9.73902402e-01 -3.99239706e-04 -4.19727671e+01] [-1.69050941e-03 1.59662149e-05 9.99998571e-01 -7.08373850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.19, Y:-41.98, Z:-0.70 [[ 9.73749013e-01 2.27618456e-01 1.64277196e-03 3.13192004e+02] [-2.27618107e-01 9.73750398e-01 -3.99220846e-04 -4.19831554e+01] [-1.69051988e-03 1.48162612e-05 9.99998571e-01 -7.03744292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:313.22, Y:-41.99, Z:-0.70 [[ 9.73762794e-01 2.27559490e-01 1.64277196e-03 3.13222156e+02] [-2.27559141e-01 9.73764180e-01 -3.99220846e-04 -4.19919082e+01] [-1.69051898e-03 1.49186307e-05 9.99998571e-01 -7.02576569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:313.25, Y:-42.00, Z:-0.70 [[ 9.73788072e-01 2.27451298e-01 1.64276254e-03 3.13250071e+02] [-2.27450948e-01 9.73789457e-01 -3.99259587e-04 -4.20001899e+01] [-1.69051696e-03 1.51463258e-05 9.99998571e-01 -7.03718266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:313.28, Y:-42.01, Z:-0.71 [[ 9.75011822e-01 2.22146900e-01 1.64354656e-03 3.13281373e+02] [-2.22146548e-01 9.75013207e-01 -3.96035176e-04 -4.20112266e+01] [-1.69045759e-03 2.10307835e-05 9.99998571e-01 -7.07539121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:313.31, Y:-42.02, Z:-0.71 [[ 9.75867837e-01 2.18355825e-01 1.64267000e-03 3.13312004e+02] [-2.18355462e-01 9.75869219e-01 -3.99638187e-04 -4.20227906e+01] [-1.69029442e-03 3.13080861e-05 9.99998571e-01 -7.07716595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:313.34, Y:-42.04, Z:-0.71 [[ 9.77702500e-01 2.09988391e-01 1.64259430e-03 3.13340614e+02] [-2.09988015e-01 9.77703878e-01 -3.99949092e-04 -4.20391962e+01] [-1.68995548e-03 4.61061108e-05 9.99998571e-01 -7.08400420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.37, Y:-42.05, Z:-0.71 [[ 9.78278410e-01 2.07288821e-01 1.64229466e-03 3.13369437e+02] [-2.07288439e-01 9.78279787e-01 -4.01179060e-04 -4.20508210e+01] [-1.68978361e-03 5.20361149e-05 9.99998571e-01 -7.09575241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:-42.06, Z:-0.71 [[ 9.78572289e-01 2.05897007e-01 1.64250953e-03 3.13400041e+02] [-2.05896625e-01 9.78573666e-01 -4.00297393e-04 -4.20629893e+01] [-1.68973661e-03 5.35327676e-05 9.99998571e-01 -7.10396412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.43, Y:-42.08, Z:-0.71 [[ 9.78257144e-01 2.07389158e-01 1.64243782e-03 3.13429625e+02] [-2.07388778e-01 9.78258521e-01 -4.00591429e-04 -4.20789750e+01] [-1.68980711e-03 5.12582560e-05 9.99998571e-01 -7.09759780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:313.46, Y:-42.09, Z:-0.71 [[ 9.77083345e-01 2.12850744e-01 1.64236158e-03 3.13459766e+02] [-2.12850370e-01 9.77084725e-01 -4.00903754e-04 -4.20939174e+01] [-1.69005907e-03 4.21391100e-05 9.99998571e-01 -7.10617852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:313.49, Y:-42.11, Z:-0.71 [[ 9.76328570e-01 2.16286445e-01 1.64228573e-03 3.13490122e+02] [-2.16286076e-01 9.76329951e-01 -4.01214217e-04 -4.21050882e+01] [-1.69018995e-03 3.65133661e-05 9.99998571e-01 -7.10656223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.52, Y:-42.12, Z:-0.71 [[ 9.75592220e-01 2.19583976e-01 1.64221460e-03 3.13520971e+02] [-2.19583611e-01 9.75593602e-01 -4.01505175e-04 -4.21161859e+01] [-1.69029816e-03 3.11019142e-05 9.99998571e-01 -7.09410626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7857692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:313.55, Y:-42.13, Z:-0.71 [[ 9.74518520e-01 2.24301043e-01 1.64214043e-03 3.13551548e+02] [-2.24300685e-01 9.74519903e-01 -4.01808274e-04 -4.21300766e+01] [-1.69042455e-03 2.32363807e-05 9.99998571e-01 -7.07368213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:313.58, Y:-42.14, Z:-0.71 [[ 9.74068210e-01 2.26248594e-01 1.64206244e-03 3.13581913e+02] [-2.26248237e-01 9.74069594e-01 -4.02126744e-04 -4.21407233e+01] [-1.69046371e-03 2.01851451e-05 9.99998571e-01 -7.06621050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8457692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:313.61, Y:-42.16, Z:-0.70 [[ 9.73166311e-01 2.30097014e-01 1.64198992e-03 3.13612530e+02] [-2.30096663e-01 9.73167696e-01 -4.02422643e-04 -4.21550231e+01] [-1.69052780e-03 1.38077568e-05 9.99998571e-01 -7.04203999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.64, Y:-42.16, Z:-0.70 [[ 9.72687614e-01 2.32112276e-01 1.64191577e-03 3.13643326e+02] [-2.32111927e-01 9.72689000e-01 -4.02724949e-04 -4.21642237e+01] [-1.69055082e-03 1.06173356e-05 9.99998571e-01 -7.04007324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9057692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:313.68, Y:-42.17, Z:-0.70 [[ 9.72648381e-01 2.32276625e-01 1.64184661e-03 3.13675789e+02] [-2.32276276e-01 9.72649767e-01 -4.03006733e-04 -4.21724190e+01] [-1.69055076e-03 1.06218314e-05 9.99998571e-01 -7.04063989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.71, Y:-42.18, Z:-0.71 [[ 9.72186990e-01 2.34200260e-01 1.64177847e-03 3.13706518e+02] [-2.34199913e-01 9.72188376e-01 -4.03284138e-04 -4.21798870e+01] [-1.69056719e-03 7.56321866e-06 9.99998571e-01 -7.07023451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.965769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.74, Y:-42.19, Z:-0.71 [[ 9.70964172e-01 2.39219316e-01 1.64171484e-03 3.13739258e+02] [-2.39218976e-01 9.70965560e-01 -4.03543005e-04 -4.21855278e+01] [-1.69058385e-03 -9.03542479e-07 9.99998571e-01 -7.11629771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.77, Y:-42.19, Z:-0.71 [[ 9.70194180e-01 2.42323251e-01 1.64163741e-03 3.13770494e+02] [-2.42322915e-01 9.70195569e-01 -4.03857711e-04 -4.21920185e+01] [-1.69057346e-03 -5.98596281e-06 9.99998571e-01 -7.09497055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.80, Y:-42.20, Z:-0.70 [[ 9.68954449e-01 2.47233858e-01 1.64156522e-03 3.13802776e+02] [-2.47233528e-01 9.68955840e-01 -4.04150935e-04 -4.21966989e+01] [-1.69052400e-03 -1.42461145e-05 9.99998571e-01 -7.02109403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:313.84, Y:-42.20, Z:-0.70 [[ 9.68522475e-01 2.48920712e-01 1.64149517e-03 3.13835164e+02] [-2.48920384e-01 9.68523866e-01 -4.04435262e-04 -4.22015633e+01] [-1.69049956e-03 -1.68969671e-05 9.99998571e-01 -7.03531994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:313.87, Y:-42.21, Z:-0.71 [[ 9.68275354e-01 2.49880262e-01 1.64141758e-03 3.13868490e+02] [-2.49879935e-01 9.68276745e-01 -4.04749926e-04 -4.22059012e+01] [-1.69048549e-03 -1.82479398e-05 9.99998571e-01 -7.06473948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.90, Y:-42.21, Z:-0.71 [[ 9.68390808e-01 2.49432455e-01 1.64133887e-03 3.13900942e+02] [-2.49432127e-01 9.68392198e-01 -4.05068847e-04 -4.22062410e+01] [-1.69049708e-03 -1.71376983e-05 9.99998571e-01 -7.12548478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:313.93, Y:-42.21, Z:-0.71 [[ 9.68691838e-01 2.48260808e-01 1.64126554e-03 3.13932675e+02] [-2.48260477e-01 9.68693229e-01 -4.05365752e-04 -4.22106740e+01] [-1.69051924e-03 -1.47868705e-05 9.99998571e-01 -7.13855062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:313.97, Y:-42.22, Z:-0.71 [[ 9.69194267e-01 2.46292062e-01 1.64119330e-03 3.13965168e+02] [-2.46291728e-01 9.69195656e-01 -4.05658020e-04 -4.22152750e+01] [-1.69054777e-03 -1.10509071e-05 9.99998571e-01 -7.13269284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:314.00, Y:-42.22, Z:-0.71 [[ 9.70476791e-01 2.41188942e-01 1.64111510e-03 3.13997728e+02] [-2.41188600e-01 9.70478178e-01 -4.05974125e-04 -4.22166788e+01] [-1.69058287e-03 -1.82978806e-06 9.99998571e-01 -7.10763428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.03, Y:-42.22, Z:-0.71 [[ 9.70974820e-01 2.39176099e-01 1.64104192e-03 3.14029412e+02] [-2.39175754e-01 9.70976207e-01 -4.06269724e-04 -4.22213785e+01] [-1.69058267e-03 1.98023282e-06 9.99998571e-01 -7.08872894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.06, Y:-42.22, Z:-0.71 [[ 9.71312545e-01 2.37800857e-01 1.64097037e-03 3.14062301e+02] [-2.37800510e-01 9.71313931e-01 -4.06558546e-04 -4.22216941e+01] [-1.69057735e-03 4.67182698e-06 9.99998571e-01 -7.05735670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:314.10, Y:-42.23, Z:-0.71 [[ 9.71335649e-01 2.37706467e-01 1.64090032e-03 3.14095203e+02] [-2.37706119e-01 9.71337035e-01 -4.06841069e-04 -4.22265084e+01] [-1.69057600e-03 5.12718805e-06 9.99998571e-01 -7.06041723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.13, Y:-42.23, Z:-0.71 [[ 9.71477182e-01 2.37127375e-01 1.64082256e-03 3.14126454e+02] [-2.37127025e-01 9.71478568e-01 -4.07154418e-04 -4.22323478e+01] [-1.69057141e-03 6.45785398e-06 9.99998571e-01 -7.05820966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35576923100007 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:314.16, Y:-42.24, Z:-0.70 [[ 9.72456018e-01 2.33080675e-01 1.64074981e-03 3.14158071e+02] [-2.33080320e-01 9.72457402e-01 -4.07447404e-04 -4.22390451e+01] [-1.69052741e-03 1.37981912e-05 9.99998571e-01 -7.03107972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:314.19, Y:-42.25, Z:-0.70 [[ 9.73101223e-01 2.30372128e-01 1.64067814e-03 3.14190457e+02] [-2.30371768e-01 9.73102606e-01 -4.07735794e-04 -4.22469704e+01] [-1.69047913e-03 1.88022764e-05 9.99998571e-01 -7.04504241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.22, Y:-42.26, Z:-0.71 [[ 9.74330989e-01 2.25114263e-01 1.64060068e-03 3.14221701e+02] [-2.25113895e-01 9.74332370e-01 -4.08047217e-04 -4.22579521e+01] [-1.69034760e-03 2.82510398e-05 9.99998571e-01 -7.08816271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.25, Y:-42.27, Z:-0.71 [[ 9.74956444e-01 2.22389841e-01 1.64052118e-03 3.14252791e+02] [-2.22389468e-01 9.74957824e-01 -4.08366572e-04 -4.22690888e+01] [-1.69025554e-03 3.33049871e-05 9.99998571e-01 -7.08829557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:314.28, Y:-42.28, Z:-0.71 [[ 9.75557470e-01 2.19738324e-01 1.64044071e-03 3.14282769e+02] [-2.19737947e-01 9.75558849e-01 -4.08689568e-04 -4.22799354e+01] [-1.69015122e-03 3.82330872e-05 9.99998571e-01 -7.07094330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.31, Y:-42.29, Z:-0.71 [[ 9.76554008e-01 2.15266298e-01 1.64036583e-03 3.14313703e+02] [-2.15265915e-01 9.76555384e-01 -4.08989909e-04 -4.22933071e+01] [-1.68994983e-03 4.62858833e-05 9.99998571e-01 -7.08176815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.34, Y:-42.31, Z:-0.71 [[ 9.76772114e-01 2.14274466e-01 1.64028692e-03 3.14344962e+02] [-2.14274080e-01 9.76773490e-01 -4.09306146e-04 -4.23058093e+01] [-1.68989263e-03 4.83278582e-05 9.99998571e-01 -7.11046147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:314.37, Y:-42.32, Z:-0.71 [[ 9.76778925e-01 2.14243417e-01 1.64020710e-03 3.14374737e+02] [-2.14243030e-01 9.76780301e-01 -4.09625736e-04 -4.23190423e+01] [-1.68988161e-03 4.87108455e-05 9.99998571e-01 -7.14242284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.40, Y:-42.34, Z:-0.72 [[ 9.76116748e-01 2.17240431e-01 1.64013267e-03 3.14404576e+02] [-2.17240049e-01 9.76118125e-01 -4.09923534e-04 -4.23358738e+01] [-1.69001520e-03 4.38307249e-05 9.99998571e-01 -7.15511007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.44, Y:-42.35, Z:-0.71 [[ 9.75398477e-01 2.20443013e-01 1.64005564e-03 3.14435523e+02] [-2.20442635e-01 9.75399855e-01 -4.10231505e-04 -4.23457881e+01] [-1.69014270e-03 3.86009981e-05 9.99998571e-01 -7.13507288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6557692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:314.47, Y:-42.36, Z:-0.71 [[ 9.73707607e-01 2.27795538e-01 1.63998355e-03 3.14466726e+02] [-2.27795170e-01 9.73708987e-01 -4.10519514e-04 -4.23561177e+01] [-1.69038123e-03 2.61456431e-05 9.99998571e-01 -7.07291602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.50, Y:-42.37, Z:-0.71 [[ 9.72849187e-01 2.31434159e-01 1.63990453e-03 3.14497024e+02] [-2.31433796e-01 9.72850569e-01 -4.10834937e-04 -4.23658984e+01] [-1.69046329e-03 2.01511057e-05 9.99998571e-01 -7.09269700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.715769231 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:314.53, Y:-42.38, Z:-0.71 [[ 9.71720949e-01 2.36126465e-01 1.63983117e-03 3.14527827e+02] [-2.36126108e-01 9.71722333e-01 -4.11127539e-04 -4.23763171e+01] [-1.69053866e-03 1.22942919e-05 9.99998571e-01 -7.10246187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:314.56, Y:-42.39, Z:-0.71 [[ 9.71473422e-01 2.37142785e-01 1.63975867e-03 3.14559838e+02] [-2.37142429e-01 9.71474806e-01 -4.11416498e-04 -4.23854828e+01] [-1.69054869e-03 1.08238406e-05 9.99998571e-01 -7.12131741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.775769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.59, Y:-42.39, Z:-0.71 [[ 9.71474631e-01 2.37137833e-01 1.63968187e-03 3.14591358e+02] [-2.37137476e-01 9.71476015e-01 -4.11722328e-04 -4.23946009e+01] [-1.69054655e-03 1.11477758e-05 9.99998571e-01 -7.13132124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:314.62, Y:-42.40, Z:-0.71 [[ 9.72079337e-01 2.34646700e-01 1.63960500e-03 3.14623358e+02] [-2.34646339e-01 9.72080720e-01 -4.12028244e-04 -4.24038988e+01] [-1.69050947e-03 1.57968323e-05 9.99998571e-01 -7.11819042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.65, Y:-42.41, Z:-0.71 [[ 9.72247929e-01 2.33947165e-01 1.63952532e-03 3.14654548e+02] [-2.33946803e-01 9.72249311e-01 -4.12345048e-04 -4.24116672e+01] [-1.69049432e-03 1.73399129e-05 9.99998571e-01 -7.09809924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:314.69, Y:-42.42, Z:-0.70 [[ 9.72000882e-01 2.34971484e-01 1.63945110e-03 3.14686284e+02] [-2.34971123e-01 9.72002264e-01 -4.12639948e-04 -4.24186801e+01] [-1.69050880e-03 1.58627285e-05 9.99998571e-01 -7.03438435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:314.72, Y:-42.43, Z:-0.70 [[ 9.71603628e-01 2.36608754e-01 1.63940309e-03 3.14718383e+02] [-2.36608394e-01 9.71605011e-01 -4.12830570e-04 -4.24256726e+01] [-1.69053159e-03 1.32111460e-05 9.99998571e-01 -7.01795417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:314.75, Y:-42.43, Z:-0.70 [[ 9.71044601e-01 2.38892645e-01 1.63932435e-03 3.14749911e+02] [-2.38892287e-01 9.71045985e-01 -4.13143012e-04 -4.24318555e+01] [-1.69055616e-03 9.55834629e-06 9.99998571e-01 -7.01637693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.78, Y:-42.44, Z:-0.70 [[ 9.70026748e-01 2.42992636e-01 1.63927551e-03 3.14781470e+02] [-2.42992285e-01 9.70028133e-01 -4.13336716e-04 -4.24366712e+01] [-1.69058114e-03 2.61636868e-06 9.99998571e-01 -7.03854618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:314.81, Y:-42.44, Z:-0.71 [[ 9.69698057e-01 2.44301024e-01 1.63920296e-03 3.14813783e+02] [-2.44300674e-01 9.69699443e-01 -4.13624241e-04 -4.24437812e+01] [-1.69058302e-03 6.32235116e-07 9.99998571e-01 -7.05636219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:314.85, Y:-42.45, Z:-0.71 [[ 9.69544332e-01 2.44910396e-01 1.63912602e-03 3.14845553e+02] [-2.44910046e-01 9.69545717e-01 -4.13928932e-04 -4.24482350e+01] [-1.69058311e-03 -1.15978911e-07 9.99998571e-01 -7.08894163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:314.88, Y:-42.45, Z:-0.71 [[ 9.69426892e-01 2.45374844e-01 1.63905414e-03 3.14877112e+02] [-2.45374494e-01 9.69428278e-01 -4.14213337e-04 -4.24537064e+01] [-1.69058297e-03 -6.32533105e-07 9.99998571e-01 -7.10708198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:314.91, Y:-42.46, Z:-0.71 [[ 9.69083436e-01 2.46727801e-01 1.63898260e-03 3.14910068e+02] [-2.46727453e-01 9.69084822e-01 -4.14496230e-04 -4.24563083e+01] [-1.69058090e-03 -2.70057031e-06 9.99998571e-01 -7.13484734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10576923100007 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:314.94, Y:-42.46, Z:-0.71 [[ 9.68875684e-01 2.47542365e-01 1.63890668e-03 3.14942310e+02] [-2.47542017e-01 9.68877071e-01 -4.14796186e-04 -4.24612072e+01] [-1.69057873e-03 -3.81232749e-06 9.99998571e-01 -7.14290212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:314.97, Y:-42.47, Z:-0.71 [[ 9.68774377e-01 2.47938543e-01 1.63885940e-03 3.14974443e+02] [-2.47938196e-01 9.68775763e-01 -4.14982929e-04 -4.24664995e+01] [-1.69057752e-03 -4.31101298e-06 9.99998571e-01 -7.13579599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:315.01, Y:-42.47, Z:-0.71 [[ 9.68991128e-01 2.47090082e-01 1.63879375e-03 3.15006015e+02] [-2.47089734e-01 9.68992513e-01 -4.15242011e-04 -4.24698442e+01] [-1.69058106e-03 -2.56328617e-06 9.99998571e-01 -7.10682358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.04, Y:-42.48, Z:-0.71 [[ 9.69211211e-01 2.46225391e-01 1.63878441e-03 3.15036559e+02] [-2.46225040e-01 9.69212596e-01 -4.15278878e-04 -4.24758815e+01] [-1.69058269e-03 -1.01681270e-06 9.99998571e-01 -7.10716327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:315.07, Y:-42.48, Z:-0.71 [[ 9.69613779e-01 2.44635310e-01 1.63877510e-03 3.15066669e+02] [-2.44634957e-01 9.69615163e-01 -4.15315606e-04 -4.24802374e+01] [-1.69058205e-03 1.79405772e-06 9.99998571e-01 -7.14220915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.10, Y:-42.49, Z:-0.72 [[ 9.69759999e-01 2.44055033e-01 1.63877046e-03 3.15096506e+02] [-2.44054679e-01 9.69761384e-01 -4.15333895e-04 -4.24859167e+01] [-1.69058064e-03 2.82459772e-06 9.99998571e-01 -7.15884025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:-42.49, Z:-0.72 [[ 9.69779372e-01 2.43978039e-01 1.63877046e-03 3.15125991e+02] [-2.43977685e-01 9.69780757e-01 -4.15333895e-04 -4.24915978e+01] [-1.69058041e-03 2.95881963e-06 9.99998571e-01 -7.16403090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.16, Y:-42.49, Z:-0.71 [[ 9.69522175e-01 2.44998095e-01 1.63877510e-03 3.15155465e+02] [-2.44997743e-01 9.69523560e-01 -4.15315609e-04 -4.24948083e+01] [-1.69058260e-03 1.16149308e-06 9.99998571e-01 -7.14873737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:315.18, Y:-42.50, Z:-0.71 [[ 9.69372274e-01 2.45590529e-01 1.63878429e-03 3.15184595e+02] [-2.45590178e-01 9.69373660e-01 -4.15279319e-04 -4.24998793e+01] [-1.69058300e-03 9.09319205e-08 9.99998571e-01 -7.13793655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:315.21, Y:-42.50, Z:-0.71 [[ 9.69121332e-01 2.46578907e-01 1.63879345e-03 3.15213783e+02] [-2.46578558e-01 9.69122718e-01 -4.15243182e-04 -4.25030608e+01] [-1.69058217e-03 -1.67029964e-06 9.99998571e-01 -7.13872078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.24, Y:-42.51, Z:-0.72 [[ 9.69178928e-01 2.46352430e-01 1.63881173e-03 3.15240979e+02] [-2.46352080e-01 9.69180314e-01 -4.15171027e-04 -4.25081338e+01] [-1.69058246e-03 -1.34966721e-06 9.99998571e-01 -7.15785388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.27, Y:-42.51, Z:-0.72 [[ 9.69332663e-01 2.45746828e-01 1.63883442e-03 3.15268959e+02] [-2.45746477e-01 9.69334048e-01 -4.15081453e-04 -4.25144031e+01] [-1.69058295e-03 -3.85774754e-07 9.99998571e-01 -7.18093618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.465769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.30, Y:-42.52, Z:-0.72 [[ 9.70110023e-01 2.42659963e-01 1.63885252e-03 3.15295967e+02] [-2.42659609e-01 9.70111407e-01 -4.15009957e-04 -4.25196107e+01] [-1.69057583e-03 4.92200754e-06 9.99998571e-01 -7.17774046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.33, Y:-42.53, Z:-0.71 [[ 9.70485161e-01 2.41155274e-01 1.63887509e-03 3.15325424e+02] [-2.41154917e-01 9.70486545e-01 -4.14920828e-04 -4.25258957e+01] [-1.69056657e-03 7.45172130e-06 9.99998571e-01 -7.13974207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.525769231 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:315.35, Y:-42.53, Z:-0.71 [[ 9.71272043e-01 2.37966244e-01 1.63888450e-03 3.15353968e+02] [-2.37965883e-01 9.71273425e-01 -4.14883633e-04 -4.25330893e+01] [-1.69053326e-03 1.29662761e-05 9.99998571e-01 -7.09204591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:315.38, Y:-42.54, Z:-0.71 [[ 9.71593956e-01 2.36648470e-01 1.63888918e-03 3.15381322e+02] [-2.36648107e-01 9.71595338e-01 -4.14865147e-04 -4.25406682e+01] [-1.69051429e-03 1.52404465e-05 9.99998571e-01 -7.09022889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:315.41, Y:-42.55, Z:-0.71 [[ 9.71889165e-01 2.35433145e-01 1.63890314e-03 3.15409480e+02] [-2.35432780e-01 9.71890546e-01 -4.14810006e-04 -4.25482080e+01] [-1.69049449e-03 1.72978281e-05 9.99998571e-01 -7.10392084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:315.44, Y:-42.56, Z:-0.71 [[ 9.72175456e-01 2.34248150e-01 1.63891707e-03 3.15436391e+02] [-2.34247784e-01 9.72176838e-01 -4.14754973e-04 -4.25552965e+01] [-1.69047280e-03 1.93019148e-05 9.99998571e-01 -7.12065393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:315.47, Y:-42.56, Z:-0.71 [[ 9.72193413e-01 2.34173616e-01 1.63893918e-03 3.15465053e+02] [-2.34173249e-01 9.72194794e-01 -4.14667583e-04 -4.25618277e+01] [-1.69047234e-03 1.93413803e-05 9.99998571e-01 -7.12161087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:315.49, Y:-42.57, Z:-0.71 [[ 9.72257050e-01 2.33909263e-01 1.63894868e-03 3.15493477e+02] [-2.33908897e-01 9.72258431e-01 -4.14630027e-04 -4.25677578e+01] [-1.69046747e-03 1.97622895e-05 9.99998571e-01 -7.14002595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:315.52, Y:-42.57, Z:-0.72 [[ 9.72423269e-01 2.33217278e-01 1.63896287e-03 3.15522284e+02] [-2.33216910e-01 9.72424650e-01 -4.14573903e-04 -4.25748292e+01] [-1.69045370e-03 2.09074527e-05 9.99998571e-01 -7.15984452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.55, Y:-42.58, Z:-0.72 [[ 9.72738571e-01 2.31898656e-01 1.63897228e-03 3.15551639e+02] [-2.31898287e-01 9.72739951e-01 -4.14536726e-04 -4.25815448e+01] [-1.69042432e-03 2.31609994e-05 9.99998571e-01 -7.16787640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:-42.59, Z:-0.72 [[ 9.73478569e-01 2.28772354e-01 1.63898169e-03 3.15581839e+02] [-2.28771981e-01 9.73479948e-01 -4.14499520e-04 -4.25892725e+01] [-1.69034184e-03 2.85533126e-05 9.99998571e-01 -7.15891366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.61, Y:-42.60, Z:-0.72 [[ 9.73834786e-01 2.27251232e-01 1.63897209e-03 3.15610881e+02] [-2.27250856e-01 9.73836165e-01 -4.14537444e-04 -4.25986046e+01] [-1.69029444e-03 3.12331715e-05 9.99998571e-01 -7.15922956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.64, Y:-42.61, Z:-0.72 [[ 9.73839746e-01 2.27229978e-01 1.63896732e-03 3.15640139e+02] [-2.27229602e-01 9.73841125e-01 -4.14556336e-04 -4.26059549e+01] [-1.69029340e-03 3.12895454e-05 9.99998571e-01 -7.15973961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.67, Y:-42.62, Z:-0.72 [[ 9.74562038e-01 2.24111909e-01 1.63897636e-03 3.15668379e+02] [-2.24111529e-01 9.74563415e-01 -4.14520565e-04 -4.26168479e+01] [-1.69018540e-03 3.66625083e-05 9.99998571e-01 -7.17115156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.70, Y:-42.63, Z:-0.72 [[ 9.74676352e-01 2.23614225e-01 1.63897636e-03 3.15697943e+02] [-2.23613844e-01 9.74677730e-01 -4.14520565e-04 -4.26256243e+01] [-1.69016646e-03 3.75255880e-05 9.99998571e-01 -7.18317890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.73, Y:-42.63, Z:-0.72 [[ 9.74571936e-01 2.24068862e-01 1.63897636e-03 3.15729304e+02] [-2.24068481e-01 9.74573314e-01 -4.14520565e-04 -4.26348845e+01] [-1.69018378e-03 3.67371656e-05 9.99998571e-01 -7.15988354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.76, Y:-42.64, Z:-0.71 [[ 9.73981031e-01 2.26623621e-01 1.63889576e-03 3.15758585e+02] [-2.26623244e-01 9.73982409e-01 -4.14839011e-04 -4.26442578e+01] [-1.69026796e-03 3.26334550e-05 9.99998571e-01 -7.11285639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.79, Y:-42.65, Z:-0.71 [[ 9.73719280e-01 2.27745641e-01 1.63886072e-03 3.15787019e+02] [-2.27745265e-01 9.73720659e-01 -4.14977401e-04 -4.26515029e+01] [-1.69030183e-03 3.08287284e-05 9.99998571e-01 -7.11075795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.82, Y:-42.66, Z:-0.72 [[ 9.73593743e-01 2.28281706e-01 1.63886530e-03 3.15817568e+02] [-2.28281331e-01 9.73595122e-01 -4.14959284e-04 -4.26593404e+01] [-1.69031888e-03 2.98794096e-05 9.99998571e-01 -7.16038484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:315.85, Y:-42.67, Z:-0.72 [[ 9.73728508e-01 2.27706185e-01 1.63885569e-03 3.15848231e+02] [-2.27705809e-01 9.73729887e-01 -4.14997262e-04 -4.26683903e+01] [-1.69030020e-03 3.09177051e-05 9.99998571e-01 -7.17429750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:315.88, Y:-42.68, Z:-0.72 [[ 9.74328326e-01 2.25125806e-01 1.63878823e-03 3.15878332e+02] [-2.25125425e-01 9.74329703e-01 -4.15263463e-04 -4.26790634e+01] [-1.69020657e-03 3.56700563e-05 9.99998571e-01 -7.15704486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:315.91, Y:-42.69, Z:-0.71 [[ 9.74571848e-01 2.24069249e-01 1.63874010e-03 3.15910449e+02] [-2.24068867e-01 9.74573225e-01 -4.15453333e-04 -4.26885034e+01] [-1.69016254e-03 3.76984848e-05 9.99998571e-01 -7.13519019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.94, Y:-42.70, Z:-0.71 [[ 9.74649587e-01 2.23730861e-01 1.63866247e-03 3.15941971e+02] [-2.23730478e-01 9.74650963e-01 -4.15759295e-04 -4.26979523e+01] [-1.69014214e-03 3.86008875e-05 9.99998571e-01 -7.12427968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:315.97, Y:-42.71, Z:-0.71 [[ 9.74394708e-01 2.24838315e-01 1.63858473e-03 3.15972614e+02] [-2.24837933e-01 9.74396085e-01 -4.16065466e-04 -4.27098907e+01] [-1.69017800e-03 3.69959848e-05 9.99998571e-01 -7.12743634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.00, Y:-42.72, Z:-0.71 [[ 9.74125111e-01 2.26003504e-01 1.63850728e-03 3.16004394e+02] [-2.26003123e-01 9.74126488e-01 -4.16370213e-04 -4.27203603e+01] [-1.69021447e-03 3.52889164e-05 9.99998571e-01 -7.14993814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.215769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.03, Y:-42.73, Z:-0.72 [[ 9.73553475e-01 2.28453379e-01 1.63842987e-03 3.16033559e+02] [-2.28453001e-01 9.73554853e-01 -4.16674603e-04 -4.27323488e+01] [-1.69029208e-03 3.13507857e-05 9.99998571e-01 -7.21812743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.06, Y:-42.74, Z:-0.72 [[ 9.73244455e-01 2.29766286e-01 1.63836741e-03 3.16064889e+02] [-2.29765909e-01 9.73245834e-01 -4.16920073e-04 -4.27434922e+01] [-1.69032843e-03 2.93241715e-05 9.99998571e-01 -7.23865855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.09, Y:-42.76, Z:-0.72 [[ 9.73029797e-01 2.30673646e-01 1.63829085e-03 3.16094827e+02] [-2.30673270e-01 9.73031175e-01 -4.17220703e-04 -4.27593680e+01] [-1.69034989e-03 2.80582693e-05 9.99998571e-01 -7.22372753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.13, Y:-42.77, Z:-0.72 [[ 9.73031711e-01 2.30665572e-01 1.63821443e-03 3.16125574e+02] [-2.30665196e-01 9.73033089e-01 -4.17520532e-04 -4.27722100e+01] [-1.69034446e-03 2.83816652e-05 9.99998571e-01 -7.20267660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.16, Y:-42.79, Z:-0.72 [[ 9.72643222e-01 2.32298254e-01 1.63813429e-03 3.16155603e+02] [-2.32297880e-01 9.72644601e-01 -4.17834749e-04 -4.27891578e+01] [-1.69038475e-03 2.58690149e-05 9.99998571e-01 -7.16420620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.19, Y:-42.80, Z:-0.71 [[ 9.72107898e-01 2.34528361e-01 1.63805433e-03 3.16185642e+02] [-2.34527989e-01 9.72109277e-01 -4.18147960e-04 -4.28004880e+01] [-1.69043537e-03 2.23153457e-05 9.99998571e-01 -7.14669862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.22, Y:-42.81, Z:-0.71 [[ 9.71324455e-01 2.37752224e-01 1.63797991e-03 3.16215802e+02] [-2.37751856e-01 9.71325836e-01 -4.18439266e-04 -4.28107656e+01] [-1.69049708e-03 1.70075262e-05 9.99998571e-01 -7.13748708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42576923100006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:316.25, Y:-42.82, Z:-0.71 [[ 9.69297865e-01 2.45884049e-01 1.63791085e-03 3.16246887e+02] [-2.45883693e-01 9.69299249e-01 -4.18709428e-04 -4.28228800e+01] [-1.69057973e-03 3.11858589e-06 9.99998571e-01 -7.13019136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:-42.83, Z:-0.72 [[ 9.68464972e-01 2.49144366e-01 1.63783641e-03 3.16277571e+02] [-2.49144014e-01 9.68466357e-01 -4.19000401e-04 -4.28322673e+01] [-1.69058105e-03 -2.26992629e-06 9.99998571e-01 -7.16938910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.31, Y:-42.84, Z:-0.71 [[ 9.67322298e-01 2.53544649e-01 1.63776732e-03 3.16307983e+02] [-2.53544302e-01 9.67323685e-01 -4.19270313e-04 -4.28434960e+01] [-1.69055486e-03 -9.67704879e-06 9.99998571e-01 -7.13935494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:-42.85, Z:-0.71 [[ 9.66915338e-01 2.55092231e-01 1.63769891e-03 3.16339933e+02] [-2.55091886e-01 9.66916725e-01 -4.19537338e-04 -4.28529471e+01] [-1.69053918e-03 -1.21066165e-05 9.99998571e-01 -7.12910039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.37, Y:-42.86, Z:-0.71 [[ 9.66649103e-01 2.56099258e-01 1.63762637e-03 3.16371727e+02] [-2.56098915e-01 9.66650490e-01 -4.19820309e-04 -4.28619142e+01] [-1.69052800e-03 -1.35754101e-05 9.99998571e-01 -7.12048063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.40, Y:-42.87, Z:-0.71 [[ 9.65934335e-01 2.58782107e-01 1.63755402e-03 3.16404000e+02] [-2.58781767e-01 9.65935723e-01 -4.20102336e-04 -4.28703294e+01] [-1.69048689e-03 -1.79778501e-05 9.99998571e-01 -7.11453293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.44, Y:-42.88, Z:-0.71 [[ 9.65401078e-01 2.60764409e-01 1.63748193e-03 3.16436029e+02] [-2.60764071e-01 9.65402467e-01 -4.20383135e-04 -4.28776810e+01] [-1.69045005e-03 -2.11581222e-05 9.99998571e-01 -7.12257164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.47, Y:-42.88, Z:-0.71 [[ 9.64031400e-01 2.65783330e-01 1.63740252e-03 3.16468989e+02] [-2.65782999e-01 9.64032790e-01 -4.20692220e-04 -4.28824302e+01] [-1.69032269e-03 -2.96332413e-05 9.99998571e-01 -7.14987089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.50, Y:-42.89, Z:-0.71 [[ 9.63416566e-01 2.68003433e-01 1.63732280e-03 3.16500311e+02] [-2.68003104e-01 9.63417957e-01 -4.21002253e-04 -4.28883648e+01] [-1.69025623e-03 -3.32070468e-05 9.99998571e-01 -7.14581318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.53, Y:-42.89, Z:-0.71 [[ 9.62676913e-01 2.70648259e-01 1.63724848e-03 3.16532202e+02] [-2.70647934e-01 9.62678305e-01 -4.21291074e-04 -4.28928187e+01] [-1.69016529e-03 -3.75507272e-05 9.99998571e-01 -7.13360283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.56, Y:-42.90, Z:-0.71 [[ 9.62653895e-01 2.70730119e-01 1.63717887e-03 3.16564906e+02] [-2.70729793e-01 9.62655287e-01 -4.21561422e-04 -4.28998189e+01] [-1.69016826e-03 -3.74153509e-05 9.99998571e-01 -7.13928623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.60, Y:-42.91, Z:-0.72 [[ 9.62704559e-01 2.70549906e-01 1.63709857e-03 3.16596541e+02] [-2.70549580e-01 9.62705950e-01 -4.21873028e-04 -4.29070971e+01] [-1.69018224e-03 -3.67772418e-05 9.99998571e-01 -7.17268344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:-42.91, Z:-0.72 [[ 9.63291851e-01 2.68451354e-01 1.63704865e-03 3.16626169e+02] [-2.68451024e-01 9.63293242e-01 -4.22066645e-04 -4.29120317e+01] [-1.69026226e-03 -3.28940273e-05 9.99998571e-01 -7.21542208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.66, Y:-42.92, Z:-0.72 [[ 9.63679921e-01 2.67054918e-01 1.63705301e-03 3.16658602e+02] [-2.67054586e-01 9.63681311e-01 -4.22049733e-04 -4.29186591e+01] [-1.69030785e-03 -3.04616604e-05 9.99998571e-01 -7.20650997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:-42.92, Z:-0.72 [[ 9.64374473e-01 2.64535811e-01 1.63697195e-03 3.16690504e+02] [-2.64535475e-01 9.64375862e-01 -4.22363885e-04 -4.29237709e+01] [-1.69038661e-03 -2.57202044e-05 9.99998571e-01 -7.21635730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.72, Y:-42.93, Z:-0.72 [[ 9.64658360e-01 2.63498707e-01 1.63689625e-03 3.16721395e+02] [-2.63498369e-01 9.64659749e-01 -4.22657076e-04 -4.29305594e+01] [-1.69041752e-03 -2.35998095e-05 9.99998571e-01 -7.23732848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.75, Y:-42.94, Z:-0.72 [[ 9.64917251e-01 2.62549080e-01 1.63683499e-03 3.16753218e+02] [-2.62548740e-01 9.64918639e-01 -4.22894174e-04 -4.29377160e+01] [-1.69044307e-03 -2.16910815e-05 9.99998571e-01 -7.24573831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.79, Y:-42.95, Z:-0.73 [[ 9.65276187e-01 2.61226347e-01 1.63675467e-03 3.16785647e+02] [-2.61226005e-01 9.65277574e-01 -4.23204816e-04 -4.29450504e+01] [-1.69047483e-03 -1.90533527e-05 9.99998571e-01 -7.25562592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.82, Y:-42.95, Z:-0.72 [[ 9.66152889e-01 2.57964954e-01 1.63667417e-03 3.16817364e+02] [-2.57964606e-01 9.66154275e-01 -4.23515903e-04 -4.29511078e+01] [-1.69053201e-03 -1.30228952e-05 9.99998571e-01 -7.22674112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.85, Y:-42.96, Z:-0.72 [[ 9.67011635e-01 2.54726951e-01 1.63660310e-03 3.16848239e+02] [-2.54726598e-01 9.67013020e-01 -4.23790386e-04 -4.29582427e+01] [-1.69056733e-03 -7.07610509e-06 9.99998571e-01 -7.18177325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.025769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:316.88, Y:-42.97, Z:-0.72 [[ 9.67355247e-01 2.53418916e-01 1.63656373e-03 3.16879308e+02] [-2.53418562e-01 9.67356632e-01 -4.23942334e-04 -4.29677366e+01] [-1.69057579e-03 -4.63278646e-06 9.99998571e-01 -7.18338090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:-42.98, Z:-0.72 [[ 9.67776234e-01 2.51806438e-01 1.63651270e-03 3.16909596e+02] [-2.51806080e-01 9.67777618e-01 -4.24139267e-04 -4.29776324e+01] [-1.69058136e-03 -1.61194402e-06 9.99998571e-01 -7.20095219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.94, Y:-42.99, Z:-0.72 [[ 9.68270771e-01 2.49898050e-01 1.63643711e-03 3.16941011e+02] [-2.49897690e-01 9.68272154e-01 -4.24430688e-04 -4.29874268e+01] [-1.69058089e-03 2.02197547e-06 9.99998571e-01 -7.19837824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.97, Y:-43.00, Z:-0.72 [[ 9.69077731e-01 2.46750225e-01 1.63635702e-03 3.16970475e+02] [-2.46749860e-01 9.69079113e-01 -4.24739246e-04 -4.30001040e+01] [-1.69056391e-03 7.83447947e-06 9.99998571e-01 -7.16038599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.00, Y:-43.01, Z:-0.71 [[ 9.69471553e-01 2.45198350e-01 1.63628219e-03 3.17000467e+02] [-2.45197982e-01 9.69472934e-01 -4.25027333e-04 -4.30147069e+01] [-1.69054730e-03 1.08388176e-05 9.99998571e-01 -7.08923936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.03, Y:-43.03, Z:-0.71 [[ 9.69497236e-01 2.45096780e-01 1.63620133e-03 3.17030349e+02] [-2.45096411e-01 9.69498617e-01 -4.25338382e-04 -4.30251829e+01] [-1.69054400e-03 1.13373127e-05 9.99998571e-01 -7.09711596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.06, Y:-43.04, Z:-0.71 [[ 9.69354624e-01 2.45660203e-01 1.63612566e-03 3.17061061e+02] [-2.45659834e-01 9.69356005e-01 -4.25629266e-04 -4.30352360e+01] [-1.69054840e-03 1.06553386e-05 9.99998571e-01 -7.12306589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.09, Y:-43.05, Z:-0.71 [[ 9.68469194e-01 2.49127968e-01 1.63605193e-03 3.17092068e+02] [-2.49127604e-01 9.68470575e-01 -4.25912487e-04 -4.30482422e+01] [-1.69057486e-03 4.89742613e-06 9.99998571e-01 -7.14948905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.12, Y:-43.06, Z:-0.71 [[ 9.67769707e-01 2.51831525e-01 1.63597134e-03 3.17122629e+02] [-2.51831164e-01 9.67771090e-01 -4.26221808e-04 -4.30594076e+01] [-1.69058186e-03 4.95987311e-07 9.99998571e-01 -7.14396474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.15, Y:-43.07, Z:-0.72 [[ 9.66545230e-01 2.56491019e-01 1.63589614e-03 3.17153470e+02] [-2.56490664e-01 9.66546614e-01 -4.26510254e-04 -4.30729274e+01] [-1.69056592e-03 -7.35063484e-06 9.99998571e-01 -7.15789268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.18, Y:-43.08, Z:-0.72 [[ 9.66185130e-01 2.57844175e-01 1.63581630e-03 3.17183914e+02] [-2.57843822e-01 9.66186515e-01 -4.26816231e-04 -4.30827374e+01] [-1.69055573e-03 -9.40163127e-06 9.99998571e-01 -7.16697300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.21, Y:-43.09, Z:-0.72 [[ 9.66011271e-01 2.58494774e-01 1.63574180e-03 3.17214095e+02] [-2.58494421e-01 9.66012656e-01 -4.27101575e-04 -4.30930304e+01] [-1.69055080e-03 -1.02451943e-05 9.99998571e-01 -7.17189203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.24, Y:-43.11, Z:-0.72 [[ 9.66197319e-01 2.57798498e-01 1.63566786e-03 3.17244495e+02] [-2.57798144e-01 9.66198703e-01 -4.27384524e-04 -4.31079679e+01] [-1.69055926e-03 -8.73435888e-06 9.99998571e-01 -7.18100297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:-43.12, Z:-0.72 [[ 9.66393799e-01 2.57060984e-01 1.63559002e-03 3.17275124e+02] [-2.57060628e-01 9.66395183e-01 -4.27682215e-04 -4.31197881e+01] [-1.69056673e-03 -7.13635820e-06 9.99998571e-01 -7.18039168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.31, Y:-43.13, Z:-0.72 [[ 9.66704169e-01 2.55891333e-01 1.63551198e-03 3.17305258e+02] [-2.55890975e-01 9.66705553e-01 -4.27980459e-04 -4.31346692e+01] [-1.69057500e-03 -4.78226120e-06 9.99998571e-01 -7.19614603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.34, Y:-43.15, Z:-0.72 [[ 9.66785731e-01 2.55583012e-01 1.63543381e-03 3.17335441e+02] [-2.55582653e-01 9.66787114e-01 -4.28278948e-04 -4.31466620e+01] [-1.69057716e-03 -3.93453689e-06 9.99998571e-01 -7.21615923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.37, Y:-43.16, Z:-0.72 [[ 9.66850635e-01 2.55337373e-01 1.63536079e-03 3.17366368e+02] [-2.55337014e-01 9.66852019e-01 -4.28557585e-04 -4.31590572e+01] [-1.69057865e-03 -3.21696849e-06 9.99998571e-01 -7.22422135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.39, Y:-43.18, Z:-0.72 [[ 9.66928457e-01 2.55042515e-01 1.63528286e-03 3.17394797e+02] [-2.55042155e-01 9.66929840e-01 -4.28854751e-04 -4.31757467e+01] [-1.69057999e-03 -2.39420162e-06 9.99998571e-01 -7.23938250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.42, Y:-43.19, Z:-0.72 [[ 9.66776215e-01 2.55619008e-01 1.63521400e-03 3.17424623e+02] [-2.55618648e-01 9.66777597e-01 -4.29117154e-04 -4.31885433e+01] [-1.69057876e-03 -3.13093391e-06 9.99998571e-01 -7.23585532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.45, Y:-43.20, Z:-0.72 [[ 9.66072375e-01 2.58266320e-01 1.63514063e-03 3.17454894e+02] [-2.58265963e-01 9.66073759e-01 -4.29396565e-04 -4.32042293e+01] [-1.69056512e-03 -7.47300903e-06 9.99998571e-01 -7.21490922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.49, Y:-43.22, Z:-0.72 [[ 9.65327642e-01 2.61036146e-01 1.63505831e-03 3.17485581e+02] [-2.61035792e-01 9.65329027e-01 -4.29709776e-04 -4.32151556e+01] [-1.69053903e-03 -1.19980169e-05 9.99998571e-01 -7.22105816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.52, Y:-43.23, Z:-0.72 [[ 9.63287148e-01 2.68468242e-01 1.63498157e-03 3.17516232e+02] [-2.68467899e-01 9.63288535e-01 -4.30001559e-04 -4.32262220e+01] [-1.69040077e-03 -2.47250924e-05 9.99998571e-01 -7.24837320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.55, Y:-43.24, Z:-0.72 [[ 9.62115619e-01 2.72636868e-01 1.63491033e-03 3.17547072e+02] [-2.72636531e-01 9.62117008e-01 -4.30272249e-04 -4.32356009e+01] [-1.69028312e-03 -3.17646299e-05 9.99998571e-01 -7.23578843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.58, Y:-43.24, Z:-0.72 [[ 9.62064569e-01 2.72816957e-01 1.63483451e-03 3.17579389e+02] [-2.72816619e-01 9.62065958e-01 -4.30560126e-04 -4.32442974e+01] [-1.69028274e-03 -3.17833829e-05 9.99998571e-01 -7.23635502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.61, Y:-43.25, Z:-0.72 [[ 9.61006205e-01 2.76521973e-01 1.63475386e-03 3.17609417e+02] [-2.76521639e-01 9.61007595e-01 -4.30866127e-04 -4.32525790e+01] [-1.69015483e-03 -3.79797965e-05 9.99998571e-01 -7.22022083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.64, Y:-43.26, Z:-0.71 [[ 9.59083006e-01 2.83120319e-01 1.63468870e-03 3.17641089e+02] [-2.83119995e-01 9.59084398e-01 -4.31113221e-04 -4.32578575e+01] [-1.68986134e-03 -4.93396916e-05 9.99998571e-01 -7.13065254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.67, Y:-43.26, Z:-0.71 [[ 9.57998276e-01 2.86769300e-01 1.63462015e-03 3.17673611e+02] [-2.86768981e-01 9.57999669e-01 -4.31372988e-04 -4.32636277e+01] [-1.68967009e-03 -5.55037736e-05 9.99998571e-01 -7.11685848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.71, Y:-43.27, Z:-0.71 [[ 9.55947215e-01 2.93534070e-01 1.63454111e-03 3.17706056e+02] [-2.93533760e-01 9.55948610e-01 -4.31672262e-04 -4.32650623e+01] [-1.68924782e-03 -6.71371002e-05 9.99998571e-01 -7.09625867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.74, Y:-43.27, Z:-0.71 [[ 9.55149699e-01 2.96118862e-01 1.63446736e-03 3.17738176e+02] [-2.96118556e-01 9.55151095e-01 -4.31951316e-04 -4.32691128e+01] [-1.68907222e-03 -7.14179450e-05 9.99998571e-01 -7.07150363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.77, Y:-43.27, Z:-0.70 [[ 9.54106276e-01 2.99463760e-01 1.63439433e-03 3.17772050e+02] [-2.99463458e-01 9.54107672e-01 -4.32227475e-04 -4.32695608e+01] [-1.68882463e-03 -7.70504320e-05 9.99998571e-01 -7.04016485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:-43.27, Z:-0.71 [[ 9.53935968e-01 3.00005829e-01 1.63431741e-03 3.17804728e+02] [-3.00005527e-01 9.53937365e-01 -4.32518115e-04 -4.32746064e+01] [-1.68879440e-03 -7.77096703e-05 9.99998571e-01 -7.05750117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:-43.28, Z:-0.71 [[ 9.54020957e-01 2.99735456e-01 1.63423994e-03 3.17836743e+02] [-2.99735153e-01 9.54022353e-01 -4.32810638e-04 -4.32795382e+01] [-1.68883013e-03 -7.69287405e-05 9.99998571e-01 -7.07785608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.87, Y:-43.28, Z:-0.71 [[ 9.54695817e-01 2.97578943e-01 1.63416758e-03 3.17870672e+02] [-2.97578637e-01 9.54697212e-01 -4.33083663e-04 -4.32794730e+01] [-1.68901182e-03 -7.28302008e-05 9.99998571e-01 -7.10580946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.90, Y:-43.28, Z:-0.71 [[ 9.54931230e-01 2.96822633e-01 1.63408722e-03 3.17902397e+02] [-2.96822325e-01 9.54932626e-01 -4.33386659e-04 -4.32840369e+01] [-1.68908217e-03 -7.11791139e-05 9.99998571e-01 -7.10706874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.93, Y:-43.29, Z:-0.71 [[ 9.55722914e-01 2.94263557e-01 1.63401202e-03 3.17934936e+02] [-2.94263245e-01 9.55724309e-01 -4.33670027e-04 -4.32867052e+01] [-1.68927829e-03 -6.63612964e-05 9.99998571e-01 -7.10093402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.97, Y:-43.29, Z:-0.71 [[ 9.56200542e-01 2.92707797e-01 1.63393742e-03 3.17966650e+02] [-2.92707483e-01 9.56201935e-01 -4.33950901e-04 -4.32923819e+01] [-1.68939494e-03 -6.33216226e-05 9.99998571e-01 -7.10355877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:-43.30, Z:-0.71 [[ 9.56667843e-01 2.91176867e-01 1.63388966e-03 3.17998068e+02] [-2.91176550e-01 9.56669237e-01 -4.34130662e-04 -4.32974992e+01] [-1.68950078e-03 -6.04315097e-05 9.99998571e-01 -7.11323554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:-43.30, Z:-0.72 [[ 9.57218888e-01 2.89360211e-01 1.63381866e-03 3.18031175e+02] [-2.89359891e-01 9.57220280e-01 -4.34397682e-04 -4.33009806e+01] [-1.68962176e-03 -5.69479249e-05 9.99998571e-01 -7.15037381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.06, Y:-43.31, Z:-0.72 [[ 9.57339845e-01 2.88959776e-01 1.63373943e-03 3.18063016e+02] [-2.88959455e-01 9.57341237e-01 -4.34695459e-04 -4.33073391e+01] [-1.68965563e-03 -5.59331721e-05 9.99998571e-01 -7.17552302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:-43.31, Z:-0.72 [[ 9.57653129e-01 2.87919806e-01 1.63366530e-03 3.18093439e+02] [-2.87919483e-01 9.57654521e-01 -4.34973891e-04 -4.33082860e+01] [-1.68972456e-03 -5.38099597e-05 9.99998571e-01 -7.19698315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.13, Y:-43.31, Z:-0.72 [[ 9.57665191e-01 2.87879686e-01 1.63367469e-03 3.18125208e+02] [-2.87879362e-01 9.57666583e-01 -4.34938610e-04 -4.33128676e+01] [-1.68972565e-03 -5.37756617e-05 9.99998571e-01 -7.20049836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.16, Y:-43.32, Z:-0.72 [[ 9.57924822e-01 2.87014577e-01 1.63360599e-03 3.18155283e+02] [-2.87014252e-01 9.57926213e-01 -4.35196501e-04 -4.33152984e+01] [-1.68978174e-03 -5.19826702e-05 9.99998571e-01 -7.21511610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.19, Y:-43.32, Z:-0.72 [[ 9.58289432e-01 2.85794848e-01 1.63361089e-03 3.18185433e+02] [-2.85794521e-01 9.58290823e-01 -4.35178101e-04 -4.33202648e+01] [-1.68984599e-03 -4.98504668e-05 9.99998571e-01 -7.21143672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.22, Y:-43.32, Z:-0.72 [[ 9.59567952e-01 2.81472339e-01 1.63361089e-03 3.18216764e+02] [-2.81472006e-01 9.59569341e-01 -4.35178101e-04 -4.33227247e+01] [-1.69005352e-03 -4.22327749e-05 9.99998571e-01 -7.21643174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.25, Y:-43.33, Z:-0.72 [[ 9.60591598e-01 2.77958835e-01 1.63361089e-03 3.18245224e+02] [-2.77958496e-01 9.60592986e-01 -4.35178101e-04 -4.33290765e+01] [-1.69019676e-03 -3.60475992e-05 9.99998571e-01 -7.21145968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.28, Y:-43.34, Z:-0.72 [[ 9.61829173e-01 2.73645707e-01 1.63361089e-03 3.18275616e+02] [-2.73645363e-01 9.61830560e-01 -4.35178101e-04 -4.33372641e+01] [-1.69034150e-03 -2.84630514e-05 9.99998571e-01 -7.19354351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.31, Y:-43.35, Z:-0.72 [[ 9.63939561e-01 2.66116242e-01 1.63360099e-03 3.18306344e+02] [-2.66115887e-01 9.63940945e-01 -4.35215264e-04 -4.33465439e+01] [-1.69051273e-03 -1.52059658e-05 9.99998571e-01 -7.16796264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.34, Y:-43.35, Z:-0.72 [[ 9.64640190e-01 2.63565240e-01 1.63355172e-03 3.18336402e+02] [-2.63564881e-01 9.64641573e-01 -4.35400115e-04 -4.33545072e+01] [-1.69054824e-03 -1.05424146e-05 9.99998571e-01 -7.17940462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.37, Y:-43.37, Z:-0.72 [[ 9.65353093e-01 2.60942021e-01 1.63354189e-03 3.18366227e+02] [-2.60941657e-01 9.65354475e-01 -4.35436979e-04 -4.33652490e+01] [-1.69057078e-03 -5.90869504e-06 9.99998571e-01 -7.24542550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.40, Y:-43.38, Z:-0.72 [[ 9.65445266e-01 2.60600787e-01 1.63347813e-03 3.18396618e+02] [-2.60600423e-01 9.65446648e-01 -4.35676064e-04 -4.33770078e+01] [-1.69057351e-03 -5.06369659e-06 9.99998571e-01 -7.24382058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.42, Y:-43.39, Z:-0.72 [[ 9.65260563e-01 2.61284093e-01 1.63340997e-03 3.18424270e+02] [-2.61283730e-01 9.65261945e-01 -4.35931432e-04 -4.33924025e+01] [-1.69057044e-03 -5.99603046e-06 9.99998571e-01 -7.18390290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:-43.40, Z:-0.72 [[ 9.64956318e-01 2.62405480e-01 1.63337591e-03 3.18453352e+02] [-2.62405118e-01 9.64957701e-01 -4.36059029e-04 -4.34037449e+01] [-1.69056294e-03 -7.82828259e-06 9.99998571e-01 -7.16490294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.48, Y:-43.41, Z:-0.72 [[ 9.64442708e-01 2.64286957e-01 1.63336656e-03 3.18482412e+02] [-2.64286597e-01 9.64444091e-01 -4.36094058e-04 -4.34146416e+01] [-1.69054469e-03 -1.10891552e-05 9.99998571e-01 -7.17253953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.51, Y:-43.43, Z:-0.72 [[ 9.63130381e-01 2.69030113e-01 1.63335721e-03 3.18511760e+02] [-2.69029760e-01 9.63131766e-01 -4.36129047e-04 -4.34285012e+01] [-1.69047006e-03 -1.93725641e-05 9.99998571e-01 -7.17791612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.54, Y:-43.44, Z:-0.72 [[ 9.62573124e-01 2.71017181e-01 1.63329051e-03 3.18540734e+02] [-2.71016831e-01 9.62574510e-01 -4.36378715e-04 -4.34396269e+01] [-1.69042994e-03 -2.26027944e-05 9.99998571e-01 -7.18109420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.57, Y:-43.46, Z:-0.72 [[ 9.61565093e-01 2.74572220e-01 1.63325345e-03 3.18570592e+02] [-2.74571875e-01 9.61566480e-01 -4.36517366e-04 -4.34556791e+01] [-1.69033731e-03 -2.87056009e-05 9.99998571e-01 -7.17960613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.60, Y:-43.47, Z:-0.72 [[ 9.61170530e-01 2.75950259e-01 1.63317152e-03 3.18600699e+02] [-2.75949915e-01 9.61171917e-01 -4.36823668e-04 -4.34680864e+01] [-1.69030021e-03 -3.08115074e-05 9.99998571e-01 -7.18022812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.63, Y:-43.48, Z:-0.72 [[ 9.60930413e-01 2.76785250e-01 1.63309492e-03 3.18631800e+02] [-2.76784907e-01 9.60931800e-01 -4.37109866e-04 -4.34807219e+01] [-1.69027841e-03 -3.19838614e-05 9.99998571e-01 -7.16486366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.66, Y:-43.50, Z:-0.72 [[ 9.60640127e-01 2.77791072e-01 1.63301296e-03 3.18660251e+02] [-2.77790729e-01 9.60641515e-01 -4.37415865e-04 -4.34968934e+01] [-1.69025026e-03 -3.34366279e-05 9.99998571e-01 -7.18760486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.69, Y:-43.51, Z:-0.72 [[ 9.60429626e-01 2.78517982e-01 1.63293664e-03 3.18691078e+02] [-2.78517640e-01 9.60431014e-01 -4.37700600e-04 -4.35094574e+01] [-1.69023048e-03 -3.44210349e-05 9.99998571e-01 -7.19918332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.72, Y:-43.52, Z:-0.72 [[ 9.59557418e-01 2.81508252e-01 1.63286275e-03 3.18721477e+02] [-2.81507914e-01 9.59558806e-01 -4.37976054e-04 -4.35237401e+01] [-1.69012171e-03 -3.94006163e-05 9.99998571e-01 -7.20935319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:-43.53, Z:-0.72 [[ 9.58739741e-01 2.84280572e-01 1.63278896e-03 3.18753108e+02] [-2.84280238e-01 9.58741130e-01 -4.38250972e-04 -4.35346911e+01] [-1.69000817e-03 -4.40010107e-05 9.99998571e-01 -7.19283279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.78, Y:-43.55, Z:-0.72 [[ 9.57802950e-01 2.87421021e-01 1.63270982e-03 3.18784077e+02] [-2.87420691e-01 9.57804340e-01 -4.38545626e-04 -4.35457565e+01] [-1.68986378e-03 -4.92342890e-05 9.99998571e-01 -7.16958946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.81, Y:-43.56, Z:-0.71 [[ 9.56042794e-01 2.93222630e-01 1.63263051e-03 3.18814312e+02] [-2.93222307e-01 9.56044186e-01 -4.38840680e-04 -4.35598833e+01] [-1.68954492e-03 -5.91732146e-05 9.99998571e-01 -7.13154385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.84, Y:-43.57, Z:-0.72 [[ 9.54374455e-01 2.98607995e-01 1.63255128e-03 3.18844458e+02] [-2.98607680e-01 9.54375849e-01 -4.39135213e-04 -4.35726468e+01] [-1.68919680e-03 -6.83929213e-05 9.99998571e-01 -7.16730530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.88, Y:-43.58, Z:-0.72 [[ 9.53639299e-01 3.00947542e-01 1.63247787e-03 3.18875929e+02] [-3.00947230e-01 9.53640693e-01 -4.39407955e-04 -4.35823817e+01] [-1.68903607e-03 -7.22529991e-05 9.99998571e-01 -7.20799864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:-43.59, Z:-0.72 [[ 9.53036973e-01 3.02849574e-01 1.63239625e-03 3.18906082e+02] [-3.02849264e-01 9.53038368e-01 -4.39710956e-04 -4.35912668e+01] [-1.68890253e-03 -7.53092050e-05 9.99998571e-01 -7.24541725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.94, Y:-43.60, Z:-0.73 [[ 9.52225384e-01 3.05391803e-01 1.63233033e-03 3.18936513e+02] [-3.05391496e-01 9.52226780e-01 -4.39955554e-04 -4.36001014e+01] [-1.68870747e-03 -7.95629538e-05 9.99998571e-01 -7.25733167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.97, Y:-43.61, Z:-0.72 [[ 9.51915549e-01 3.06356205e-01 1.63225503e-03 3.18966934e+02] [-3.06355899e-01 9.51916945e-01 -4.40234715e-04 -4.36081948e+01] [-1.68863986e-03 -8.09846875e-05 9.99998571e-01 -7.23686138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:-43.61, Z:-0.72 [[ 9.50999950e-01 3.09186726e-01 1.63218714e-03 3.18999671e+02] [-3.09186424e-01 9.51001347e-01 -4.40486301e-04 -4.36145417e+01] [-1.68840468e-03 -8.57476548e-05 9.99998571e-01 -7.20230783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:-43.62, Z:-0.72 [[ 9.50302360e-01 3.11324205e-01 1.63210771e-03 3.19032079e+02] [-3.11323905e-01 9.50303758e-01 -4.40780385e-04 -4.36216301e+01] [-1.68822370e-03 -8.92395072e-05 9.99998571e-01 -7.21849434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:-43.63, Z:-0.73 [[ 9.49450196e-01 3.13913463e-01 1.63202871e-03 3.19063449e+02] [-3.13913167e-01 9.49451594e-01 -4.41072695e-04 -4.36281558e+01] [-1.68799092e-03 -9.35387462e-05 9.99998571e-01 -7.25210979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.10, Y:-43.63, Z:-0.73 [[ 9.48001713e-01 3.18261039e-01 1.63195506e-03 3.19096658e+02] [-3.18260749e-01 9.48003112e-01 -4.41345038e-04 -4.36299189e+01] [-1.68756141e-03 -1.00991389e-04 9.99998571e-01 -7.25392831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:-43.63, Z:-0.72 [[ 9.47505831e-01 3.19734324e-01 1.63187730e-03 3.19127935e+02] [-3.19734036e-01 9.47507230e-01 -4.41632361e-04 -4.36338737e+01] [-1.68742057e-03 -1.03317479e-04 9.99998571e-01 -7.23074288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.16, Y:-43.63, Z:-0.72 [[ 9.46992768e-01 3.21250733e-01 1.63184016e-03 3.19162035e+02] [-3.21250447e-01 9.46994169e-01 -4.41769571e-04 -4.36346976e+01] [-1.68726191e-03 -1.05876792e-04 9.99998571e-01 -7.15224229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:-43.64, Z:-0.71 [[ 9.47001659e-01 3.21224524e-01 1.63176142e-03 3.19194703e+02] [-3.21224237e-01 9.47003059e-01 -4.42060205e-04 -4.36401270e+01] [-1.68728364e-03 -1.05529571e-04 9.99998571e-01 -7.14860698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.23, Y:-43.64, Z:-0.72 [[ 9.47564298e-01 3.19561009e-01 1.63168002e-03 3.19227143e+02] [-3.19560719e-01 9.47565697e-01 -4.42360482e-04 -4.36410205e+01] [-1.68748518e-03 -1.02255840e-04 9.99998571e-01 -7.19807680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.26, Y:-43.65, Z:-0.72 [[ 9.47794747e-01 3.18876866e-01 1.63162928e-03 3.19260206e+02] [-3.18876575e-01 9.47796146e-01 -4.42547541e-04 -4.36453991e+01] [-1.68757012e-03 -1.00844121e-04 9.99998571e-01 -7.21822017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.29, Y:-43.64, Z:-0.72 [[ 9.48241349e-01 3.17546345e-01 1.63155062e-03 3.19292566e+02] [-3.17546052e-01 9.48242748e-01 -4.42837353e-04 -4.36448638e+01] [-1.68772743e-03 -9.81757680e-05 9.99998571e-01 -7.22102436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.32, Y:-43.65, Z:-0.72 [[ 9.48513524e-01 3.16732430e-01 1.63154079e-03 3.19321809e+02] [-3.16732136e-01 9.48514922e-01 -4.42873566e-04 -4.36485589e+01] [-1.68781321e-03 -9.66898315e-05 9.99998571e-01 -7.20854751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.35, Y:-43.65, Z:-0.72 [[ 9.48807025e-01 3.15852130e-01 1.63154570e-03 3.19350448e+02] [-3.15851833e-01 9.48808423e-01 -4.42855459e-04 -4.36521903e+01] [-1.68790115e-03 -9.51423312e-05 9.99998571e-01 -7.20080936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.38, Y:-43.65, Z:-0.72 [[ 9.49481858e-01 3.13817686e-01 1.63156027e-03 3.19381818e+02] [-3.13817387e-01 9.49483255e-01 -4.42801775e-04 -4.36516847e+01] [-1.68809819e-03 -9.15797297e-05 9.99998571e-01 -7.22311814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.41, Y:-43.65, Z:-0.72 [[ 9.49899515e-01 3.12551195e-01 1.63157006e-03 3.19411027e+02] [-3.12550894e-01 9.49900912e-01 -4.42765725e-04 -4.36547178e+01] [-1.68821684e-03 -8.93657328e-05 9.99998571e-01 -7.24768495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.44, Y:-43.65, Z:-0.73 [[ 9.51137911e-01 3.08762064e-01 1.63158963e-03 3.19442440e+02] [-3.08761757e-01 9.51139307e-01 -4.42693580e-04 -4.36538087e+01] [-1.68855602e-03 -8.27098353e-05 9.99998571e-01 -7.26744574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.47, Y:-43.66, Z:-0.73 [[ 9.51885491e-01 3.06449587e-01 1.63159969e-03 3.19471272e+02] [-3.06449277e-01 9.51886886e-01 -4.42656519e-04 -4.36573115e+01] [-1.68875025e-03 -7.86442268e-05 9.99998571e-01 -7.25806695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.50, Y:-43.66, Z:-0.72 [[ 9.53214356e-01 3.02290803e-01 1.63161993e-03 3.19500068e+02] [-3.02290488e-01 9.53215749e-01 -4.42581875e-04 -4.36569614e+01] [-1.68907425e-03 -7.13477895e-05 9.99998571e-01 -7.23859134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.53, Y:-43.66, Z:-0.72 [[ 9.53690747e-01 3.00784468e-01 1.63164795e-03 3.19529328e+02] [-3.00784151e-01 9.53692141e-01 -4.42478568e-04 -4.36605111e+01] [-1.68918051e-03 -6.87861263e-05 9.99998571e-01 -7.23729473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:-43.67, Z:-0.72 [[ 9.53704572e-01 3.00740632e-01 1.63166828e-03 3.19557665e+02] [-3.00740314e-01 9.53705965e-01 -4.42403590e-04 -4.36681042e+01] [-1.68918051e-03 -6.87861052e-05 9.99998571e-01 -7.23779056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:-43.67, Z:-0.72 [[ 9.54107615e-01 2.99459509e-01 1.63168861e-03 3.19587469e+02] [-2.99459190e-01 9.54109007e-01 -4.42328590e-04 -4.36718323e+01] [-1.68926830e-03 -6.65950736e-05 9.99998571e-01 -7.23370198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:-43.67, Z:-0.72 [[ 9.54854323e-01 2.97069956e-01 1.63169918e-03 3.19615993e+02] [-2.97069633e-01 9.54855716e-01 -4.42289595e-04 -4.36717054e+01] [-1.68942824e-03 -6.24061448e-05 9.99998571e-01 -7.22869652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:319.65, Y:-43.68, Z:-0.72 [[ 9.55343328e-01 2.95493593e-01 1.63172549e-03 3.19645169e+02] [-2.95493268e-01 9.55344719e-01 -4.42192514e-04 -4.36758071e+01] [-1.68952538e-03 -5.97182294e-05 9.99998571e-01 -7.21043758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:-43.68, Z:-0.72 [[ 9.56481554e-01 2.91788236e-01 1.63174550e-03 3.19674175e+02] [-2.91787906e-01 9.56482944e-01 -4.42118659e-04 -4.36769823e+01] [-1.68974176e-03 -5.32452612e-05 9.99998571e-01 -7.20382491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:-43.68, Z:-0.72 [[ 9.57137359e-01 2.89629788e-01 1.63177578e-03 3.19701861e+02] [-2.89629454e-01 9.57138748e-01 -4.42006867e-04 -4.36810721e+01] [-1.68985418e-03 -4.95490441e-05 9.99998571e-01 -7.22614702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:-43.68, Z:-0.73 [[ 9.58711776e-01 2.84374872e-01 1.63180085e-03 3.19729948e+02] [-2.84374532e-01 9.58713164e-01 -4.41914300e-04 -4.36828471e+01] [-1.69009828e-03 -4.03741594e-05 9.99998571e-01 -7.30049583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.76, Y:-43.69, Z:-0.73 [[ 9.59615261e-01 2.81311016e-01 1.63182582e-03 3.19757933e+02] [-2.81310671e-01 9.59616648e-01 -4.41822076e-04 -4.36880586e+01] [-1.69021664e-03 -3.50708095e-05 9.99998571e-01 -7.30874289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:-43.69, Z:-0.73 [[ 9.60570915e-01 2.78030312e-01 1.63184538e-03 3.19785875e+02] [-2.78029962e-01 9.60572301e-01 -4.41749802e-04 -4.36936956e+01] [-1.69032531e-03 -2.93698991e-05 9.99998571e-01 -7.27681552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:-43.70, Z:-0.72 [[ 9.62193454e-01 2.72362064e-01 1.63186603e-03 3.19813737e+02] [-2.72361707e-01 9.62194838e-01 -4.41673527e-04 -4.36979956e+01] [-1.69046818e-03 -1.94824412e-05 9.99998571e-01 -7.22298295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:-43.70, Z:-0.72 [[ 9.62959706e-01 2.69640394e-01 1.63189171e-03 3.19841878e+02] [-2.69640033e-01 9.62961088e-01 -4.41578626e-04 -4.37046918e+01] [-1.69051565e-03 -1.48009100e-05 9.99998571e-01 -7.20893273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.87, Y:-43.71, Z:-0.72 [[ 9.64599458e-01 2.63714281e-01 1.63191227e-03 3.19869557e+02] [-2.63713911e-01 9.64600839e-01 -4.41502641e-04 -4.37126145e+01] [-1.69057449e-03 -4.48475877e-06 9.99998571e-01 -7.18897562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:-43.72, Z:-0.72 [[ 9.65423688e-01 2.60680725e-01 1.63193316e-03 3.19897440e+02] [-2.60680351e-01 9.65425067e-01 -4.41425397e-04 -4.37214120e+01] [-1.69058027e-03 7.49625680e-07 9.99998571e-01 -7.18421833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:-43.73, Z:-0.72 [[ 9.67040914e-01 2.54615804e-01 1.63195434e-03 3.19923975e+02] [-2.54615421e-01 9.67042291e-01 -4.41347090e-04 -4.37334196e+01] [-1.69054280e-03 1.12799518e-05 9.99998571e-01 -7.18693475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:-43.74, Z:-0.72 [[ 9.67804301e-01 2.51698574e-01 1.63197550e-03 3.19952297e+02] [-2.51698188e-01 9.67805677e-01 -4.41268826e-04 -4.37439690e+01] [-1.69050189e-03 1.62965921e-05 9.99998571e-01 -7.18795035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:-43.76, Z:-0.72 [[ 9.69033882e-01 2.46922400e-01 1.63198618e-03 3.19978027e+02] [-2.46922007e-01 9.69035256e-01 -4.41229322e-04 -4.37574241e+01] [-1.69040155e-03 2.45928605e-05 9.99998571e-01 -7.19026482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:-43.77, Z:-0.72 [[ 9.69335926e-01 2.45734000e-01 1.63199681e-03 3.20007404e+02] [-2.45733605e-01 9.69337300e-01 -4.41190011e-04 -4.37687552e+01] [-1.69037076e-03 2.66248685e-05 9.99998571e-01 -7.19097260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.04, Y:-43.78, Z:-0.72 [[ 9.69333512e-01 2.45743522e-01 1.63198574e-03 3.20036224e+02] [-2.45743127e-01 9.69334886e-01 -4.41230955e-04 -4.37791310e+01] [-1.69037036e-03 2.66506728e-05 9.99998571e-01 -7.18368397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.06, Y:-43.79, Z:-0.72 [[ 9.68664948e-01 2.48365770e-01 1.63198026e-03 3.20064471e+02] [-2.48365379e-01 9.68666322e-01 -4.41251206e-04 -4.37893458e+01] [-1.69043601e-03 2.20971798e-05 9.99998571e-01 -7.17922008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:-43.80, Z:-0.72 [[ 9.68151810e-01 2.50358560e-01 1.63198558e-03 3.20092080e+02] [-2.50358172e-01 9.68153186e-01 -4.41231538e-04 -4.37972812e+01] [-1.69047813e-03 1.85981855e-05 9.99998571e-01 -7.20414877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:-43.81, Z:-0.72 [[ 9.67319246e-01 2.53556330e-01 1.63200121e-03 3.20120695e+02] [-2.53555947e-01 9.67320623e-01 -4.41173722e-04 -4.38055846e+01] [-1.69053081e-03 1.29522205e-05 9.99998571e-01 -7.24510516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:-43.81, Z:-0.72 [[ 9.67020617e-01 2.54692880e-01 1.63201153e-03 3.20149461e+02] [-2.54692498e-01 9.67021994e-01 -4.41135524e-04 -4.38141296e+01] [-1.69054512e-03 1.09260525e-05 9.99998571e-01 -7.24365201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:-43.82, Z:-0.72 [[ 9.66856535e-01 2.55315053e-01 1.63202184e-03 3.20178219e+02] [-2.55314672e-01 9.66857913e-01 -4.41097404e-04 -4.38221754e+01] [-1.69055203e-03 9.79878821e-06 9.99998571e-01 -7.21990614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.21, Y:-43.83, Z:-0.72 [[ 9.66498263e-01 2.56667965e-01 1.63203211e-03 3.20206031e+02] [-2.56667586e-01 9.66499641e-01 -4.41059387e-04 -4.38295526e+01] [-1.69056426e-03 7.39338886e-06 9.99998571e-01 -7.18571905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:-43.84, Z:-0.72 [[ 9.66371625e-01 2.57144354e-01 1.63204742e-03 3.20234389e+02] [-2.57143976e-01 9.66373003e-01 -4.41002725e-04 -4.38370200e+01] [-1.69056793e-03 6.50135691e-06 9.99998571e-01 -7.18263113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.26, Y:-43.84, Z:-0.72 [[ 9.65889715e-01 2.58948635e-01 1.63206744e-03 3.20262681e+02] [-2.58948260e-01 9.65891093e-01 -4.40928618e-04 -4.38445419e+01] [-1.69057727e-03 3.26739348e-06 9.99998571e-01 -7.20794752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.29, Y:-43.85, Z:-0.72 [[ 9.65630006e-01 2.59915426e-01 1.63208738e-03 3.20290856e+02] [-2.59915052e-01 9.65631385e-01 -4.40854811e-04 -4.38514445e+01] [-1.69057976e-03 1.49855784e-06 9.99998571e-01 -7.21495326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.32, Y:-43.86, Z:-0.72 [[ 9.64926917e-01 2.62513582e-01 1.63210739e-03 3.20318066e+02] [-2.62513212e-01 9.64928297e-01 -4.40780708e-04 -4.38562879e+01] [-1.69057753e-03 -3.12858428e-06 9.99998571e-01 -7.20764101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.35, Y:-43.86, Z:-0.72 [[ 9.64517030e-01 2.64015598e-01 1.63213235e-03 3.20346234e+02] [-2.64015230e-01 9.64518410e-01 -4.40688282e-04 -4.38626332e+01] [-1.69057028e-03 -5.85644434e-06 9.99998571e-01 -7.20291425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.37, Y:-43.87, Z:-0.72 [[ 9.63789602e-01 2.66658844e-01 1.63215205e-03 3.20374640e+02] [-2.66658480e-01 9.63790984e-01 -4.40615316e-04 -4.38689563e+01] [-1.69054740e-03 -1.05667236e-05 9.99998571e-01 -7.19633444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.40, Y:-43.88, Z:-0.72 [[ 9.63607200e-01 2.67317227e-01 1.63217257e-03 3.20402664e+02] [-2.67316864e-01 9.63608582e-01 -4.40539271e-04 -4.38756320e+01] [-1.69053923e-03 -1.18004397e-05 9.99998571e-01 -7.21117921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:-43.88, Z:-0.72 [[ 9.63501956e-01 2.67696316e-01 1.63219356e-03 3.20430174e+02] [-2.67695954e-01 9.63503338e-01 -4.40461496e-04 -4.38822774e+01] [-1.69053386e-03 -1.25460992e-05 9.99998571e-01 -7.22824481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.46, Y:-43.89, Z:-0.72 [[ 9.63335960e-01 2.68293058e-01 1.63222308e-03 3.20457896e+02] [-2.68292697e-01 9.63337342e-01 -4.40352071e-04 -4.38883396e+01] [-1.69052485e-03 -1.37065464e-05 9.99998571e-01 -7.22778456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.49, Y:-43.90, Z:-0.72 [[ 9.63229007e-01 2.68676787e-01 1.63224371e-03 3.20485830e+02] [-2.68676427e-01 9.63230390e-01 -4.40275573e-04 -4.38955140e+01] [-1.69051858e-03 -1.44592062e-05 9.99998571e-01 -7.20062455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.51, Y:-43.90, Z:-0.72 [[ 9.62662869e-01 2.70698239e-01 1.63226430e-03 3.20512773e+02] [-2.70697881e-01 9.62664253e-01 -4.40199227e-04 -4.39017534e+01] [-1.69048365e-03 -1.80870380e-05 9.99998571e-01 -7.17127898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.54, Y:-43.91, Z:-0.72 [[ 9.62316123e-01 2.71928328e-01 1.63228986e-03 3.20541402e+02] [-2.71927972e-01 9.62317507e-01 -4.40104439e-04 -4.39081439e+01] [-1.69045797e-03 -2.03456745e-05 9.99998571e-01 -7.18279049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:-43.91, Z:-0.72 [[ 9.61865061e-01 2.73519542e-01 1.63231080e-03 3.20569828e+02] [-2.73519189e-01 9.61866446e-01 -4.40026751e-04 -4.39144537e+01] [-1.69042091e-03 -2.32219693e-05 9.99998571e-01 -7.19425628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.60, Y:-43.92, Z:-0.72 [[ 9.60820629e-01 2.77166114e-01 1.63233185e-03 3.20597539e+02] [-2.77165766e-01 9.60822015e-01 -4.39948663e-04 -4.39183777e+01] [-1.69031924e-03 -2.97147570e-05 9.99998571e-01 -7.19757152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.62, Y:-43.92, Z:-0.72 [[ 9.60269068e-01 2.79071051e-01 1.63235801e-03 3.20624993e+02] [-2.79070707e-01 9.60270455e-01 -4.39851578e-04 -4.39233295e+01] [-1.69025501e-03 -3.31674386e-05 9.99998571e-01 -7.19547096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.65, Y:-43.92, Z:-0.72 [[ 9.59327893e-01 2.82289440e-01 1.63238798e-03 3.20653459e+02] [-2.82289100e-01 9.59329282e-01 -4.39740327e-04 -4.39238299e+01] [-1.69013164e-03 -3.89501729e-05 9.99998571e-01 -7.21316593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.68, Y:-43.93, Z:-0.72 [[ 9.58808380e-01 2.84048984e-01 1.63242008e-03 3.20681149e+02] [-2.84048647e-01 9.58809769e-01 -4.39621115e-04 -4.39275702e+01] [-1.69005425e-03 -4.21743060e-05 9.99998571e-01 -7.23193037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:-43.93, Z:-0.72 [[ 9.58458923e-01 2.85225925e-01 1.63244667e-03 3.20711534e+02] [-2.85225590e-01 9.58460312e-01 -4.39522383e-04 -4.39273521e+01] [-1.68999852e-03 -4.43514139e-05 9.99998571e-01 -7.21248567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.74, Y:-43.93, Z:-0.72 [[ 9.58648697e-01 2.84587439e-01 1.63246756e-03 3.20739476e+02] [-2.84587103e-01 9.58650086e-01 -4.39444762e-04 -4.39307068e+01] [-1.69002563e-03 -4.33060651e-05 9.99998571e-01 -7.19682832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:-43.94, Z:-0.72 [[ 9.58977957e-01 2.83475949e-01 1.63249921e-03 3.20766404e+02] [-2.83475612e-01 9.58979345e-01 -4.39327177e-04 -4.39353721e+01] [-1.69007171e-03 -4.14686327e-05 9.99998571e-01 -7.19180251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.79, Y:-43.94, Z:-0.72 [[ 9.60484541e-01 2.78328549e-01 1.63253608e-03 3.20792623e+02] [-2.78328205e-01 9.60485928e-01 -4.39190119e-04 -4.39407862e+01] [-1.69026708e-03 -3.25455151e-05 9.99998571e-01 -7.20441246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.82, Y:-43.95, Z:-0.72 [[ 9.62329493e-01 2.71881005e-01 1.63257136e-03 3.20820320e+02] [-2.71880652e-01 9.62330878e-01 -4.39058912e-04 -4.39459776e+01] [-1.69044561e-03 -2.13452256e-05 9.99998571e-01 -7.20411321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.85, Y:-43.95, Z:-0.72 [[ 9.62869390e-01 2.69962724e-01 1.63260189e-03 3.20848142e+02] [-2.69962367e-01 9.62870774e-01 -4.38945381e-04 -4.39518567e+01] [-1.69048353e-03 -1.80939999e-05 9.99998571e-01 -7.18406409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.88, Y:-43.96, Z:-0.72 [[ 9.63174311e-01 2.68872797e-01 1.63263240e-03 3.20875554e+02] [-2.68872439e-01 9.63175695e-01 -4.38831847e-04 -4.39579632e+01] [-1.69050180e-03 -1.62982955e-05 9.99998571e-01 -7.16683744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:-43.96, Z:-0.72 [[ 9.62980006e-01 2.69567882e-01 1.63266377e-03 3.20901610e+02] [-2.69567526e-01 9.62981390e-01 -4.38715114e-04 -4.39641382e+01] [-1.69048833e-03 -1.76392510e-05 9.99998571e-01 -7.17820418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.93, Y:-43.97, Z:-0.72 [[ 9.62358200e-01 2.71779374e-01 1.63270028e-03 3.20928909e+02] [-2.71779021e-01 9.62359585e-01 -4.38579201e-04 -4.39688013e+01] [-1.69044155e-03 -2.16633934e-05 9.99998571e-01 -7.21051377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.96, Y:-43.97, Z:-0.72 [[ 9.62097772e-01 2.72699855e-01 1.63273144e-03 3.20956157e+02] [-2.72699503e-01 9.62099157e-01 -4.38463163e-04 -4.39739096e+01] [-1.69041839e-03 -2.34006215e-05 9.99998571e-01 -7.20150348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:-43.98, Z:-0.72 [[ 9.61778589e-01 2.73823445e-01 1.63276346e-03 3.20982393e+02] [-2.73823096e-01 9.61779975e-01 -4.38343918e-04 -4.39788517e+01] [-1.69038804e-03 -2.54985490e-05 9.99998571e-01 -7.18181151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.01, Y:-43.98, Z:-0.72 [[ 9.61396939e-01 2.75160426e-01 1.63280048e-03 3.21009880e+02] [-2.75160079e-01 9.61398325e-01 -4.38205953e-04 -4.39822111e+01] [-1.69034859e-03 -2.79916478e-05 9.99998571e-01 -7.18811166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.04, Y:-43.99, Z:-0.72 [[ 9.61368173e-01 2.75260911e-01 1.63283669e-03 3.21037171e+02] [-2.75260564e-01 9.61369560e-01 -4.38071010e-04 -4.39880223e+01] [-1.69034331e-03 -2.83080205e-05 9.99998571e-01 -7.20468321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:321.06, Y:-43.99, Z:-0.72 [[ 9.61631309e-01 2.74340225e-01 1.63286728e-03 3.21064408e+02] [-2.74339877e-01 9.61632695e-01 -4.37956931e-04 -4.39947465e+01] [-1.69036777e-03 -2.68075129e-05 9.99998571e-01 -7.22874600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.09, Y:-44.00, Z:-0.72 [[ 9.61905189e-01 2.73378385e-01 1.63289777e-03 3.21091725e+02] [-2.73378035e-01 9.61906575e-01 -4.37843247e-04 -4.40022482e+01] [-1.69039198e-03 -2.52346922e-05 9.99998571e-01 -7.23628960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.12, Y:-44.01, Z:-0.72 [[ 9.62741315e-01 2.70419109e-01 1.63292885e-03 3.21117470e+02] [-2.70418755e-01 9.62742699e-01 -4.37727307e-04 -4.40107467e+01] [-1.69046015e-03 -2.01564234e-05 9.99998571e-01 -7.23659642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.14, Y:-44.02, Z:-0.72 [[ 9.63295874e-01 2.68436943e-01 1.63296486e-03 3.21143722e+02] [-2.68436587e-01 9.63297258e-01 -4.37592922e-04 -4.40203256e+01] [-1.69049668e-03 -1.68160568e-05 9.99998571e-01 -7.21968055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.17, Y:-44.03, Z:-0.72 [[ 9.64320043e-01 2.64734183e-01 1.63299038e-03 3.21169214e+02] [-2.64733822e-01 9.64321426e-01 -4.37497645e-04 -4.40339385e+01] [-1.69054820e-03 -1.04200377e-05 9.99998571e-01 -7.23111323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.20, Y:-44.04, Z:-0.73 [[ 9.64777096e-01 2.63063659e-01 1.63302128e-03 3.21196378e+02] [-2.63063295e-01 9.64778478e-01 -4.37382284e-04 -4.40448748e+01] [-1.69056317e-03 -7.61154927e-06 9.99998571e-01 -7.26449849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.22, Y:-44.06, Z:-0.73 [[ 9.65273150e-01 2.61237590e-01 1.63304254e-03 3.21222097e+02] [-2.61237224e-01 9.65274532e-01 -4.37302907e-04 -4.40557005e+01] [-1.69057433e-03 -4.49474564e-06 9.99998571e-01 -7.29353602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.25, Y:-44.07, Z:-0.73 [[ 9.66080365e-01 2.58236444e-01 1.63306891e-03 3.21247788e+02] [-2.58236074e-01 9.66081745e-01 -4.37204403e-04 -4.40730253e+01] [-1.69058017e-03 6.57284750e-07 9.99998571e-01 -7.27940565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.27, Y:-44.09, Z:-0.73 [[ 9.66410636e-01 2.56997695e-01 1.63308986e-03 3.21273173e+02] [-2.56997323e-01 9.66412016e-01 -4.37126130e-04 -4.40852749e+01] [-1.69057807e-03 2.74361814e-06 9.99998571e-01 -7.26294082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.30, Y:-44.09, Z:-0.73 [[ 9.66428048e-01 2.56932212e-01 1.63311584e-03 3.21300743e+02] [-2.56931840e-01 9.66429428e-01 -4.37029055e-04 -4.40925066e+01] [-1.69057805e-03 2.75767914e-06 9.99998571e-01 -7.26342255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.33, Y:-44.11, Z:-0.72 [[ 9.66539488e-01 2.56512671e-01 1.63314544e-03 3.21325968e+02] [-2.56512299e-01 9.66540868e-01 -4.36918394e-04 -4.41094452e+01] [-1.69057692e-03 3.37698922e-06 9.99998571e-01 -7.21454898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:-44.12, Z:-0.72 [[ 9.66308997e-01 2.57379595e-01 1.63316546e-03 3.21352754e+02] [-2.57379224e-01 9.66310377e-01 -4.36843549e-04 -4.41216162e+01] [-1.69057935e-03 1.78299138e-06 9.99998571e-01 -7.19473293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.38, Y:-44.14, Z:-0.72 [[ 9.65443288e-01 2.60608115e-01 1.63318544e-03 3.21377865e+02] [-2.60607749e-01 9.65444670e-01 -4.36768833e-04 -4.41374271e+01] [-1.69057568e-03 -3.94524328e-06 9.99998571e-01 -7.18063453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.40, Y:-44.15, Z:-0.72 [[ 9.64956464e-01 2.62404946e-01 1.63320583e-03 3.21404774e+02] [-2.62404583e-01 9.64957846e-01 -4.36692605e-04 -4.41474818e+01] [-1.69056508e-03 -7.17134172e-06 9.99998571e-01 -7.19063875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:321.43, Y:-44.16, Z:-0.72 [[ 9.64390075e-01 2.64478953e-01 1.63322101e-03 3.21430775e+02] [-2.64478593e-01 9.64391458e-01 -4.36635821e-04 -4.41568270e+01] [-1.69054537e-03 -1.08647413e-05 9.99998571e-01 -7.20900736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:-44.17, Z:-0.72 [[ 9.62862476e-01 2.69987378e-01 1.63324902e-03 3.21459442e+02] [-2.69987026e-01 9.62863861e-01 -4.36531032e-04 -4.41694269e+01] [-1.69045432e-03 -2.06366929e-05 9.99998571e-01 -7.23595575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.49, Y:-44.18, Z:-0.72 [[ 9.61990436e-01 2.73078254e-01 1.63324902e-03 3.21487260e+02] [-2.73077906e-01 9.61991822e-01 -4.36531032e-04 -4.41783340e+01] [-1.69037933e-03 -2.60655436e-05 9.99998571e-01 -7.24364505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.52, Y:-44.18, Z:-0.72 [[ 9.59972695e-01 2.80088838e-01 1.63325430e-03 3.21515508e+02] [-2.80088500e-01 9.59974084e-01 -4.36511251e-04 -4.41838629e+01] [-1.69014373e-03 -3.84168654e-05 9.99998571e-01 -7.23755279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.54, Y:-44.19, Z:-0.72 [[ 9.58960878e-01 2.83533715e-01 1.63327453e-03 3.21542510e+02] [-2.83533382e-01 9.58962268e-01 -4.36435539e-04 -4.41888541e+01] [-1.68999284e-03 -4.45632452e-05 9.99998571e-01 -7.24243425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.57, Y:-44.19, Z:-0.73 [[ 9.58118995e-01 2.86365716e-01 1.63330280e-03 3.21570105e+02] [-2.86365388e-01 9.58120386e-01 -4.36329744e-04 -4.41943260e+01] [-1.68985059e-03 -4.96655737e-05 9.99998571e-01 -7.25042135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.60, Y:-44.20, Z:-0.72 [[ 9.57467466e-01 2.88536626e-01 1.63332836e-03 3.21598323e+02] [-2.88536301e-01 9.57468857e-01 -4.36234024e-04 -4.41990256e+01] [-1.68973053e-03 -5.35946388e-05 9.99998571e-01 -7.24696106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.63, Y:-44.21, Z:-0.72 [[ 9.57724176e-01 2.87683393e-01 1.63334865e-03 3.21625885e+02] [-2.87683067e-01 9.57725568e-01 -4.36158035e-04 -4.42052874e+01] [-1.68977519e-03 -5.21676556e-05 9.99998571e-01 -7.24705258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.65, Y:-44.21, Z:-0.72 [[ 9.59266272e-01 2.82498764e-01 1.63337391e-03 3.21654001e+02] [-2.82498431e-01 9.59267662e-01 -4.36063442e-04 -4.42110691e+01] [-1.69003015e-03 -4.31246129e-05 9.99998571e-01 -7.23202642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.68, Y:-44.22, Z:-0.72 [[ 9.60326242e-01 2.78874240e-01 1.63339411e-03 3.21681232e+02] [-2.78873902e-01 9.60327630e-01 -4.35987766e-04 -4.42177584e+01] [-1.69017925e-03 -3.68204947e-05 9.99998571e-01 -7.22561667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.71, Y:-44.22, Z:-0.72 [[ 9.62456628e-01 2.71430601e-01 1.63341931e-03 3.21709643e+02] [-2.71430252e-01 9.62458014e-01 -4.35893338e-04 -4.42246406e+01] [-1.69041229e-03 -2.38309825e-05 9.99998571e-01 -7.20943971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.74, Y:-44.23, Z:-0.72 [[ 9.63464676e-01 2.67830448e-01 1.63342957e-03 3.21737136e+02] [-2.67830094e-01 9.63466061e-01 -4.35854887e-04 -4.42324911e+01] [-1.69048916e-03 -1.75508064e-05 9.99998571e-01 -7.21328289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.76, Y:-44.24, Z:-0.72 [[ 9.65125701e-01 2.61781805e-01 1.63344052e-03 3.21764534e+02] [-2.61781443e-01 9.65127083e-01 -4.35813824e-04 -4.42405905e+01] [-1.69056581e-03 -6.98929348e-06 9.99998571e-01 -7.18170818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.79, Y:-44.25, Z:-0.72 [[ 9.65959593e-01 2.58687834e-01 1.63345568e-03 3.21792634e+02] [-2.58687467e-01 9.65960975e-01 -4.35757017e-04 -4.42481793e+01] [-1.69057948e-03 -1.63084120e-06 9.99998571e-01 -7.16276688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.82, Y:-44.26, Z:-0.72 [[ 9.67811528e-01 2.51670774e-01 1.63347534e-03 3.21820272e+02] [-2.51670397e-01 9.67812906e-01 -4.35683294e-04 -4.42587803e+01] [-1.69054727e-03 1.05619268e-05 9.99998571e-01 -7.16732046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.85, Y:-44.27, Z:-0.72 [[ 9.68668760e-01 2.48350889e-01 1.63348524e-03 3.21848801e+02] [-2.48350508e-01 9.68670138e-01 -4.35646179e-04 -4.42707757e+01] [-1.69050149e-03 1.63199564e-05 9.99998571e-01 -7.18490382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.88, Y:-44.28, Z:-0.72 [[ 9.69282593e-01 2.45944277e-01 1.63348524e-03 3.21877375e+02] [-2.45943892e-01 9.69283969e-01 -4.35646180e-04 -4.42837357e+01] [-1.69045574e-03 2.05185415e-05 9.99998571e-01 -7.19935301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.91, Y:-44.30, Z:-0.72 [[ 9.70124496e-01 2.42602131e-01 1.63347522e-03 3.21907438e+02] [-2.42601741e-01 9.70125871e-01 -4.35683731e-04 -4.42998511e+01] [-1.69037437e-03 2.63835272e-05 9.99998571e-01 -7.22685560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.94, Y:-44.31, Z:-0.72 [[ 9.70289732e-01 2.41940421e-01 1.63339332e-03 3.21938033e+02] [-2.41940030e-01 9.70291107e-01 -4.35990575e-04 -4.43107109e+01] [-1.69035075e-03 2.78539502e-05 9.99998571e-01 -7.24050453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.97, Y:-44.32, Z:-0.72 [[ 9.70106075e-01 2.42675783e-01 1.63331670e-03 3.21968141e+02] [-2.42675393e-01 9.70107449e-01 -4.36277413e-04 -4.43249439e+01] [-1.69036666e-03 2.68695976e-05 9.99998571e-01 -7.23745991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.00, Y:-44.34, Z:-0.72 [[ 9.69706777e-01 2.44266450e-01 1.63323581e-03 3.21997608e+02] [-2.44266061e-01 9.69708152e-01 -4.36580033e-04 -4.43367680e+01] [-1.69040393e-03 2.44105392e-05 9.99998571e-01 -7.23466366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.03, Y:-44.35, Z:-0.73 [[ 9.68685522e-01 2.48285505e-01 1.63316039e-03 3.22027281e+02] [-2.48285121e-01 9.68686899e-01 -4.36861965e-04 -4.43493567e+01] [-1.69048757e-03 1.76924343e-05 9.99998571e-01 -7.25695030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.06, Y:-44.36, Z:-0.73 [[ 9.67991549e-01 2.50977478e-01 1.63308553e-03 3.22058734e+02] [-2.50977098e-01 9.67992926e-01 -4.37141627e-04 -4.43595174e+01] [-1.69052795e-03 1.32823333e-05 9.99998571e-01 -7.25092607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.09, Y:-44.37, Z:-0.72 [[ 9.67078721e-01 2.54472159e-01 1.63300507e-03 3.22089035e+02] [-2.54471783e-01 9.67080100e-01 -4.37441981e-04 -4.43718250e+01] [-1.69056352e-03 7.48711818e-06 9.99998571e-01 -7.21842418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.12, Y:-44.38, Z:-0.72 [[ 9.66894695e-01 2.55170497e-01 1.63292996e-03 3.22120156e+02] [-2.55170121e-01 9.66896074e-01 -4.37722191e-04 -4.43818697e+01] [-1.69056736e-03 6.55632769e-06 9.99998571e-01 -7.20025271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.15, Y:-44.39, Z:-0.72 [[ 9.66777962e-01 2.55612415e-01 1.63285083e-03 3.22151798e+02] [-2.55612040e-01 9.66779341e-01 -4.38017171e-04 -4.43910741e+01] [-1.69056908e-03 6.08901640e-06 9.99998571e-01 -7.19098009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:-44.40, Z:-0.72 [[ 9.66469208e-01 2.56777342e-01 1.63277072e-03 3.22182848e+02] [-2.56776968e-01 9.66470588e-01 -4.38315599e-04 -4.43995592e+01] [-1.69057439e-03 4.36061596e-06 9.99998571e-01 -7.21835244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.21, Y:-44.41, Z:-0.72 [[ 9.66221076e-01 2.57709460e-01 1.63269574e-03 3.22213487e+02] [-2.57709087e-01 9.66222456e-01 -4.38594708e-04 -4.44081441e+01] [-1.69057729e-03 3.01892146e-06 9.99998571e-01 -7.23324651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.24, Y:-44.41, Z:-0.72 [[ 9.65631491e-01 2.59909902e-01 1.63262757e-03 3.22244001e+02] [-2.59909532e-01 9.65632872e-01 -4.38848329e-04 -4.44142132e+01] [-1.69057987e-03 -5.69700278e-07 9.99998571e-01 -7.21983451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.27, Y:-44.42, Z:-0.72 [[ 9.65273312e-01 2.61236995e-01 1.63256450e-03 3.22274002e+02] [-2.61236626e-01 9.65274693e-01 -4.39082843e-04 -4.44205412e+01] [-1.69057787e-03 -2.65068995e-06 9.99998571e-01 -7.21712186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.30, Y:-44.43, Z:-0.72 [[ 9.65009750e-01 2.62208920e-01 1.63256450e-03 3.22303707e+02] [-2.62208552e-01 9.65011131e-01 -4.39082843e-04 -4.44274138e+01] [-1.69057435e-03 -4.35314796e-06 9.99998571e-01 -7.21764661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.33, Y:-44.44, Z:-0.72 [[ 9.64963359e-01 2.62379591e-01 1.63256450e-03 3.22333158e+02] [-2.62379224e-01 9.64964740e-01 -4.39082843e-04 -4.44356539e+01] [-1.69057355e-03 -4.65214960e-06 9.99998571e-01 -7.20895990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.36, Y:-44.45, Z:-0.72 [[ 9.65173946e-01 2.61603877e-01 1.63256450e-03 3.22364835e+02] [-2.61603508e-01 9.65175327e-01 -4.39082843e-04 -4.44453436e+01] [-1.69057674e-03 -3.29327896e-06 9.99998571e-01 -7.19358515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:-44.45, Z:-0.72 [[ 9.65228089e-01 2.61404039e-01 1.63248272e-03 3.22395109e+02] [-2.61403669e-01 9.65229469e-01 -4.39386668e-04 -4.44546530e+01] [-1.69057788e-03 -2.62861981e-06 9.99998571e-01 -7.21121302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.43, Y:-44.46, Z:-0.72 [[ 9.65194909e-01 2.61526526e-01 1.63240627e-03 3.22425473e+02] [-2.61526156e-01 9.65196289e-01 -4.39670509e-04 -4.44639173e+01] [-1.69057798e-03 -2.54920019e-06 9.99998571e-01 -7.22664128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.46, Y:-44.48, Z:-0.72 [[ 9.64878985e-01 2.62689702e-01 1.63239667e-03 3.22456421e+02] [-2.62689334e-01 9.64880366e-01 -4.39706139e-04 -4.44750342e+01] [-1.69057377e-03 -4.54998198e-06 9.99998571e-01 -7.22110257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.49, Y:-44.48, Z:-0.72 [[ 9.64518974e-01 2.64008495e-01 1.63231273e-03 3.22486566e+02] [-2.64008128e-01 9.64520355e-01 -4.40017528e-04 -4.44843363e+01] [-1.69056722e-03 -6.53857446e-06 9.99998571e-01 -7.21025716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:-44.49, Z:-0.72 [[ 9.63925694e-01 2.66166476e-01 1.63226053e-03 3.22517251e+02] [-2.66166112e-01 9.63927075e-01 -4.40211103e-04 -4.44938621e+01] [-1.69054955e-03 -1.01216465e-05 9.99998571e-01 -7.20943224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.55, Y:-44.50, Z:-0.72 [[ 9.62746274e-01 2.70401458e-01 1.63218521e-03 3.22546549e+02] [-2.70401100e-01 9.62747657e-01 -4.40490167e-04 -4.45045338e+01] [-1.69049167e-03 -1.72644110e-05 9.99998571e-01 -7.22410717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:-44.52, Z:-0.72 [[ 9.61973899e-01 2.73136511e-01 1.63217548e-03 3.22576469e+02] [-2.73136157e-01 9.61975283e-01 -4.40526234e-04 -4.45153512e+01] [-1.69043627e-03 -2.20313991e-05 9.99998571e-01 -7.22868717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.61, Y:-44.52, Z:-0.72 [[ 9.61686899e-01 2.74145299e-01 1.63210595e-03 3.22606721e+02] [-2.74144946e-01 9.61688283e-01 -4.40783666e-04 -4.45243001e+01] [-1.69041594e-03 -2.35377220e-05 9.99998571e-01 -7.22851738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:-44.53, Z:-0.72 [[ 9.61442056e-01 2.75002746e-01 1.63203188e-03 3.22638446e+02] [-2.75002393e-01 9.61443440e-01 -4.41057775e-04 -4.45334168e+01] [-1.69039844e-03 -2.47611782e-05 9.99998571e-01 -7.22275368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.67, Y:-44.54, Z:-0.72 [[ 9.61318111e-01 2.75435701e-01 1.63194785e-03 3.22669462e+02] [-2.75435349e-01 9.61319496e-01 -4.41368476e-04 -4.45420452e+01] [-1.69039192e-03 -2.52006145e-05 9.99998571e-01 -7.22585786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.965769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.70, Y:-44.55, Z:-0.72 [[ 9.60916250e-01 2.76834421e-01 1.63186951e-03 3.22700385e+02] [-2.76834070e-01 9.60917636e-01 -4.41657909e-04 -4.45500382e+01] [-1.69035831e-03 -2.73608183e-05 9.99998571e-01 -7.23485954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.73, Y:-44.56, Z:-0.72 [[ 9.59947905e-01 2.80173796e-01 1.63181956e-03 3.22733113e+02] [-2.80173450e-01 9.59949292e-01 -4.41842404e-04 -4.45558647e+01] [-1.69025669e-03 -3.30468240e-05 9.99998571e-01 -7.23036652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.76, Y:-44.56, Z:-0.72 [[ 9.59151791e-01 2.82887221e-01 1.63173636e-03 3.22764877e+02] [-2.82886878e-01 9.59153178e-01 -4.42149436e-04 -4.45619683e+01] [-1.69016354e-03 -3.75083808e-05 9.99998571e-01 -7.23404039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.79, Y:-44.57, Z:-0.73 [[ 9.58230387e-01 2.85992767e-01 1.63168470e-03 3.22794489e+02] [-2.85992428e-01 9.58231775e-01 -4.42340007e-04 -4.45669198e+01] [-1.69003817e-03 -4.27858327e-05 9.99998571e-01 -7.25082303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:-44.57, Z:-0.72 [[ 9.56624984e-01 2.91317657e-01 1.63167967e-03 3.22824187e+02] [-2.91317326e-01 9.56626374e-01 -4.42358559e-04 -4.45679736e+01] [-1.68977466e-03 -5.21653084e-05 9.99998571e-01 -7.24663746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.85, Y:-44.57, Z:-0.72 [[ 9.56111844e-01 2.92997405e-01 1.63169780e-03 3.22854542e+02] [-2.92997076e-01 9.56113235e-01 -4.42291663e-04 -4.45697533e+01] [-1.68967817e-03 -5.52023868e-05 9.99998571e-01 -7.21081014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:-44.57, Z:-0.72 [[ 9.56262117e-01 2.92506582e-01 1.63170778e-03 3.22883904e+02] [-2.92506253e-01 9.56263508e-01 -4.42254855e-04 -4.45748170e+01] [-1.68970506e-03 -5.43731642e-05 9.99998571e-01 -7.20862898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.91, Y:-44.58, Z:-0.72 [[ 9.56599010e-01 2.91402936e-01 1.63171797e-03 3.22912937e+02] [-2.91402606e-01 9.56600400e-01 -4.42217246e-04 -4.45792274e+01] [-1.68976547e-03 -5.24622886e-05 9.99998571e-01 -7.21694161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:-44.58, Z:-0.72 [[ 9.57517356e-01 2.88371030e-01 1.63172816e-03 3.22942947e+02] [-2.88370695e-01 9.57518745e-01 -4.42179647e-04 -4.45799142e+01] [-1.68992210e-03 -4.71478966e-05 9.99998571e-01 -7.24217313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:-44.58, Z:-0.72 [[ 9.57812204e-01 2.87390187e-01 1.63174344e-03 3.22971826e+02] [-2.87389850e-01 9.57813593e-01 -4.42123264e-04 -4.45844622e+01] [-1.68996793e-03 -4.54754435e-05 9.99998571e-01 -7.23938799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:-44.59, Z:-0.72 [[ 9.58113856e-01 2.86382919e-01 1.63176370e-03 3.23000304e+02] [-2.86382581e-01 9.58115245e-01 -4.42048458e-04 -4.45850296e+01] [-1.69001281e-03 -4.37759478e-05 9.99998571e-01 -7.18745535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.03, Y:-44.59, Z:-0.72 [[ 9.58077704e-01 2.86503839e-01 1.63178891e-03 3.23027933e+02] [-2.86503501e-01 9.58079093e-01 -4.41955383e-04 -4.45884453e+01] [-1.69000475e-03 -4.40856373e-05 9.99998571e-01 -7.16404356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.06, Y:-44.59, Z:-0.72 [[ 9.58089499e-01 2.86464393e-01 1.63181398e-03 3.23056901e+02] [-2.86464056e-01 9.58090888e-01 -4.41862790e-04 -4.45922546e+01] [-1.69000406e-03 -4.41119522e-05 9.99998571e-01 -7.15867936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:-44.59, Z:-0.72 [[ 9.58554783e-01 2.84903606e-01 1.63183461e-03 3.23084754e+02] [-2.84903267e-01 9.58556171e-01 -4.41786605e-04 -4.45941597e+01] [-1.69007173e-03 -4.14383470e-05 9.99998571e-01 -7.18479089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:-44.60, Z:-0.72 [[ 9.59088515e-01 2.83101672e-01 1.63186403e-03 3.23111703e+02] [-2.83101330e-01 9.59089903e-01 -4.41677902e-04 -4.45992994e+01] [-1.69014407e-03 -3.83746744e-05 9.99998571e-01 -7.19394512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:-44.60, Z:-0.72 [[ 9.60043941e-01 2.79844542e-01 1.63188892e-03 3.23140565e+02] [-2.79844195e-01 9.60045328e-01 -4.41585912e-04 -4.46036318e+01] [-1.69026274e-03 -3.27327626e-05 9.99998571e-01 -7.19064596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.17, Y:-44.61, Z:-0.72 [[ 9.60063227e-01 2.79778370e-01 1.63190913e-03 3.23168115e+02] [-2.79778023e-01 9.60064614e-01 -4.41511210e-04 -4.46109458e+01] [-1.69026350e-03 -3.26936338e-05 9.99998571e-01 -7.19112773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:-44.62, Z:-0.72 [[ 9.60296214e-01 2.78977631e-01 1.63193956e-03 3.23196825e+02] [-2.78977283e-01 9.60297600e-01 -4.41398728e-04 -4.46168237e+01] [-1.69028801e-03 -3.14005367e-05 9.99998571e-01 -7.20573424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.23, Y:-44.62, Z:-0.72 [[ 9.60505387e-01 2.78256605e-01 1.63196003e-03 3.23225461e+02] [-2.78256257e-01 9.60506773e-01 -4.41323009e-04 -4.46214255e+01] [-1.69030971e-03 -3.02099616e-05 9.99998571e-01 -7.21277217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.25, Y:-44.63, Z:-0.72 [[ 9.60594273e-01 2.77949599e-01 1.63198053e-03 3.23252974e+02] [-2.77949251e-01 9.60595659e-01 -4.41247202e-04 -4.46267609e+01] [-1.69031789e-03 -2.97482296e-05 9.99998571e-01 -7.20999507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:-44.63, Z:-0.72 [[ 9.60655796e-01 2.77736888e-01 1.63200603e-03 3.23280645e+02] [-2.77736539e-01 9.60657181e-01 -4.41152856e-04 -4.46318864e+01] [-1.69032274e-03 -2.94716594e-05 9.99998571e-01 -7.20867515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.31, Y:-44.64, Z:-0.72 [[ 9.60081278e-01 2.79716420e-01 1.63203671e-03 3.23307608e+02] [-2.79716075e-01 9.60082665e-01 -4.41039332e-04 -4.46357467e+01] [-1.69025610e-03 -3.30732963e-05 9.99998571e-01 -7.23257047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.34, Y:-44.64, Z:-0.73 [[ 9.59558976e-01 2.81502944e-01 1.63207240e-03 3.23336300e+02] [-2.81502601e-01 9.59560364e-01 -4.40907239e-04 -4.46419620e+01] [-1.69018867e-03 -3.63561255e-05 9.99998571e-01 -7.25352058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:-44.64, Z:-0.73 [[ 9.58824084e-01 2.83995973e-01 1.63209258e-03 3.23363819e+02] [-2.83995634e-01 9.58825472e-01 -4.40832528e-04 -4.46437671e+01] [-1.69008660e-03 -4.08263213e-05 9.99998571e-01 -7.25379525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.39, Y:-44.65, Z:-0.72 [[ 9.58589127e-01 2.84788028e-01 1.63212780e-03 3.23392288e+02] [-2.84787690e-01 9.58590516e-01 -4.40702079e-04 -4.46480779e+01] [-1.69004890e-03 -4.23576847e-05 9.99998571e-01 -7.23747247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.715769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:-44.65, Z:-0.72 [[ 9.58431888e-01 2.85316758e-01 1.63214819e-03 3.23419316e+02] [-2.85316421e-01 9.58433277e-01 -4.40626532e-04 -4.46527742e+01] [-1.69002328e-03 -4.33681619e-05 9.99998571e-01 -7.22336456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:-44.66, Z:-0.72 [[ 9.58373455e-01 2.85512971e-01 1.63218367e-03 3.23446964e+02] [-2.85512635e-01 9.58374844e-01 -4.40495081e-04 -4.46571854e+01] [-1.69001083e-03 -4.38502666e-05 9.99998571e-01 -7.19335269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:-44.66, Z:-0.72 [[ 9.58546594e-01 2.84931154e-01 1.63221318e-03 3.23473468e+02] [-2.84930817e-01 9.58547983e-01 -4.40385711e-04 -4.46623956e+01] [-1.69003426e-03 -4.29376117e-05 9.99998571e-01 -7.19265092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.50, Y:-44.66, Z:-0.72 [[ 9.59214788e-01 2.82673532e-01 1.63226431e-03 3.23502100e+02] [-2.82673192e-01 9.59216176e-01 -4.40196109e-04 -4.46645944e+01] [-1.69012612e-03 -3.91547464e-05 9.99998571e-01 -7.22507959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.53, Y:-44.67, Z:-0.72 [[ 9.59576660e-01 2.81442656e-01 1.63229350e-03 3.23529594e+02] [-2.81442314e-01 9.59578048e-01 -4.40087848e-04 -4.46694195e+01] [-1.69017250e-03 -3.70984324e-05 9.99998571e-01 -7.23588473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.56, Y:-44.67, Z:-0.72 [[ 9.59929840e-01 2.80235684e-01 1.63232494e-03 3.23555951e+02] [-2.80235341e-01 9.59931227e-01 -4.39971213e-04 -4.46741782e+01] [-1.69021531e-03 -3.50936392e-05 9.99998571e-01 -7.23616404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.58, Y:-44.68, Z:-0.72 [[ 9.60725131e-01 2.77496952e-01 1.63236143e-03 3.23583686e+02] [-2.77496605e-01 9.60726517e-01 -4.39835783e-04 -4.46771192e+01] [-1.69030600e-03 -3.04134645e-05 9.99998571e-01 -7.19558309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.61, Y:-44.68, Z:-0.72 [[ 9.61060681e-01 2.76332594e-01 1.63239237e-03 3.23610941e+02] [-2.76332246e-01 9.61062067e-01 -4.39720912e-04 -4.46825066e+01] [-1.69033961e-03 -2.84841711e-05 9.99998571e-01 -7.17879802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:-44.69, Z:-0.72 [[ 9.61380437e-01 2.75218077e-01 1.63242335e-03 3.23637803e+02] [-2.75217728e-01 9.61381823e-01 -4.39605864e-04 -4.46859097e+01] [-1.69036962e-03 -2.66433676e-05 9.99998571e-01 -7.18262215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.67, Y:-44.69, Z:-0.72 [[ 9.61493807e-01 2.74821749e-01 1.63247780e-03 3.23665319e+02] [-2.74821399e-01 9.61495193e-01 -4.39403575e-04 -4.46910483e+01] [-1.69037722e-03 -2.61560178e-05 9.99998571e-01 -7.21012630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.69, Y:-44.70, Z:-0.72 [[ 9.61641726e-01 2.74303710e-01 1.63250874e-03 3.23692005e+02] [-2.74303359e-01 9.61643112e-01 -4.39288592e-04 -4.46958279e+01] [-1.69038928e-03 -2.53643923e-05 9.99998571e-01 -7.22820886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.72, Y:-44.70, Z:-0.72 [[ 9.62192369e-01 2.72365895e-01 1.63254469e-03 3.23719901e+02] [-2.72365541e-01 9.62193753e-01 -4.39154962e-04 -4.46980536e+01] [-1.69043514e-03 -2.20973652e-05 9.99998571e-01 -7.22555520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.75, Y:-44.70, Z:-0.72 [[ 9.62569235e-01 2.71030998e-01 1.63257524e-03 3.23747912e+02] [-2.71030643e-01 9.62570620e-01 -4.39041370e-04 -4.47033258e+01] [-1.69046278e-03 -1.98702013e-05 9.99998571e-01 -7.23827685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.78, Y:-44.71, Z:-0.73 [[ 9.63491283e-01 2.67734723e-01 1.63260563e-03 3.23776086e+02] [-2.67734364e-01 9.63492666e-01 -4.38928338e-04 -4.47076556e+01] [-1.69051991e-03 -1.42010009e-05 9.99998571e-01 -7.25446379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.80, Y:-44.71, Z:-0.73 [[ 9.63889016e-01 2.66299268e-01 1.63263683e-03 3.23802242e+02] [-2.66298907e-01 9.63890398e-01 -4.38812234e-04 -4.47139283e+01] [-1.69053834e-03 -1.18031113e-05 9.99998571e-01 -7.25355336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.83, Y:-44.72, Z:-0.73 [[ 9.64321875e-01 2.64727512e-01 1.63269176e-03 3.23829475e+02] [-2.64727149e-01 9.64323257e-01 -4.38607773e-04 -4.47174818e+01] [-1.69055418e-03 -9.25876373e-06 9.99998571e-01 -7.25713296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.86, Y:-44.72, Z:-0.73 [[ 9.64401980e-01 2.64435539e-01 1.63272752e-03 3.23856828e+02] [-2.64435176e-01 9.64403362e-01 -4.38474604e-04 -4.47217342e+01] [-1.69055618e-03 -8.88481279e-06 9.99998571e-01 -7.25701935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.88, Y:-44.73, Z:-0.73 [[ 9.64492614e-01 2.64104775e-01 1.63275831e-03 3.23883743e+02] [-2.64104411e-01 9.64493996e-01 -4.38359920e-04 -4.47255138e+01] [-1.69055854e-03 -8.42376670e-06 9.99998571e-01 -7.25384944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.91, Y:-44.73, Z:-0.72 [[ 9.64659129e-01 2.63495917e-01 1.63279399e-03 3.23912429e+02] [-2.63495553e-01 9.64660511e-01 -4.38226983e-04 -4.47287214e+01] [-1.69056291e-03 -7.49429579e-06 9.99998571e-01 -7.23139013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.94, Y:-44.73, Z:-0.72 [[ 9.64909008e-01 2.62579399e-01 1.63281426e-03 3.23939209e+02] [-2.62579033e-01 9.64910389e-01 -4.38151467e-04 -4.47348688e+01] [-1.69056899e-03 -5.96649138e-06 9.99998571e-01 -7.21677391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.97, Y:-44.74, Z:-0.72 [[ 9.65816254e-01 2.59222487e-01 1.63284957e-03 3.23966252e+02] [-2.59222117e-01 9.65817634e-01 -4.38019811e-04 -4.47405747e+01] [-1.69057950e-03 -2.24069489e-07 9.99998571e-01 -7.21659653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.99, Y:-44.75, Z:-0.72 [[ 9.66622063e-01 2.56201331e-01 1.63287923e-03 3.23992278e+02] [-2.56200956e-01 9.66623442e-01 -4.37909235e-04 -4.47470888e+01] [-1.69057227e-03 4.94750844e-06 9.99998571e-01 -7.22529324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.02, Y:-44.75, Z:-0.72 [[ 9.67580828e-01 2.52556282e-01 1.63291370e-03 3.24019304e+02] [-2.52555903e-01 9.67582205e-01 -4.37780664e-04 -4.47544737e+01] [-1.69054249e-03 1.11861845e-05 9.99998571e-01 -7.22789183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.04, Y:-44.76, Z:-0.72 [[ 9.69641752e-01 2.44524450e-01 1.63294478e-03 3.24044733e+02] [-2.44524060e-01 9.69643126e-01 -4.37664683e-04 -4.47637728e+01] [-1.69039340e-03 2.50836626e-05 9.99998571e-01 -7.21974318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.07, Y:-44.77, Z:-0.72 [[ 9.70473824e-01 2.41200934e-01 1.63299888e-03 3.24071109e+02] [-2.41200539e-01 9.70475197e-01 -4.37462736e-04 -4.47733293e+01] [-1.69030133e-03 3.06659227e-05 9.99998571e-01 -7.21562824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.465769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:-44.79, Z:-0.72 [[ 9.71583675e-01 2.36690717e-01 1.63302971e-03 3.24095916e+02] [-2.36690316e-01 9.71585047e-01 -4.37347614e-04 -4.47868448e+01] [-1.69014337e-03 3.83974828e-05 9.99998571e-01 -7.20843057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:-44.80, Z:-0.72 [[ 9.71773791e-01 2.35908950e-01 1.63306552e-03 3.24122197e+02] [-2.35908548e-01 9.71775162e-01 -4.37213858e-04 -4.47978124e+01] [-1.69011518e-03 3.96188524e-05 9.99998571e-01 -7.21489659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:-44.81, Z:-0.72 [[ 9.71539986e-01 2.36869981e-01 1.63309813e-03 3.24146845e+02] [-2.36869581e-01 9.71541358e-01 -4.37092026e-04 -4.48122826e+01] [-1.69015636e-03 3.78211116e-05 9.99998571e-01 -7.24711782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.17, Y:-44.82, Z:-0.73 [[ 9.71016944e-01 2.39005077e-01 1.63312521e-03 3.24172192e+02] [-2.39004680e-01 9.71018317e-01 -4.36990814e-04 -4.48220537e+01] [-1.69023752e-03 3.40009154e-05 9.99998571e-01 -7.25273499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.20, Y:-44.83, Z:-0.72 [[ 9.68858125e-01 2.47611121e-01 1.63316068e-03 3.24197501e+02] [-2.47610737e-01 9.68859501e-01 -4.36858236e-04 -4.48327466e+01] [-1.69047420e-03 1.88655331e-05 9.99998571e-01 -7.23967817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:-44.84, Z:-0.72 [[ 9.67462867e-01 2.53007776e-01 1.63319454e-03 3.24223982e+02] [-2.53007399e-01 9.67464245e-01 -4.36731602e-04 -4.48408568e+01] [-1.69055381e-03 9.31130482e-06 9.99998571e-01 -7.23834918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:-44.85, Z:-0.72 [[ 9.65964967e-01 2.58667770e-01 1.63322514e-03 3.24250759e+02] [-2.58667401e-01 9.65966348e-01 -4.36617153e-04 -4.48484048e+01] [-1.69057930e-03 -7.05227600e-07 9.99998571e-01 -7.24962026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.28, Y:-44.85, Z:-0.73 [[ 9.62994353e-01 2.69516620e-01 1.63325684e-03 3.24278973e+02] [-2.69516267e-01 9.62995738e-01 -4.36498534e-04 -4.48538224e+01] [-1.69046298e-03 -1.98436630e-05 9.99998571e-01 -7.26597488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:-44.86, Z:-0.73 [[ 9.61845108e-01 2.73589694e-01 1.63327811e-03 3.24305684e+02] [-2.73589347e-01 9.61846494e-01 -4.36418918e-04 -4.48594489e+01] [-1.69036254e-03 -2.70800914e-05 9.99998571e-01 -7.27621727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.33, Y:-44.86, Z:-0.73 [[ 9.60212023e-01 2.79267262e-01 1.63331501e-03 3.24332732e+02] [-2.79266924e-01 9.60213411e-01 -4.36280782e-04 -4.48642373e+01] [-1.69016992e-03 -3.72088066e-05 9.99998571e-01 -7.29304388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.36, Y:-44.87, Z:-0.73 [[ 9.59819852e-01 2.80612158e-01 1.63337138e-03 3.24358905e+02] [-2.80611822e-01 9.59821241e-01 -4.36069635e-04 -4.48691859e+01] [-1.69011099e-03 -3.97950266e-05 9.99998571e-01 -7.30190579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.39, Y:-44.87, Z:-0.73 [[ 9.59592151e-01 2.81389828e-01 1.63342677e-03 3.24387208e+02] [-2.81389493e-01 9.59593541e-01 -4.35862040e-04 -4.48738025e+01] [-1.69007293e-03 -4.13793402e-05 9.99998571e-01 -7.29381145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.42, Y:-44.88, Z:-0.72 [[ 9.59942300e-01 2.80192993e-01 1.63344701e-03 3.24415988e+02] [-2.80192656e-01 9.59943689e-01 -4.35786180e-04 -4.48754305e+01] [-1.69012139e-03 -3.93502696e-05 9.99998571e-01 -7.24408221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.44, Y:-44.88, Z:-0.72 [[ 9.60445552e-01 2.78463057e-01 1.63347222e-03 3.24443870e+02] [-2.78462718e-01 9.60446940e-01 -4.35691666e-04 -4.48805307e+01] [-1.69018743e-03 -3.64029931e-05 9.99998571e-01 -7.23921033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.47, Y:-44.88, Z:-0.73 [[ 9.61429579e-01 2.75046354e-01 1.63350277e-03 3.24472007e+02] [-2.75046011e-01 9.61430966e-01 -4.35577096e-04 -4.48842083e+01] [-1.69030404e-03 -3.05117180e-05 9.99998571e-01 -7.28286147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.50, Y:-44.89, Z:-0.73 [[ 9.61971662e-01 2.73144381e-01 1.63352307e-03 3.24500801e+02] [-2.73144035e-01 9.61973049e-01 -4.35500963e-04 -4.48895268e+01] [-1.69035981e-03 -2.72474977e-05 9.99998571e-01 -7.30196161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.53, Y:-44.89, Z:-0.73 [[ 9.63111437e-01 2.69097921e-01 1.63354330e-03 3.24529004e+02] [-2.69097570e-01 9.63112822e-01 -4.35425057e-04 -4.48925297e+01] [-1.69045848e-03 -2.02196805e-05 9.99998571e-01 -7.30081864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.56, Y:-44.90, Z:-0.73 [[ 9.63676632e-01 2.67066810e-01 1.63356338e-03 3.24557095e+02] [-2.67066456e-01 9.63678016e-01 -4.35349732e-04 -4.48979318e+01] [-1.69049658e-03 -1.67336188e-05 9.99998571e-01 -7.28140140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.58, Y:-44.90, Z:-0.73 [[ 9.64334300e-01 2.64682243e-01 1.63358389e-03 3.24583344e+02] [-2.64681886e-01 9.64335683e-01 -4.35272758e-04 -4.49034174e+01] [-1.69053220e-03 -1.26316139e-05 9.99998571e-01 -7.26065832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.61, Y:-44.91, Z:-0.73 [[ 9.64976539e-01 2.62331107e-01 1.63363976e-03 3.24609979e+02] [-2.62330747e-01 9.64977922e-01 -4.35062946e-04 -4.49094410e+01] [-1.69055685e-03 -8.72840278e-06 9.99998571e-01 -7.25433164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.64, Y:-44.91, Z:-0.73 [[ 9.65871880e-01 2.59015141e-01 1.63367503e-03 3.24637191e+02] [-2.59014776e-01 9.65873261e-01 -4.34930489e-04 -4.49141523e+01] [-1.69057661e-03 -3.05884181e-06 9.99998571e-01 -7.26668136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.66, Y:-44.92, Z:-0.73 [[ 9.66291748e-01 2.57444340e-01 1.63370556e-03 3.24664066e+02] [-2.57443973e-01 9.66293129e-01 -4.34815770e-04 -4.49195412e+01] [-1.69057932e-03 -4.28759025e-07 9.99998571e-01 -7.29252279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.69, Y:-44.93, Z:-0.73 [[ 9.66517406e-01 2.56595858e-01 1.63374095e-03 3.24691312e+02] [-2.56595490e-01 9.66518787e-01 -4.34682755e-04 -4.49256861e+01] [-1.69057912e-03 9.17889769e-07 9.99998571e-01 -7.28054266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:-44.93, Z:-0.73 [[ 9.66651795e-01 2.56089120e-01 1.63381569e-03 3.24718999e+02] [-2.56088751e-01 9.66653176e-01 -4.34401674e-04 -4.49315255e+01] [-1.69057866e-03 1.51333930e-06 9.99998571e-01 -7.26678700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:-44.94, Z:-0.73 [[ 9.66783555e-01 2.55591253e-01 1.63389053e-03 3.24746719e+02] [-2.55590885e-01 9.66784935e-01 -4.34119990e-04 -4.49371496e+01] [-1.69057802e-03 2.09254146e-06 9.99998571e-01 -7.25558684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.215769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.77, Y:-44.94, Z:-0.72 [[ 9.67349797e-01 2.53439739e-01 1.63392103e-03 3.24773208e+02] [-2.53439367e-01 9.67351177e-01 -4.34005146e-04 -4.49415219e+01] [-1.69056958e-03 5.73487678e-06 9.99998571e-01 -7.24801959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.80, Y:-44.95, Z:-0.72 [[ 9.67860346e-01 2.51482963e-01 1.63395648e-03 3.24800404e+02] [-2.51482589e-01 9.67861725e-01 -4.33871639e-04 -4.49484333e+01] [-1.69055527e-03 9.01554835e-06 9.99998571e-01 -7.24401842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.83, Y:-44.96, Z:-0.73 [[ 9.68718159e-01 2.48158133e-01 1.63398659e-03 3.24827404e+02] [-2.48157754e-01 9.68719537e-01 -4.33758211e-04 -4.49569138e+01] [-1.69051536e-03 1.47030124e-05 9.99998571e-01 -7.26198457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.85, Y:-44.96, Z:-0.73 [[ 9.69235090e-01 2.46131408e-01 1.63401710e-03 3.24853709e+02] [-2.46131026e-01 9.69236467e-01 -4.33643258e-04 -4.49644835e+01] [-1.69048219e-03 1.81199562e-05 9.99998571e-01 -7.27855458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.88, Y:-44.97, Z:-0.73 [[ 9.69251936e-01 2.46065063e-01 1.63405252e-03 3.24881289e+02] [-2.46064682e-01 9.69253313e-01 -4.33509743e-04 -4.49716566e+01] [-1.69048242e-03 1.80975431e-05 9.99998571e-01 -7.27903628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:324.91, Y:-44.98, Z:-0.72 [[ 9.70282710e-01 2.41968578e-01 1.63408219e-03 3.24907688e+02] [-2.41968192e-01 9.70284085e-01 -4.33397891e-04 -4.49800700e+01] [-1.69039261e-03 2.51225680e-05 9.99998571e-01 -7.21898308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.94, Y:-44.99, Z:-0.73 [[ 9.70756790e-01 2.40059543e-01 1.63411180e-03 3.24935050e+02] [-2.40059153e-01 9.70758165e-01 -4.33286202e-04 -4.49879096e+01] [-1.69034186e-03 2.83320265e-05 9.99998571e-01 -7.25166201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:-45.00, Z:-0.73 [[ 9.71209047e-01 2.38223249e-01 1.63414234e-03 3.24961163e+02] [-2.38222857e-01 9.71210422e-01 -4.33171001e-04 -4.49963772e+01] [-1.69028747e-03 3.14095387e-05 9.99998571e-01 -7.25361907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.99, Y:-45.01, Z:-0.73 [[ 9.71787666e-01 2.35851779e-01 1.63417778e-03 3.24987669e+02] [-2.35851384e-01 9.71789039e-01 -4.33037274e-04 -4.50070604e+01] [-1.69020866e-03 3.53971918e-05 9.99998571e-01 -7.25584953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.01, Y:-45.02, Z:-0.72 [[ 9.71964404e-01 2.35122366e-01 1.63420775e-03 3.25014226e+02] [-2.35121970e-01 9.71965777e-01 -4.32924139e-04 -4.50157823e+01] [-1.69018415e-03 3.65487069e-05 9.99998571e-01 -7.24600298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:-45.03, Z:-0.72 [[ 9.72053046e-01 2.34755627e-01 1.63423826e-03 3.25040838e+02] [-2.34755231e-01 9.72054419e-01 -4.32808939e-04 -4.50257368e+01] [-1.69017285e-03 3.70672689e-05 9.99998571e-01 -7.20734399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:-45.03, Z:-0.72 [[ 9.71973413e-01 2.35085121e-01 1.63426931e-03 3.25067092e+02] [-2.35084726e-01 9.71974786e-01 -4.32691656e-04 -4.50339300e+01] [-1.69018793e-03 3.63730337e-05 9.99998571e-01 -7.17775953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.10, Y:-45.04, Z:-0.71 [[ 9.71845738e-01 2.35612375e-01 1.63430526e-03 3.25095173e+02] [-2.35611980e-01 9.71847111e-01 -4.32555819e-04 -4.50423781e+01] [-1.69021035e-03 3.53156305e-05 9.99998571e-01 -7.14814356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:-45.05, Z:-0.72 [[ 9.71701048e-01 2.36208386e-01 1.63432643e-03 3.25120387e+02] [-2.36207992e-01 9.71702422e-01 -4.32475808e-04 -4.50514858e+01] [-1.69023337e-03 3.41962308e-05 9.99998571e-01 -7.15795596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:-45.06, Z:-0.72 [[ 9.71603069e-01 2.36611083e-01 1.63436319e-03 3.25147162e+02] [-2.36610691e-01 9.71604443e-01 -4.32336854e-04 -4.50605830e+01] [-1.69025023e-03 3.33520105e-05 9.99998571e-01 -7.18993880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.17, Y:-45.07, Z:-0.73 [[ 9.71223938e-01 2.38162532e-01 1.63438877e-03 3.25172966e+02] [-2.38162142e-01 9.71225312e-01 -4.32240148e-04 -4.50724983e+01] [-1.69030315e-03 3.05524497e-05 9.99998571e-01 -7.25026463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:-45.08, Z:-0.73 [[ 9.70998013e-01 2.39081969e-01 1.63441926e-03 3.25199149e+02] [-2.39081580e-01 9.70999388e-01 -4.32124825e-04 -4.50817990e+01] [-1.69033335e-03 2.88328079e-05 9.99998571e-01 -7.26134596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.23, Y:-45.09, Z:-0.72 [[ 9.70593649e-01 2.40718295e-01 1.63445000e-03 3.25225362e+02] [-2.40717909e-01 9.70595025e-01 -4.32008494e-04 -4.50924172e+01] [-1.69038139e-03 2.58633129e-05 9.99998571e-01 -7.23526618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:-45.10, Z:-0.72 [[ 9.70283587e-01 2.41965059e-01 1.63447556e-03 3.25252164e+02] [-2.41964675e-01 9.70284963e-01 -4.31911777e-04 -4.51006754e+01] [-1.69041462e-03 2.35915603e-05 9.99998571e-01 -7.22190044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:-45.11, Z:-0.72 [[ 9.69615193e-01 2.44629734e-01 1.63450612e-03 3.25277682e+02] [-2.44629353e-01 9.69616570e-01 -4.31796103e-04 -4.51121443e+01] [-1.69047438e-03 1.88278866e-05 9.99998571e-01 -7.21447769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.30, Y:-45.12, Z:-0.72 [[ 9.69396066e-01 2.45496629e-01 1.63455626e-03 3.25303788e+02] [-2.45496251e-01 9.69397444e-01 -4.31606232e-04 -4.51216934e+01] [-1.69049253e-03 1.71199516e-05 9.99998571e-01 -7.19937110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.33, Y:-45.13, Z:-0.72 [[ 9.69103074e-01 2.46650684e-01 1.63458684e-03 3.25329058e+02] [-2.46650307e-01 9.69104452e-01 -4.31490384e-04 -4.51327470e+01] [-1.69051278e-03 1.49873124e-05 9.99998571e-01 -7.19730482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.36, Y:-45.14, Z:-0.72 [[ 9.69010890e-01 2.47012599e-01 1.63463158e-03 3.25355342e+02] [-2.47012223e-01 9.69012268e-01 -4.31320802e-04 -4.51419492e+01] [-1.69051973e-03 1.41805729e-05 9.99998571e-01 -7.23009384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.38, Y:-45.15, Z:-0.73 [[ 9.68903093e-01 2.47435089e-01 1.63466233e-03 3.25381871e+02] [-2.47434714e-01 9.68904472e-01 -4.31204244e-04 -4.51514924e+01] [-1.69052670e-03 1.33229203e-05 9.99998571e-01 -7.27829712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.41, Y:-45.16, Z:-0.73 [[ 9.68429920e-01 2.49280599e-01 1.63469186e-03 3.25408921e+02] [-2.49280227e-01 9.68431300e-01 -4.31092254e-04 -4.51611778e+01] [-1.69054970e-03 9.98627924e-06 9.99998571e-01 -7.30697884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.44, Y:-45.17, Z:-0.73 [[ 9.68061776e-01 2.50706455e-01 1.63471248e-03 3.25436327e+02] [-2.50706084e-01 9.68063156e-01 -4.31014047e-04 -4.51680452e+01] [-1.69056293e-03 7.41585786e-06 9.99998571e-01 -7.29348563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:-45.17, Z:-0.72 [[ 9.67116967e-01 2.54326756e-01 1.63473819e-03 3.25463297e+02] [-2.54326391e-01 9.67118349e-01 -4.30916521e-04 -4.51739936e+01] [-1.69057890e-03 9.89614465e-07 9.99998571e-01 -7.22265989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.49, Y:-45.18, Z:-0.72 [[ 9.66538197e-01 2.56517526e-01 1.63476290e-03 3.25490129e+02] [-2.56517164e-01 9.66539580e-01 -4.30822760e-04 -4.51805278e+01] [-1.69057664e-03 -2.93808919e-06 9.99998571e-01 -7.20844662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.52, Y:-45.19, Z:-0.72 [[ 9.65973317e-01 2.58636575e-01 1.63479237e-03 3.25517163e+02] [-2.58636217e-01 9.65974700e-01 -4.30710897e-04 -4.51863579e+01] [-1.69056566e-03 -6.76128017e-06 9.99998571e-01 -7.20473253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:-45.19, Z:-0.72 [[ 9.65094118e-01 2.61898207e-01 1.63482219e-03 3.25545774e+02] [-2.61897853e-01 9.65095503e-01 -4.30597689e-04 -4.51882077e+01] [-1.69053231e-03 -1.25891261e-05 9.99998571e-01 -7.20468149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.57, Y:-45.19, Z:-0.72 [[ 9.64924618e-01 2.62522017e-01 1.63485194e-03 3.25574394e+02] [-2.62521664e-01 9.64926003e-01 -4.30484708e-04 -4.51913087e+01] [-1.69052286e-03 -1.37987601e-05 9.99998571e-01 -7.20906880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:-45.19, Z:-0.72 [[ 9.64753054e-01 2.63151805e-01 1.63488147e-03 3.25603304e+02] [-2.63151454e-01 9.64754439e-01 -4.30372515e-04 -4.51889724e+01] [-1.69051246e-03 -1.50182387e-05 9.99998571e-01 -7.24010281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.63, Y:-45.19, Z:-0.73 [[ 9.64909312e-01 2.62578268e-01 1.63491576e-03 3.25631073e+02] [-2.62577916e-01 9.64910697e-01 -4.30242219e-04 -4.51909751e+01] [-1.69051997e-03 -1.41480508e-05 9.99998571e-01 -7.25057208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.66, Y:-45.19, Z:-0.72 [[ 9.65263158e-01 2.61274496e-01 1.63494855e-03 3.25659868e+02] [-2.61274143e-01 9.65264543e-01 -4.30117598e-04 -4.51931166e+01] [-1.69053662e-03 -1.19931089e-05 9.99998571e-01 -7.24229663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.69, Y:-45.19, Z:-0.72 [[ 9.66220594e-01 2.57711256e-01 1.63497653e-03 3.25688470e+02] [-2.57710897e-01 9.66221977e-01 -4.30011219e-04 -4.51901525e+01] [-1.69056898e-03 -5.86557216e-06 9.99998571e-01 -7.21199487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.72, Y:-45.19, Z:-0.72 [[ 9.66797083e-01 2.55540068e-01 1.63500896e-03 3.25716365e+02] [-2.55539706e-01 9.66798466e-01 -4.29887858e-04 -4.51923586e+01] [-1.69057773e-03 -2.19538246e-06 9.99998571e-01 -7.19946371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.75, Y:-45.19, Z:-0.72 [[ 9.68141558e-01 2.50398184e-01 1.63503903e-03 3.25746322e+02] [-2.50397816e-01 9.68142938e-01 -4.29773447e-04 -4.51903352e+01] [-1.69056599e-03 6.67133174e-06 9.99998571e-01 -7.18894032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.77, Y:-45.19, Z:-0.72 [[ 9.68828356e-01 2.47727559e-01 1.63506911e-03 3.25774216e+02] [-2.47727187e-01 9.68829735e-01 -4.29659010e-04 -4.51923419e+01] [-1.69054195e-03 1.12147621e-05 9.99998571e-01 -7.19645110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.80, Y:-45.19, Z:-0.72 [[ 9.69445001e-01 2.45303315e-01 1.63510381e-03 3.25803011e+02] [-2.45302939e-01 9.69446380e-01 -4.29526896e-04 -4.51948194e+01] [-1.69050984e-03 1.53069310e-05 9.99998571e-01 -7.21265696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.83, Y:-45.19, Z:-0.73 [[ 9.70433244e-01 2.41364134e-01 1.63513363e-03 3.25832528e+02] [-2.41363753e-01 9.70434621e-01 -4.29413366e-04 -4.51944881e+01] [-1.69043527e-03 2.20550173e-05 9.99998571e-01 -7.25294997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.86, Y:-45.20, Z:-0.73 [[ 9.70909962e-01 2.39439287e-01 1.63516359e-03 3.25860730e+02] [-2.39438903e-01 9.70911339e-01 -4.29299251e-04 -4.51982618e+01] [-1.69038997e-03 2.52891446e-05 9.99998571e-01 -7.26787949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:-45.20, Z:-0.73 [[ 9.71848778e-01 2.35599828e-01 1.63519333e-03 3.25887756e+02] [-2.35599440e-01 9.71850153e-01 -4.29185917e-04 -4.52008656e+01] [-1.69027902e-03 3.18531762e-05 9.99998571e-01 -7.28491235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:-45.21, Z:-0.73 [[ 9.72489577e-01 2.32940654e-01 1.63522788e-03 3.25914300e+02] [-2.32940261e-01 9.72490951e-01 -4.29054266e-04 -4.52066400e+01] [-1.69018849e-03 3.63403930e-05 9.99998571e-01 -7.29287943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:-45.21, Z:-0.73 [[ 9.73257103e-01 2.29712728e-01 1.63528085e-03 3.25941270e+02] [-2.29712332e-01 9.73258476e-01 -4.28852270e-04 -4.52136870e+01] [-1.69006377e-03 4.17393412e-05 9.99998571e-01 -7.26787038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.97, Y:-45.22, Z:-0.73 [[ 9.74588094e-01 2.23998601e-01 1.63531089e-03 3.25966876e+02] [-2.23998197e-01 9.74589464e-01 -4.28737675e-04 -4.52217768e+01] [-1.68979341e-03 5.15359429e-05 9.99998571e-01 -7.25459401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.99, Y:-45.23, Z:-0.73 [[ 9.75101811e-01 2.21751625e-01 1.63534572e-03 3.25993160e+02] [-2.21751217e-01 9.75103181e-01 -4.28604802e-04 -4.52300920e+01] [-1.68967462e-03 5.52934153e-05 9.99998571e-01 -7.25237595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.02, Y:-45.24, Z:-0.73 [[ 9.75914700e-01 2.18146334e-01 1.63537543e-03 3.26017867e+02] [-2.18145922e-01 9.75916069e-01 -4.28491386e-04 -4.52412400e+01] [-1.68946299e-03 6.14205609e-05 9.99998571e-01 -7.26412051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.04, Y:-45.25, Z:-0.73 [[ 9.76222607e-01 2.16764267e-01 1.63540986e-03 3.26043353e+02] [-2.16763853e-01 9.76223974e-01 -4.28359951e-04 -4.52509355e+01] [-1.68937944e-03 6.36769249e-05 9.99998571e-01 -7.25966580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.07, Y:-45.26, Z:-0.72 [[ 9.76335875e-01 2.16253518e-01 1.63544414e-03 3.26069494e+02] [-2.16253103e-01 9.76337243e-01 -4.28229044e-04 -4.52612274e+01] [-1.68935106e-03 6.44255077e-05 9.99998571e-01 -7.24636513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:326.09, Y:-45.27, Z:-0.72 [[ 9.76133501e-01 2.17165177e-01 1.63547429e-03 3.26093732e+02] [-2.17164764e-01 9.76134869e-01 -4.28113860e-04 -4.52749859e+01] [-1.68941490e-03 6.27288933e-05 9.99998571e-01 -7.22317474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:326.12, Y:-45.28, Z:-0.72 [[ 9.75796205e-01 2.18675767e-01 1.63550917e-03 3.26119260e+02] [-2.18675356e-01 9.75797574e-01 -4.27980546e-04 -4.52849923e+01] [-1.68951486e-03 5.99762414e-05 9.99998571e-01 -7.20838934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:326.15, Y:-45.30, Z:-0.72 [[ 9.74823727e-01 2.22970910e-01 1.63555677e-03 3.26145062e+02] [-2.22970506e-01 9.74825097e-01 -4.27798562e-04 -4.52974525e+01] [-1.68976843e-03 5.23472668e-05 9.99998571e-01 -7.17540329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.775769231 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:326.17, Y:-45.31, Z:-0.72 [[ 9.74335753e-01 2.25093680e-01 1.63558568e-03 3.26170747e+02] [-2.25093278e-01 9.74337125e-01 -4.27688029e-04 -4.53072002e+01] [-1.68988172e-03 4.85523956e-05 9.99998571e-01 -7.16427375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80576923100006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:326.20, Y:-45.32, Z:-0.72 [[ 9.73906578e-01 2.26943388e-01 1.63563214e-03 3.26197331e+02] [-2.26942990e-01 9.73907951e-01 -4.27510257e-04 -4.53177573e+01] [-1.68997577e-03 4.51598030e-05 9.99998571e-01 -7.17977336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83576923100003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:326.22, Y:-45.33, Z:-0.72 [[ 9.73218886e-01 2.29874585e-01 1.63566262e-03 3.26222330e+02] [-2.29874191e-01 9.73220260e-01 -4.27393621e-04 -4.53312022e+01] [-1.69010693e-03 3.99509220e-05 9.99998571e-01 -7.22425971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:326.25, Y:-45.34, Z:-0.72 [[ 9.72943302e-01 2.31038214e-01 1.63568793e-03 3.26248090e+02] [-2.31037822e-01 9.72944676e-01 -4.27296751e-04 -4.53435426e+01] [-1.69015574e-03 3.78297365e-05 9.99998571e-01 -7.23797797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:326.27, Y:-45.35, Z:-0.72 [[ 9.72850697e-01 2.31427843e-01 1.63571811e-03 3.26273873e+02] [-2.31427452e-01 9.72852071e-01 -4.27181160e-04 -4.53526682e+01] [-1.69017337e-03 3.70334140e-05 9.99998571e-01 -7.21370527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:326.30, Y:-45.36, Z:-0.72 [[ 9.72729674e-01 2.31935996e-01 1.63575314e-03 3.26299495e+02] [-2.31935605e-01 9.72731048e-01 -4.27046982e-04 -4.53618994e+01] [-1.69019544e-03 3.60118759e-05 9.99998571e-01 -7.18466819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:326.33, Y:-45.37, Z:-0.72 [[ 9.72563312e-01 2.32632605e-01 1.63578495e-03 3.26325288e+02] [-2.32632216e-01 9.72564687e-01 -4.26925098e-04 -4.53749468e+01] [-1.69022338e-03 3.46754077e-05 9.99998571e-01 -7.21319126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98576923100006 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:326.35, Y:-45.39, Z:-0.73 [[ 9.72353249e-01 2.33509065e-01 1.63581463e-03 3.26351680e+02] [-2.33508678e-01 9.72354624e-01 -4.26811350e-04 -4.53890195e+01] [-1.69025624e-03 3.30344910e-05 9.99998571e-01 -7.27379013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:326.38, Y:-45.40, Z:-0.73 [[ 9.72219375e-01 2.34065825e-01 1.63583492e-03 3.26377327e+02] [-2.34065438e-01 9.72220751e-01 -4.26733586e-04 -4.53995417e+01] [-1.69027640e-03 3.19862442e-05 9.99998571e-01 -7.27723936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:326.40, Y:-45.41, Z:-0.73 [[ 9.72149240e-01 2.34356949e-01 1.63586022e-03 3.26403833e+02] [-2.34356563e-01 9.72150616e-01 -4.26636585e-04 -4.54106145e+01] [-1.69028776e-03 3.13798539e-05 9.99998571e-01 -7.26362707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:326.43, Y:-45.43, Z:-0.72 [[ 9.71977339e-01 2.35068876e-01 1.63588065e-03 3.26428793e+02] [-2.35068491e-01 9.71978715e-01 -4.26558206e-04 -4.54267603e+01] [-1.69031173e-03 3.00609127e-05 9.99998571e-01 -7.24277550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:326.46, Y:-45.44, Z:-0.73 [[ 9.71947541e-01 2.35192051e-01 1.63590606e-03 3.26455622e+02] [-2.35191667e-01 9.71948917e-01 -4.26460733e-04 -4.54390659e+01] [-1.69031730e-03 2.97459876e-05 9.99998571e-01 -7.26043826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13576923100004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:326.48, Y:-45.46, Z:-0.73 [[ 9.71859962e-01 2.35553683e-01 1.63592069e-03 3.26481551e+02] [-2.35553299e-01 9.71861339e-01 -4.26404604e-04 -4.54572526e+01] [-1.69032925e-03 2.90590460e-05 9.99998571e-01 -7.28198770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16576923100007 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:326.51, Y:-45.47, Z:-0.73 [[ 9.71631796e-01 2.36493078e-01 1.63593113e-03 3.26508280e+02] [-2.36492695e-01 9.71633173e-01 -4.26364545e-04 -4.54694209e+01] [-1.69035722e-03 2.73835860e-05 9.99998571e-01 -7.27631041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:326.53, Y:-45.48, Z:-0.72 [[ 9.71295211e-01 2.37871681e-01 1.63594671e-03 3.26534811e+02] [-2.37871301e-01 9.71296588e-01 -4.26304772e-04 -4.54806836e+01] [-1.69039529e-03 2.49230121e-05 9.99998571e-01 -7.24227593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2257692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:326.56, Y:-45.50, Z:-0.72 [[ 9.70091498e-01 2.42734029e-01 1.63596670e-03 3.26561418e+02] [-2.42733656e-01 9.70092877e-01 -4.26228031e-04 -4.54952902e+01] [-1.69049969e-03 1.63760111e-05 9.99998571e-01 -7.21821019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:326.59, Y:-45.50, Z:-0.72 [[ 9.70097253e-01 2.42711028e-01 1.63597686e-03 3.26590623e+02] [-2.42710654e-01 9.70098632e-01 -4.26189033e-04 -4.55028513e+01] [-1.69049970e-03 1.63757948e-05 9.99998571e-01 -7.21872015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2857692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:326.62, Y:-45.51, Z:-0.72 [[ 9.69289151e-01 2.45918413e-01 1.63598697e-03 3.26617581e+02] [-2.45918044e-01 9.69290531e-01 -4.26150243e-04 -4.55132257e+01] [-1.69054487e-03 1.07440913e-05 9.99998571e-01 -7.23299169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:326.64, Y:-45.53, Z:-0.72 [[ 9.67662803e-01 2.52241992e-01 1.63600204e-03 3.26643446e+02] [-2.52241632e-01 9.67664186e-01 -4.26092369e-04 -4.55254845e+01] [-1.69057897e-03 -3.54088378e-07 9.99998571e-01 -7.24917603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3457692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:326.67, Y:-45.53, Z:-0.72 [[ 9.66940576e-01 2.54996561e-01 1.63602704e-03 3.26671479e+02] [-2.54996205e-01 9.66941960e-01 -4.25996375e-04 -4.55339628e+01] [-1.69057080e-03 -5.26750588e-06 9.99998571e-01 -7.22844227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:326.70, Y:-45.54, Z:-0.72 [[ 9.66248511e-01 2.57606559e-01 1.63604632e-03 3.26699549e+02] [-2.57606207e-01 9.66249896e-01 -4.25922285e-04 -4.55422506e+01] [-1.69054996e-03 -9.90891377e-06 9.99998571e-01 -7.20362223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4057692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:326.73, Y:-45.55, Z:-0.72 [[ 9.64809981e-01 2.62943004e-01 1.63605646e-03 3.26727870e+02] [-2.62942660e-01 9.64811368e-01 -4.25883329e-04 -4.55514278e+01] [-1.69046892e-03 -1.92925527e-05 9.99998571e-01 -7.20217239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43576923100005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:326.76, Y:-45.56, Z:-0.72 [[ 9.64220608e-01 2.65096101e-01 1.63606659e-03 3.26755077e+02] [-2.65095760e-01 9.64221995e-01 -4.25844434e-04 -4.55589332e+01] [-1.69042109e-03 -2.31063369e-05 9.99998571e-01 -7.21730672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4657692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:326.78, Y:-45.57, Z:-0.72 [[ 9.63176482e-01 2.68864998e-01 1.63608164e-03 3.26784140e+02] [-2.68864662e-01 9.63177871e-01 -4.25786614e-04 -4.55650249e+01] [-1.69031674e-03 -2.97768840e-05 9.99998571e-01 -7.23573624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49576923100005 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:326.81, Y:-45.57, Z:-0.73 [[ 9.62566371e-01 2.71041148e-01 1.63609185e-03 3.26811741e+02] [-2.71040816e-01 9.62567761e-01 -4.25747373e-04 -4.55709617e+01] [-1.69024432e-03 -3.36375650e-05 9.99998571e-01 -7.25209083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.525769231 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:326.84, Y:-45.58, Z:-0.73 [[ 9.62157125e-01 2.72490349e-01 1.63610282e-03 3.26839893e+02] [-2.72490019e-01 9.62158515e-01 -4.25705207e-04 -4.55769222e+01] [-1.69019082e-03 -3.62263909e-05 9.99998571e-01 -7.26848342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55576923100006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:326.87, Y:-45.58, Z:-0.73 [[ 9.61952643e-01 2.73211340e-01 1.63612296e-03 3.26868203e+02] [-2.73211011e-01 9.61954033e-01 -4.25627781e-04 -4.55828335e+01] [-1.69016142e-03 -3.75730393e-05 9.99998571e-01 -7.26704794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:326.90, Y:-45.59, Z:-0.73 [[ 9.62315311e-01 2.71931178e-01 1.63614310e-03 3.26895875e+02] [-2.71930847e-01 9.62316701e-01 -4.25550359e-04 -4.55900331e+01] [-1.69020824e-03 -3.54041519e-05 9.99998571e-01 -7.26109409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:326.92, Y:-45.60, Z:-0.73 [[ 9.62953431e-01 2.69662776e-01 1.63615807e-03 3.26922700e+02] [-2.69662442e-01 9.62954820e-01 -4.25492791e-04 -4.55977468e+01] [-1.69028587e-03 -3.14806379e-05 9.99998571e-01 -7.27718259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64576923100003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:326.95, Y:-45.61, Z:-0.73 [[ 9.64538780e-01 2.63936098e-01 1.63617724e-03 3.26949611e+02] [-2.63935756e-01 9.64540168e-01 -4.25419054e-04 -4.56074379e+01] [-1.69044212e-03 -2.15125022e-05 9.99998571e-01 -7.31570155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67576923100006 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:326.98, Y:-45.62, Z:-0.73 [[ 9.65376667e-01 2.60854774e-01 1.63619657e-03 3.26977991e+02] [-2.60854428e-01 9.65378054e-01 -4.25344696e-04 -4.56161896e+01] [-1.69050146e-03 -1.61912752e-05 9.99998571e-01 -7.30969618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:327.01, Y:-45.63, Z:-0.73 [[ 9.66552573e-01 2.56463343e-01 1.63620647e-03 3.27006131e+02] [-2.56462990e-01 9.66553958e-01 -4.25306601e-04 -4.56258273e+01] [-1.69055740e-03 -8.54521477e-06 9.99998571e-01 -7.27826867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:327.04, Y:-45.63, Z:-0.73 [[ 9.66804579e-01 2.55511700e-01 1.63621139e-03 3.27036676e+02] [-2.55511346e-01 9.66805963e-01 -4.25287683e-04 -4.56347263e+01] [-1.69056491e-03 -6.90049622e-06 9.99998571e-01 -7.27230006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76576923100004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:327.07, Y:-45.64, Z:-0.73 [[ 9.66994757e-01 2.54791018e-01 1.63620121e-03 3.27066904e+02] [-2.54790663e-01 9.66996141e-01 -4.25326834e-04 -4.56430265e+01] [-1.69056972e-03 -5.59997457e-06 9.99998571e-01 -7.27662230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79576923100007 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:327.10, Y:-45.65, Z:-0.73 [[ 9.67100065e-01 2.54391011e-01 1.63619099e-03 3.27095507e+02] [-2.54390655e-01 9.67101450e-01 -4.25366150e-04 -4.56516524e+01] [-1.69057200e-03 -4.86006649e-06 9.99998571e-01 -7.27410704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82576923100004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:327.13, Y:-45.66, Z:-0.73 [[ 9.67223332e-01 2.53921935e-01 1.63618591e-03 3.27125579e+02] [-2.53921578e-01 9.67224716e-01 -4.25385711e-04 -4.56609097e+01] [-1.69057421e-03 -4.01992304e-06 9.99998571e-01 -7.25055743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:327.15, Y:-45.67, Z:-0.72 [[ 9.68213543e-01 2.50119689e-01 1.63617573e-03 3.27154413e+02] [-2.50119327e-01 9.68214925e-01 -4.25424850e-04 -4.56719240e+01] [-1.69057689e-03 2.66292915e-06 9.99998571e-01 -7.18823938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:327.18, Y:-45.68, Z:-0.72 [[ 9.68944994e-01 2.47270948e-01 1.63610996e-03 3.27183220e+02] [-2.47270582e-01 9.68946375e-01 -4.25677653e-04 -4.56809376e+01] [-1.69056053e-03 7.89637104e-06 9.99998571e-01 -7.17625778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:327.21, Y:-45.69, Z:-0.72 [[ 9.69706886e-01 2.44265998e-01 1.63610996e-03 3.27213053e+02] [-2.44265627e-01 9.69708266e-01 -4.25677653e-04 -4.56899465e+01] [-1.69052793e-03 1.31371268e-05 9.99998571e-01 -7.19589000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94576923100004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:327.24, Y:-45.70, Z:-0.73 [[ 9.70328169e-01 2.41786202e-01 1.63610024e-03 3.27244573e+02] [-2.41785828e-01 9.70329548e-01 -4.25715013e-04 -4.57011121e+01] [-1.69048842e-03 1.74974200e-05 9.99998571e-01 -7.26149838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9757692310001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:327.27, Y:-45.71, Z:-0.73 [[ 9.70226685e-01 2.42193110e-01 1.63602061e-03 3.27274920e+02] [-2.42192736e-01 9.70228064e-01 -4.26020805e-04 -4.57103801e+01] [-1.69049241e-03 1.71044463e-05 9.99998571e-01 -7.27654996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00576923100004 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:327.31, Y:-45.72, Z:-0.73 [[ 9.69575047e-01 2.44788789e-01 1.63599473e-03 3.27305525e+02] [-2.44788418e-01 9.69576427e-01 -4.26120163e-04 -4.57208563e+01] [-1.69053136e-03 1.26829156e-05 9.99998571e-01 -7.29475470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0357692310001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:327.34, Y:-45.73, Z:-0.73 [[ 9.69193774e-01 2.46294038e-01 1.63591702e-03 3.27335524e+02] [-2.46293669e-01 9.69195154e-01 -4.26418298e-04 -4.57296802e+01] [-1.69054713e-03 1.03659558e-05 9.99998571e-01 -7.30266691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06576923100005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:327.37, Y:-45.74, Z:-0.73 [[ 9.68292041e-01 2.49815628e-01 1.63590713e-03 3.27366486e+02] [-2.49815264e-01 9.68293423e-01 -4.26456206e-04 -4.57407354e+01] [-1.69057354e-03 4.25957751e-06 9.99998571e-01 -7.29188420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0957692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:327.40, Y:-45.75, Z:-0.73 [[ 9.67707982e-01 2.52068613e-01 1.63582615e-03 3.27396773e+02] [-2.52068252e-01 9.67709364e-01 -4.26766620e-04 -4.57508737e+01] [-1.69057875e-03 6.45625926e-07 9.99998571e-01 -7.28634273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:327.43, Y:-45.76, Z:-0.73 [[ 9.67193509e-01 2.54035509e-01 1.63575065e-03 3.27426218e+02] [-2.54035150e-01 9.67194892e-01 -4.27055820e-04 -4.57602358e+01] [-1.69057701e-03 -2.49254463e-06 9.99998571e-01 -7.27911646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1557692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:327.46, Y:-45.77, Z:-0.72 [[ 9.66118227e-01 2.58094744e-01 1.63574086e-03 3.27455638e+02] [-2.58094390e-01 9.66119611e-01 -4.27093302e-04 -4.57697668e+01] [-1.69055186e-03 -9.55291661e-06 9.99998571e-01 -7.24596436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:327.48, Y:-45.78, Z:-0.72 [[ 9.64340444e-01 2.64659842e-01 1.63573112e-03 3.27484765e+02] [-2.64659499e-01 9.64341831e-01 -4.27130613e-04 -4.57765111e+01] [-1.69044826e-03 -2.10124523e-05 9.99998571e-01 -7.22155945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2157692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:327.51, Y:-45.78, Z:-0.72 [[ 9.63198512e-01 2.68786070e-01 1.63573596e-03 3.27512822e+02] [-2.68785732e-01 9.63199900e-01 -4.27112055e-04 -4.57832136e+01] [-1.69034249e-03 -2.82687927e-05 9.99998571e-01 -7.23323396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:327.54, Y:-45.79, Z:-0.72 [[ 9.61975309e-01 2.73131525e-01 1.63574601e-03 3.27543601e+02] [-2.73131194e-01 9.61976699e-01 -4.27073573e-04 -4.57901649e+01] [-1.69019680e-03 -3.59390280e-05 9.99998571e-01 -7.24833575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.275769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:327.57, Y:-45.79, Z:-0.73 [[ 9.59796423e-01 2.80692270e-01 1.63573607e-03 3.27572142e+02] [-2.80691950e-01 9.59797816e-01 -4.27111635e-04 -4.57938816e+01] [-1.68986284e-03 -4.91977278e-05 9.99998571e-01 -7.26401560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:327.60, Y:-45.80, Z:-0.73 [[ 9.59108635e-01 2.83033481e-01 1.63575086e-03 3.27600406e+02] [-2.83033164e-01 9.59110028e-01 -4.27054998e-04 -4.57989807e+01] [-1.68973591e-03 -5.33796046e-05 9.99998571e-01 -7.25361525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:327.63, Y:-45.80, Z:-0.72 [[ 9.58294042e-01 2.85779379e-01 1.63576542e-03 3.27629092e+02] [-2.85779066e-01 9.58295436e-01 -4.26999228e-04 -4.58013903e+01] [-1.68957411e-03 -5.82766977e-05 9.99998571e-01 -7.21726650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:327.66, Y:-45.81, Z:-0.72 [[ 9.58184454e-01 2.86146599e-01 1.63578453e-03 3.27657620e+02] [-2.86146287e-01 9.58185849e-01 -4.26925993e-04 -4.58062034e+01] [-1.68954901e-03 -5.89998196e-05 9.99998571e-01 -7.23050147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:327.69, Y:-45.81, Z:-0.73 [[ 9.58377465e-01 2.85499490e-01 1.63580375e-03 3.27685885e+02] [-2.85499176e-01 9.58378859e-01 -4.26852355e-04 -4.58104949e+01] [-1.68958586e-03 -5.79349438e-05 9.99998571e-01 -7.25460530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:327.72, Y:-45.81, Z:-0.73 [[ 9.58881143e-01 2.83803238e-01 1.63582295e-03 3.27716294e+02] [-2.83802923e-01 9.58882537e-01 -4.26778741e-04 -4.58131241e+01] [-1.68968325e-03 -5.50212473e-05 9.99998571e-01 -7.27453613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:327.74, Y:-45.82, Z:-0.73 [[ 9.59077887e-01 2.83137652e-01 1.63583294e-03 3.27744928e+02] [-2.83137336e-01 9.59079281e-01 -4.26740465e-04 -4.58180609e+01] [-1.68971977e-03 -5.38880359e-05 9.99998571e-01 -7.25863457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:327.77, Y:-45.82, Z:-0.72 [[ 9.59234874e-01 2.82605345e-01 1.63585291e-03 3.27773585e+02] [-2.82605028e-01 9.59236267e-01 -4.26663882e-04 -4.58200607e+01] [-1.68974693e-03 -5.30293832e-05 9.99998571e-01 -7.19801846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:327.80, Y:-45.82, Z:-0.72 [[ 9.59367625e-01 2.82154363e-01 1.63587777e-03 3.27802201e+02] [-2.82154045e-01 9.59369018e-01 -4.26568554e-04 -4.58236385e+01] [-1.68976863e-03 -5.23334694e-05 9.99998571e-01 -7.18490803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:327.83, Y:-45.83, Z:-0.72 [[ 9.59406275e-01 2.82022913e-01 1.63589762e-03 3.27830348e+02] [-2.82022595e-01 9.59407668e-01 -4.26492425e-04 -4.58273810e+01] [-1.68977335e-03 -5.21805826e-05 9.99998571e-01 -7.19567731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:327.86, Y:-45.83, Z:-0.72 [[ 9.59826395e-01 2.80589763e-01 1.63592229e-03 3.27858243e+02] [-2.80589444e-01 9.59827788e-01 -4.26397769e-04 -4.58295205e+01] [-1.68984652e-03 -4.97546918e-05 9.99998571e-01 -7.22933090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60576923100007 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:327.89, Y:-45.83, Z:-0.72 [[ 9.60088828e-01 2.79690482e-01 1.63594781e-03 3.27885504e+02] [-2.79690161e-01 9.60090221e-01 -4.26299845e-04 -4.58342964e+01] [-1.68988950e-03 -4.82727867e-05 9.99998571e-01 -7.22985748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:327.91, Y:-45.84, Z:-0.72 [[ 9.60657925e-01 2.77729500e-01 1.63597210e-03 3.27913852e+02] [-2.77729176e-01 9.60659317e-01 -4.26206581e-04 -4.58373327e+01] [-1.68998198e-03 -4.49184545e-05 9.99998571e-01 -7.22412957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66576923100007 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:327.94, Y:-45.84, Z:-0.72 [[ 9.60943141e-01 2.76741040e-01 1.63600151e-03 3.27941306e+02] [-2.76740715e-01 9.60944533e-01 -4.26093682e-04 -4.58436703e+01] [-1.69002431e-03 -4.32964256e-05 9.99998571e-01 -7.22513288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:327.97, Y:-45.85, Z:-0.72 [[ 9.61404726e-01 2.75133196e-01 1.63602593e-03 3.27969601e+02] [-2.75132869e-01 9.61406118e-01 -4.25999875e-04 -4.58505988e+01] [-1.69009205e-03 -4.05662158e-05 9.99998571e-01 -7.22998645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7257692310001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:328.00, Y:-45.86, Z:-0.73 [[ 9.62292952e-01 2.72010289e-01 1.63604617e-03 3.27996667e+02] [-2.72009957e-01 9.62294343e-01 -4.25922155e-04 -4.58555303e+01] [-1.69021318e-03 -3.51589602e-05 9.99998571e-01 -7.26468628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:328.02, Y:-45.86, Z:-0.73 [[ 9.62733900e-01 2.70445488e-01 1.63607133e-03 3.28024124e+02] [-2.70445154e-01 9.62735289e-01 -4.25825491e-04 -4.58610436e+01] [-1.69026618e-03 -3.25109262e-05 9.99998571e-01 -7.26797946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7857692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:328.05, Y:-45.87, Z:-0.72 [[ 9.63707247e-01 2.66956299e-01 1.63610029e-03 3.28050637e+02] [-2.66955961e-01 9.63708635e-01 -4.25714158e-04 -4.58688982e+01] [-1.69037106e-03 -2.65029076e-05 9.99998571e-01 -7.23402954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:328.08, Y:-45.88, Z:-0.72 [[ 9.64296485e-01 2.64819962e-01 1.63612431e-03 3.28078692e+02] [-2.64819621e-01 9.64297873e-01 -4.25621826e-04 -4.58772308e+01] [-1.69042435e-03 -2.28521903e-05 9.99998571e-01 -7.20251029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8457692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.11, Y:-45.89, Z:-0.72 [[ 9.64824040e-01 2.62891413e-01 1.63614390e-03 3.28106171e+02] [-2.62891069e-01 9.64825427e-01 -4.25546509e-04 -4.58850013e+01] [-1.69046576e-03 -1.95501174e-05 9.99998571e-01 -7.18769296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:328.13, Y:-45.89, Z:-0.72 [[ 9.66170907e-01 2.57897464e-01 1.63616341e-03 3.28133907e+02] [-2.57897113e-01 9.66172292e-01 -4.25471506e-04 -4.58920087e+01] [-1.69054377e-03 -1.08836285e-05 9.99998571e-01 -7.20202079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9057692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:328.16, Y:-45.90, Z:-0.73 [[ 9.67332470e-01 2.53505848e-01 1.63618320e-03 3.28160321e+02] [-2.53505491e-01 9.67333854e-01 -4.25395369e-04 -4.59020080e+01] [-1.69057562e-03 -3.28267275e-06 9.99998571e-01 -7.25453049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:328.19, Y:-45.91, Z:-0.73 [[ 9.67740374e-01 2.51944221e-01 1.63620783e-03 3.28186638e+02] [-2.51943862e-01 9.67741758e-01 -4.25300638e-04 -4.59108328e+01] [-1.69057867e-03 -6.51920148e-07 9.99998571e-01 -7.28698889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9657692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:328.21, Y:-45.92, Z:-0.73 [[ 9.68045770e-01 2.50768240e-01 1.63623197e-03 3.28214545e+02] [-2.50767879e-01 9.68047153e-01 -4.25207739e-04 -4.59192237e+01] [-1.69057829e-03 1.30613268e-06 9.99998571e-01 -7.30327599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99576923100005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:328.24, Y:-45.93, Z:-0.73 [[ 9.68062922e-01 2.50702018e-01 1.63625109e-03 3.28242943e+02] [-2.50701658e-01 9.68064305e-01 -4.25134144e-04 -4.59280433e+01] [-1.69057826e-03 1.34574139e-06 9.99998571e-01 -7.27371120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.025769231 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:328.27, Y:-45.94, Z:-0.73 [[ 9.67871312e-01 2.51440742e-01 1.63626141e-03 3.28270255e+02] [-2.51440383e-01 9.67872695e-01 -4.25094413e-04 -4.59368210e+01] [-1.69057880e-03 1.44914715e-08 9.99998571e-01 -7.27040392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:328.30, Y:-45.95, Z:-0.73 [[ 9.67395363e-01 2.53265738e-01 1.63627686e-03 3.28295623e+02] [-2.53265382e-01 9.67396747e-01 -4.25034943e-04 -4.59490529e+01] [-1.69057570e-03 -3.23545061e-06 9.99998571e-01 -7.26365678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:328.32, Y:-45.96, Z:-0.72 [[ 9.67013171e-01 2.54721122e-01 1.63630045e-03 3.28323589e+02] [-2.54720768e-01 9.67014555e-01 -4.24944089e-04 -4.59589856e+01] [-1.69056859e-03 -5.87317710e-06 9.99998571e-01 -7.24909634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.35, Y:-45.97, Z:-0.72 [[ 9.66376715e-01 2.57125199e-01 1.63631067e-03 3.28351400e+02] [-2.57124848e-01 9.66378100e-01 -4.24904733e-04 -4.59677657e+01] [-1.69054851e-03 -1.01180939e-05 9.99998571e-01 -7.24016039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.38, Y:-45.98, Z:-0.72 [[ 9.66382740e-01 2.57102553e-01 1.63632591e-03 3.28380611e+02] [-2.57102202e-01 9.66384125e-01 -4.24846058e-04 -4.59753031e+01] [-1.69054839e-03 -1.01390954e-05 9.99998571e-01 -7.24067031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:328.41, Y:-45.98, Z:-0.72 [[ 9.64362208e-01 2.64580526e-01 1.63633586e-03 3.28407086e+02] [-2.64580186e-01 9.64363596e-01 -4.24807712e-04 -4.59843733e+01] [-1.69041858e-03 -2.32735441e-05 9.99998571e-01 -7.22429843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.44, Y:-45.99, Z:-0.72 [[ 9.63166847e-01 2.68899513e-01 1.63636061e-03 3.28435433e+02] [-2.68899179e-01 9.63168236e-01 -4.24712349e-04 -4.59917555e+01] [-1.69029551e-03 -3.09471707e-05 9.99998571e-01 -7.22595934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.46, Y:-46.00, Z:-0.72 [[ 9.60778242e-01 2.77312986e-01 1.63638066e-03 3.28462548e+02] [-2.77312665e-01 9.60779634e-01 -4.24635104e-04 -4.59972809e+01] [-1.68995804e-03 -4.58089120e-05 9.99998571e-01 -7.24664648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:328.49, Y:-46.00, Z:-0.72 [[ 9.59635460e-01 2.81242079e-01 1.63640575e-03 3.28489863e+02] [-2.81241763e-01 9.59636853e-01 -4.24538391e-04 -4.60025051e+01] [-1.68975332e-03 -5.28235437e-05 9.99998571e-01 -7.24857683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:328.52, Y:-46.01, Z:-0.72 [[ 9.58461909e-01 2.85215868e-01 1.63642998e-03 3.28518344e+02] [-2.85215559e-01 9.58463304e-01 -4.24444970e-04 -4.60075684e+01] [-1.68951652e-03 -5.99209545e-05 9.99998571e-01 -7.22108694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:328.55, Y:-46.01, Z:-0.72 [[ 9.56269901e-01 2.92481107e-01 1.63644962e-03 3.28547500e+02] [-2.92480809e-01 9.56271299e-01 -4.24369224e-04 -4.60086544e+01] [-1.68900979e-03 -7.28185926e-05 9.99998571e-01 -7.18433208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:328.57, Y:-46.01, Z:-0.72 [[ 9.55496105e-01 2.94999178e-01 1.63646910e-03 3.28574648e+02] [-2.94998883e-01 9.55497503e-01 -4.24294091e-04 -4.60122141e+01] [-1.68880855e-03 -7.73452064e-05 9.99998571e-01 -7.18796799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:328.60, Y:-46.02, Z:-0.72 [[ 9.55142835e-01 2.96140990e-01 1.63651195e-03 3.28602713e+02] [-2.96140697e-01 9.55144234e-01 -4.24128775e-04 -4.60155534e+01] [-1.68870686e-03 -7.95342278e-05 9.99998571e-01 -7.20860227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.63, Y:-46.02, Z:-0.72 [[ 9.55116198e-01 2.96226890e-01 1.63654065e-03 3.28631573e+02] [-2.96226597e-01 9.55117597e-01 -4.24017988e-04 -4.60188085e+01] [-1.68869430e-03 -7.98004197e-05 9.99998571e-01 -7.22391451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:328.66, Y:-46.02, Z:-0.72 [[ 9.55159463e-01 2.96087354e-01 1.63656027e-03 3.28660028e+02] [-2.96087062e-01 9.55160862e-01 -4.23942237e-04 -4.60159699e+01] [-1.68870226e-03 -7.96318830e-05 9.99998571e-01 -7.23394318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:328.69, Y:-46.02, Z:-0.72 [[ 9.55123333e-01 2.96203882e-01 1.63659438e-03 3.28688195e+02] [-2.96203589e-01 9.55124732e-01 -4.23810511e-04 -4.60175100e+01] [-1.68868609e-03 -7.99738227e-05 9.99998571e-01 -7.22031966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:328.72, Y:-46.01, Z:-0.72 [[ 9.55240051e-01 2.95827258e-01 1.63662273e-03 3.28718196e+02] [-2.95826965e-01 9.55241450e-01 -4.23701039e-04 -4.60148538e+01] [-1.68871218e-03 -7.94209318e-05 9.99998571e-01 -7.21635042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.75, Y:-46.02, Z:-0.72 [[ 9.55601141e-01 2.94658752e-01 1.63665130e-03 3.28746669e+02] [-2.94658457e-01 9.55602540e-01 -4.23590618e-04 -4.60169277e+01] [-1.68880283e-03 -7.74694710e-05 9.99998571e-01 -7.22090667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:328.78, Y:-46.01, Z:-0.72 [[ 9.56403669e-01 2.92043392e-01 1.63667988e-03 3.28776036e+02] [-2.92043094e-01 9.56405067e-01 -4.23480194e-04 -4.60147146e+01] [-1.68900352e-03 -7.29630436e-05 9.99998571e-01 -7.22812838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5957692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:328.80, Y:-46.02, Z:-0.72 [[ 9.56836797e-01 2.90621172e-01 1.63671005e-03 3.28803248e+02] [-2.90620873e-01 9.56838194e-01 -4.23363556e-04 -4.60177927e+01] [-1.68910510e-03 -7.05722731e-05 9.99998571e-01 -7.22825789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.83, Y:-46.02, Z:-0.72 [[ 9.57291534e-01 2.89119769e-01 1.63676308e-03 3.28831473e+02] [-2.89119467e-01 9.57292930e-01 -4.23158438e-04 -4.60214593e+01] [-1.68920519e-03 -6.81340783e-05 9.99998571e-01 -7.21959261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6557692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.86, Y:-46.02, Z:-0.72 [[ 9.57773784e-01 2.87518172e-01 1.63679274e-03 3.28859735e+02] [-2.87517868e-01 9.57775181e-01 -4.23043669e-04 -4.60246995e+01] [-1.68931220e-03 -6.54270224e-05 9.99998571e-01 -7.21431993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:328.89, Y:-46.02, Z:-0.72 [[ 9.58582914e-01 2.84808915e-01 1.63686665e-03 3.28889321e+02] [-2.84808607e-01 9.58584309e-01 -4.22757492e-04 -4.60234597e+01] [-1.68947979e-03 -6.09456030e-05 9.99998571e-01 -7.20268870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:328.92, Y:-46.03, Z:-0.72 [[ 9.58876522e-01 2.83818845e-01 1.63689678e-03 3.28915915e+02] [-2.83818537e-01 9.58877917e-01 -4.22640808e-04 -4.60268955e+01] [-1.68953760e-03 -5.93213009e-05 9.99998571e-01 -7.19790524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:-46.03, Z:-0.72 [[ 9.59087596e-01 2.83104757e-01 1.63693166e-03 3.28942577e+02] [-2.83104448e-01 9.59088991e-01 -4.22505648e-04 -4.60309861e+01] [-1.68957650e-03 -5.82027085e-05 9.99998571e-01 -7.18991170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.97, Y:-46.03, Z:-0.72 [[ 9.59521175e-01 2.81631736e-01 1.63696595e-03 3.28971327e+02] [-2.81631425e-01 9.59522570e-01 -4.22372762e-04 -4.60332439e+01] [-1.68965935e-03 -5.57454451e-05 9.99998571e-01 -7.18695293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:329.00, Y:-46.04, Z:-0.72 [[ 9.59798687e-01 2.80684521e-01 1.63699535e-03 3.28998288e+02] [-2.80684209e-01 9.59800082e-01 -4.22258800e-04 -4.60374673e+01] [-1.68970978e-03 -5.41953030e-05 9.99998571e-01 -7.20408666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83576923100003 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:329.03, Y:-46.04, Z:-0.72 [[ 9.60733404e-01 2.77468280e-01 1.63704886e-03 3.29026386e+02] [-2.77467964e-01 9.60734797e-01 -4.22051243e-04 -4.60415095e+01] [-1.68987564e-03 -4.87498855e-05 9.99998571e-01 -7.22329641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:329.05, Y:-46.05, Z:-0.72 [[ 9.61357542e-01 2.75298013e-01 1.63707799e-03 3.29053640e+02] [-2.75297694e-01 9.61358935e-01 -4.21938201e-04 -4.60484202e+01] [-1.68997831e-03 -4.50503243e-05 9.99998571e-01 -7.21535791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:329.08, Y:-46.05, Z:-0.72 [[ 9.62179401e-01 2.72411675e-01 1.63710747e-03 3.29079480e+02] [-2.72411352e-01 9.62180793e-01 -4.21823818e-04 -4.60543919e+01] [-1.69010309e-03 -4.00964695e-05 9.99998571e-01 -7.20575626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:329.11, Y:-46.06, Z:-0.72 [[ 9.62943725e-01 2.69697426e-01 1.63716105e-03 3.29107325e+02] [-2.69697099e-01 9.62945116e-01 -4.21615748e-04 -4.60604970e+01] [-1.69020492e-03 -3.55453466e-05 9.99998571e-01 -7.19427402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:329.13, Y:-46.07, Z:-0.72 [[ 9.64351182e-01 2.64620705e-01 1.63719033e-03 3.29133731e+02] [-2.64620371e-01 9.64352571e-01 -4.21502036e-04 -4.60656569e+01] [-1.69036687e-03 -2.67579250e-05 9.99998571e-01 -7.19840028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.16, Y:-46.07, Z:-0.72 [[ 9.65066129e-01 2.62001310e-01 1.63722429e-03 3.29161122e+02] [-2.62000972e-01 9.65067517e-01 -4.21370064e-04 -4.60731915e+01] [-1.69043149e-03 -2.23043793e-05 9.99998571e-01 -7.19882710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.19, Y:-46.08, Z:-0.72 [[ 9.65798932e-01 2.59286990e-01 1.63725317e-03 3.29188390e+02] [-2.59286648e-01 9.65800319e-01 -4.21257836e-04 -4.60815356e+01] [-1.69048631e-03 -1.76675173e-05 9.99998571e-01 -7.19881648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04576923100007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.21, Y:-46.09, Z:-0.72 [[ 9.67382610e-01 2.53314439e-01 1.63728194e-03 3.29214806e+02] [-2.53314089e-01 9.67383996e-01 -4.21145967e-04 -4.60914536e+01] [-1.69056270e-03 -7.33729799e-06 9.99998571e-01 -7.21071246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:-46.10, Z:-0.72 [[ 9.68152143e-01 2.50357239e-01 1.63735439e-03 3.29242474e+02] [-2.50356886e-01 9.68153527e-01 -4.20864104e-04 -4.61008960e+01] [-1.69057681e-03 -2.46246253e-06 9.99998571e-01 -7.22552149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.27, Y:-46.11, Z:-0.73 [[ 9.69508841e-01 2.45050865e-01 1.63737452e-03 3.29268108e+02] [-2.45050503e-01 9.69510224e-01 -4.20785796e-04 -4.61138849e+01] [-1.69056526e-03 6.71610029e-06 9.99998571e-01 -7.26801874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.29, Y:-46.12, Z:-0.73 [[ 9.70042080e-01 2.42931434e-01 1.63739957e-03 3.29294157e+02] [-2.42931070e-01 9.70043462e-01 -4.20688296e-04 -4.61240967e+01] [-1.69054716e-03 1.03101216e-05 9.99998571e-01 -7.26397898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:-46.13, Z:-0.72 [[ 9.70437268e-01 2.41347940e-01 1.63742822e-03 3.29321633e+02] [-2.41347574e-01 9.70438649e-01 -4.20576738e-04 -4.61349403e+01] [-1.69052896e-03 1.29540120e-05 9.99998571e-01 -7.24932106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:-46.15, Z:-0.72 [[ 9.70669958e-01 2.40410381e-01 1.63744758e-03 3.29346619e+02] [-2.40410014e-01 9.70671339e-01 -4.20501341e-04 -4.61490820e+01] [-1.69051633e-03 1.45092229e-05 9.99998571e-01 -7.23021985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2257692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:329.37, Y:-46.16, Z:-0.72 [[ 9.70568299e-01 2.40820464e-01 1.63748186e-03 3.29373533e+02] [-2.40820097e-01 9.70569680e-01 -4.20367834e-04 -4.61597079e+01] [-1.69052342e-03 1.36571538e-05 9.99998571e-01 -7.24461398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:329.40, Y:-46.17, Z:-0.73 [[ 9.70285663e-01 2.41956711e-01 1.63750070e-03 3.29400626e+02] [-2.41956347e-01 9.70287045e-01 -4.20294416e-04 -4.61707694e+01] [-1.69053877e-03 1.16019590e-05 9.99998571e-01 -7.27914981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:329.43, Y:-46.19, Z:-0.73 [[ 9.69372339e-01 2.45590284e-01 1.63751958e-03 3.29425262e+02] [-2.45589925e-01 9.69373722e-01 -4.20220852e-04 -4.61861448e+01] [-1.69057061e-03 5.19216028e-06 9.99998571e-01 -7.33284800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:329.45, Y:-46.20, Z:-0.73 [[ 9.68730335e-01 2.48110574e-01 1.63754299e-03 3.29452152e+02] [-2.48110218e-01 9.68731719e-01 -4.20129596e-04 -4.61973026e+01] [-1.69057843e-03 7.01135320e-07 9.99998571e-01 -7.30004569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.48, Y:-46.21, Z:-0.72 [[ 9.67097183e-01 2.54401960e-01 1.63756278e-03 3.29477763e+02] [-2.54401613e-01 9.67098569e-01 -4.20052429e-04 -4.62108788e+01] [-1.69054679e-03 -1.03670932e-05 9.99998571e-01 -7.23344359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.51, Y:-46.22, Z:-0.72 [[ 9.66005465e-01 2.58516460e-01 1.63758728e-03 3.29505143e+02] [-2.58516120e-01 9.66006853e-01 -4.19956910e-04 -4.62213463e+01] [-1.69048631e-03 -1.76620393e-05 9.99998571e-01 -7.20967688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:329.53, Y:-46.23, Z:-0.72 [[ 9.64794925e-01 2.62998233e-01 1.63760697e-03 3.29531851e+02] [-2.62997899e-01 9.64796315e-01 -4.19880134e-04 -4.62318953e+01] [-1.69038490e-03 -2.55889687e-05 9.99998571e-01 -7.20596794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.56, Y:-46.24, Z:-0.72 [[ 9.62523861e-01 2.71192062e-01 1.63763643e-03 3.29557660e+02] [-2.71191740e-01 9.62525254e-01 -4.19765203e-04 -4.62437514e+01] [-1.69010341e-03 -4.00794478e-05 9.99998571e-01 -7.20117971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.58, Y:-46.25, Z:-0.72 [[ 9.61607237e-01 2.74424563e-01 1.63766073e-03 3.29584949e+02] [-2.74424246e-01 9.61608630e-01 -4.19670362e-04 -4.62516772e+01] [-1.68995655e-03 -4.58557530e-05 9.99998571e-01 -7.18512148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.61, Y:-46.26, Z:-0.72 [[ 9.60848058e-01 2.77070978e-01 1.63768921e-03 3.29611900e+02] [-2.77070665e-01 9.60849453e-01 -4.19559202e-04 -4.62593467e+01] [-1.68982046e-03 -5.06229933e-05 9.99998571e-01 -7.17776056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.64, Y:-46.27, Z:-0.72 [[ 9.59722840e-01 2.80943747e-01 1.63771811e-03 3.29638049e+02] [-2.80943440e-01 9.59724235e-01 -4.19446352e-04 -4.62680678e+01] [-1.68959859e-03 -5.75539149e-05 9.99998571e-01 -7.18634096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.67, Y:-46.28, Z:-0.72 [[ 9.59374659e-01 2.82130433e-01 1.63775147e-03 3.29666422e+02] [-2.82130128e-01 9.59376055e-01 -4.19316057e-04 -4.62753115e+01] [-1.68952137e-03 -5.97778323e-05 9.99998571e-01 -7.21207929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.69, Y:-46.28, Z:-0.72 [[ 9.58837176e-01 2.83951733e-01 1.63777033e-03 3.29694293e+02] [-2.83951431e-01 9.58838573e-01 -4.19242399e-04 -4.62796315e+01] [-1.68940197e-03 -6.30620291e-05 9.99998571e-01 -7.21726974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.72, Y:-46.28, Z:-0.72 [[ 9.58593355e-01 2.84773765e-01 1.63779848e-03 3.29721682e+02] [-2.84773464e-01 9.58594752e-01 -4.19132401e-04 -4.62847280e+01] [-1.68934293e-03 -6.46240097e-05 9.99998571e-01 -7.19335334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.75, Y:-46.29, Z:-0.72 [[ 9.58165829e-01 2.86208947e-01 1.63782179e-03 3.29749345e+02] [-2.86208648e-01 9.58167227e-01 -4.19041255e-04 -4.62902208e+01] [-1.68924052e-03 -6.72477495e-05 9.99998571e-01 -7.18388494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.78, Y:-46.30, Z:-0.72 [[ 9.57621187e-01 2.88026006e-01 1.63784985e-03 3.29776392e+02] [-2.88025710e-01 9.57622585e-01 -4.18931572e-04 -4.62956691e+01] [-1.68910519e-03 -7.05651171e-05 9.99998571e-01 -7.19086842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.81, Y:-46.30, Z:-0.72 [[ 9.56654875e-01 2.91219448e-01 1.63787847e-03 3.29805600e+02] [-2.91219157e-01 9.56656274e-01 -4.18819655e-04 -4.62985129e+01] [-1.68885514e-03 -7.63157218e-05 9.99998571e-01 -7.24196512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.83, Y:-46.30, Z:-0.73 [[ 9.56352732e-01 2.92210147e-01 1.63789750e-03 3.29834663e+02] [-2.92209857e-01 9.56354131e-01 -4.18745219e-04 -4.63028994e+01] [-1.68877164e-03 -7.81416599e-05 9.99998571e-01 -7.26148934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:329.86, Y:-46.30, Z:-0.73 [[ 9.56202313e-01 2.92701987e-01 1.63791680e-03 3.29862816e+02] [-2.92701698e-01 9.56203713e-01 -4.18669688e-04 -4.63038777e+01] [-1.68872758e-03 -7.90881061e-05 9.99998571e-01 -7.27401694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.89, Y:-46.31, Z:-0.73 [[ 9.56321492e-01 2.92312368e-01 1.63794090e-03 3.29891650e+02] [-2.92312079e-01 9.56322892e-01 -4.18575384e-04 -4.63082212e+01] [-1.68875514e-03 -7.84972759e-05 9.99998571e-01 -7.25218678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.92, Y:-46.31, Z:-0.72 [[ 9.57424813e-01 2.88678099e-01 1.63796033e-03 3.29919632e+02] [-2.88677805e-01 9.57426211e-01 -4.18499361e-04 -4.63103076e+01] [-1.68903775e-03 -7.21611193e-05 9.99998571e-01 -7.21150203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.95, Y:-46.32, Z:-0.72 [[ 9.58311894e-01 2.85719496e-01 1.63798443e-03 3.29947437e+02] [-2.85719198e-01 9.58313292e-01 -4.18404996e-04 -4.63155872e+01] [-1.68924872e-03 -6.70411137e-05 9.99998571e-01 -7.20251600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.98, Y:-46.32, Z:-0.72 [[ 9.59182026e-01 2.82784648e-01 1.63801319e-03 3.29975229e+02] [-2.82784345e-01 9.59183423e-01 -4.18292392e-04 -4.63209207e+01] [-1.68944176e-03 -6.19859426e-05 9.99998571e-01 -7.20540503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.00, Y:-46.33, Z:-0.72 [[ 9.59926178e-01 2.80248195e-01 1.63804235e-03 3.30003648e+02] [-2.80247888e-01 9.59927573e-01 -4.18178178e-04 -4.63266420e+01] [-1.68959569e-03 -5.76377284e-05 9.99998571e-01 -7.21998678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:-46.33, Z:-0.72 [[ 9.61106651e-01 2.76172632e-01 1.63806175e-03 3.30029984e+02] [-2.76172321e-01 9.61108045e-01 -4.18102156e-04 -4.63312971e+01] [-1.68982270e-03 -5.05465517e-05 9.99998571e-01 -7.23224669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.06, Y:-46.34, Z:-0.72 [[ 9.61533445e-01 2.74683002e-01 1.63809549e-03 3.30057840e+02] [-2.74682688e-01 9.61534839e-01 -4.17969925e-04 -4.63378760e+01] [-1.68989512e-03 -4.80644100e-05 9.99998571e-01 -7.20623565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.09, Y:-46.34, Z:-0.72 [[ 9.61863191e-01 2.73526082e-01 1.63811463e-03 3.30086334e+02] [-2.73525767e-01 9.61864585e-01 -4.17894898e-04 -4.63448228e+01] [-1.68994960e-03 -4.61088397e-05 9.99998571e-01 -7.17563447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.11, Y:-46.35, Z:-0.71 [[ 9.61817655e-01 2.73686161e-01 1.63813412e-03 3.30113686e+02] [-2.73685846e-01 9.61819049e-01 -4.17818488e-04 -4.63500244e+01] [-1.68993974e-03 -4.64689247e-05 9.99998571e-01 -7.14188106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.14, Y:-46.36, Z:-0.71 [[ 9.61836945e-01 2.73618361e-01 1.63816356e-03 3.30141335e+02] [-2.73618046e-01 9.61838339e-01 -4.17703035e-04 -4.63569383e+01] [-1.68993973e-03 -4.64688995e-05 9.99998571e-01 -7.14236277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.17, Y:-46.36, Z:-0.71 [[ 9.61386992e-01 2.75195146e-01 1.63819299e-03 3.30168622e+02] [-2.75194833e-01 9.61388386e-01 -4.17587557e-04 -4.63622108e+01] [-1.68985779e-03 -4.93590022e-05 9.99998571e-01 -7.14857068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.20, Y:-46.37, Z:-0.72 [[ 9.60348140e-01 2.78798791e-01 1.63822236e-03 3.30196808e+02] [-2.78798484e-01 9.60349536e-01 -4.17472308e-04 -4.63654960e+01] [-1.68965686e-03 -5.58151567e-05 9.99998571e-01 -7.17287106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.22, Y:-46.37, Z:-0.72 [[ 9.60231645e-01 2.79199756e-01 1.63825193e-03 3.30224443e+02] [-2.79199450e-01 9.60233041e-01 -4.17356232e-04 -4.63714440e+01] [-1.68962939e-03 -5.66403770e-05 9.99998571e-01 -7.17633350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.25, Y:-46.38, Z:-0.72 [[ 9.60496086e-01 2.78288670e-01 1.63828129e-03 3.30250542e+02] [-2.78288363e-01 9.60497482e-01 -4.17240947e-04 -4.63778025e+01] [-1.68967849e-03 -5.51563232e-05 9.99998571e-01 -7.17162640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:-46.39, Z:-0.72 [[ 9.61696000e-01 2.74113335e-01 1.63831531e-03 3.30276917e+02] [-2.74113022e-01 9.61697394e-01 -4.17107322e-04 -4.63863412e+01] [-1.68989825e-03 -4.79531185e-05 9.99998571e-01 -7.19352252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.30, Y:-46.39, Z:-0.72 [[ 9.62484377e-01 2.71332159e-01 1.63834442e-03 3.30304312e+02] [-2.71331842e-01 9.62485770e-01 -4.16992962e-04 -4.63942305e+01] [-1.69002679e-03 -4.31857999e-05 9.99998571e-01 -7.20624041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.33, Y:-46.40, Z:-0.72 [[ 9.63226269e-01 2.68686565e-01 1.63836856e-03 3.30330344e+02] [-2.68686244e-01 9.63227662e-01 -4.16898108e-04 -4.64018549e+01] [-1.69013684e-03 -3.86398859e-05 9.99998571e-01 -7.21841939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.36, Y:-46.41, Z:-0.72 [[ 9.63926549e-01 2.66163340e-01 1.63840222e-03 3.30357697e+02] [-2.66163016e-01 9.63927941e-01 -4.16765772e-04 -4.64122666e+01] [-1.69022945e-03 -3.43504848e-05 9.99998571e-01 -7.24020922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:-46.42, Z:-0.72 [[ 9.63958006e-01 2.66049392e-01 1.63842146e-03 3.30385680e+02] [-2.66049068e-01 9.63959397e-01 -4.16690110e-04 -4.64206449e+01] [-1.69023192e-03 -3.42287363e-05 9.99998571e-01 -7.24700865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.41, Y:-46.43, Z:-0.73 [[ 9.63098652e-01 2.69143647e-01 1.63844109e-03 3.30413851e+02] [-2.69143327e-01 9.63100045e-01 -4.16612907e-04 -4.64273963e+01] [-1.69011141e-03 -3.97361593e-05 9.99998571e-01 -7.26334095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.44, Y:-46.43, Z:-0.73 [[ 9.62257883e-01 2.72134310e-01 1.63846070e-03 3.30440198e+02] [-2.72133995e-01 9.62259277e-01 -4.16535794e-04 -4.64332461e+01] [-1.68997769e-03 -4.50660041e-05 9.99998571e-01 -7.26932812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.47, Y:-46.44, Z:-0.73 [[ 9.61327976e-01 2.75401230e-01 1.63849480e-03 3.30468595e+02] [-2.75400919e-01 9.61329371e-01 -4.16401594e-04 -4.64399757e+01] [-1.68981069e-03 -5.09444742e-05 9.99998571e-01 -7.26828821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.50, Y:-46.45, Z:-0.73 [[ 9.60523585e-01 2.78193742e-01 1.63851426e-03 3.30495427e+02] [-2.78193436e-01 9.60524981e-01 -4.16325028e-04 -4.64459825e+01] [-1.68965289e-03 -5.59339032e-05 9.99998571e-01 -7.26484975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.52, Y:-46.45, Z:-0.73 [[ 9.59481834e-01 2.81765729e-01 1.63853838e-03 3.30524502e+02] [-2.81765428e-01 9.59483231e-01 -4.16230053e-04 -4.64490292e+01] [-1.68942947e-03 -6.23182951e-05 9.99998571e-01 -7.25237398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.55, Y:-46.45, Z:-0.73 [[ 9.59263309e-01 2.82508795e-01 1.63855757e-03 3.30550975e+02] [-2.82508496e-01 9.59264706e-01 -4.16154518e-04 -4.64526154e+01] [-1.68937776e-03 -6.37046746e-05 9.99998571e-01 -7.25577733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.58, Y:-46.46, Z:-0.73 [[ 9.59157350e-01 2.82868330e-01 1.63860968e-03 3.30579421e+02] [-2.82868032e-01 9.59158748e-01 -4.15949229e-04 -4.64550766e+01] [-1.68934567e-03 -6.45495341e-05 9.99998571e-01 -7.26204212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:-46.46, Z:-0.73 [[ 9.59232322e-01 2.82613988e-01 1.63863815e-03 3.30605948e+02] [-2.82613690e-01 9.59233720e-01 -4.15837042e-04 -4.64595864e+01] [-1.68935833e-03 -6.42172416e-05 9.99998571e-01 -7.26069915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:-46.46, Z:-0.73 [[ 9.59464247e-01 2.81825609e-01 1.63867116e-03 3.30633153e+02] [-2.81825309e-01 9.59465644e-01 -4.15706899e-04 -4.64614011e+01] [-1.68940553e-03 -6.29631008e-05 9.99998571e-01 -7.26574144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.66, Y:-46.47, Z:-0.73 [[ 9.59601390e-01 2.81358288e-01 1.63872249e-03 3.30660532e+02] [-2.81357988e-01 9.59602788e-01 -4.15504478e-04 -4.64654841e+01] [-1.68942830e-03 -6.23489865e-05 9.99998571e-01 -7.27031820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:-46.47, Z:-0.73 [[ 9.59706342e-01 2.81000093e-01 1.63875047e-03 3.30687879e+02] [-2.80999793e-01 9.59707739e-01 -4.15394076e-04 -4.64696510e+01] [-1.68944729e-03 -6.18322149e-05 9.99998571e-01 -7.26126124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.72, Y:-46.47, Z:-0.73 [[ 9.59969470e-01 2.80099855e-01 1.63933877e-03 3.30715867e+02] [-2.80099557e-01 9.59970868e-01 -4.13071530e-04 -4.64738624e+01] [-1.68941874e-03 -6.26420058e-05 9.99998571e-01 -7.27181518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.74, Y:-46.48, Z:-0.73 [[ 9.60589785e-01 2.77965068e-01 1.63884548e-03 3.30742923e+02] [-2.77964764e-01 9.60591181e-01 -4.15019451e-04 -4.64759075e+01] [-1.68962143e-03 -5.68778513e-05 9.99998571e-01 -7.27543389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.77, Y:-46.48, Z:-0.73 [[ 9.61134824e-01 2.76074563e-01 1.63887764e-03 3.30770622e+02] [-2.76074257e-01 9.61136220e-01 -4.14892418e-04 -4.64769104e+01] [-1.68972590e-03 -5.36843753e-05 9.99998571e-01 -7.29714787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.80, Y:-46.48, Z:-0.73 [[ 9.61357247e-01 2.75299033e-01 1.63890961e-03 3.30798277e+02] [-2.75298725e-01 9.61358643e-01 -4.14766089e-04 -4.64815821e+01] [-1.68976462e-03 -5.24513417e-05 9.99998571e-01 -7.31105103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.83, Y:-46.49, Z:-0.73 [[ 9.61658404e-01 2.74245198e-01 1.63898250e-03 3.30825676e+02] [-2.74244889e-01 9.61659799e-01 -4.14477876e-04 -4.64871695e+01] [-1.68981214e-03 -5.08964410e-05 9.99998571e-01 -7.31011761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.85, Y:-46.49, Z:-0.73 [[ 9.62091832e-01 2.72720773e-01 1.63901149e-03 3.30851573e+02] [-2.72720462e-01 9.62093227e-01 -4.14363195e-04 -4.64932337e+01] [-1.68988730e-03 -4.83365253e-05 9.99998571e-01 -7.32193369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.88, Y:-46.50, Z:-0.73 [[ 9.63255604e-01 2.68581375e-01 1.63904520e-03 3.30879680e+02] [-2.68581059e-01 9.63256997e-01 -4.14229821e-04 -4.64980144e+01] [-1.69007617e-03 -4.12072980e-05 9.99998571e-01 -7.27845927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.91, Y:-46.50, Z:-0.73 [[ 9.63853471e-01 2.66427851e-01 1.63906410e-03 3.30905720e+02] [-2.66427532e-01 9.63854864e-01 -4.14155012e-04 -4.65032259e+01] [-1.69016233e-03 -3.75070558e-05 9.99998571e-01 -7.28217638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.93, Y:-46.51, Z:-0.73 [[ 9.64768252e-01 2.63096055e-01 1.63909703e-03 3.30933361e+02] [-2.63095731e-01 9.64769643e-01 -4.14024645e-04 -4.65100457e+01] [-1.69027931e-03 -3.18015976e-05 9.99998571e-01 -7.30872875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.96, Y:-46.52, Z:-0.73 [[ 9.65054284e-01 2.62044925e-01 1.63911573e-03 3.30960115e+02] [-2.62044600e-01 9.65055675e-01 -4.13950584e-04 -4.65171535e+01] [-1.69031159e-03 -3.00366419e-05 9.99998571e-01 -7.31746788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.99, Y:-46.52, Z:-0.73 [[ 9.65223713e-01 2.61420156e-01 1.63914377e-03 3.30987220e+02] [-2.61419830e-01 9.65225104e-01 -4.13839517e-04 -4.65236072e+01] [-1.69032871e-03 -2.90569707e-05 9.99998571e-01 -7.30837180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.01, Y:-46.53, Z:-0.73 [[ 9.65180331e-01 2.61580280e-01 1.63917296e-03 3.31014544e+02] [-2.61579954e-01 9.65181722e-01 -4.13723890e-04 -4.65290528e+01] [-1.69032179e-03 -2.94566255e-05 9.99998571e-01 -7.29218971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.04, Y:-46.54, Z:-0.73 [[ 9.65245602e-01 2.61339323e-01 1.63919713e-03 3.31041734e+02] [-2.61338997e-01 9.65246993e-01 -4.13628080e-04 -4.65356481e+01] [-1.69032739e-03 -2.91334505e-05 9.99998571e-01 -7.28914826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.07, Y:-46.54, Z:-0.73 [[ 9.65394003e-01 2.60790591e-01 1.63922626e-03 3.31067876e+02] [-2.60790264e-01 9.65395394e-01 -4.13512632e-04 -4.65428951e+01] [-1.69034168e-03 -2.82916331e-05 9.99998571e-01 -7.29921728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.09, Y:-46.55, Z:-0.73 [[ 9.65868154e-01 2.59028999e-01 1.63925999e-03 3.31094200e+02] [-2.59028670e-01 9.65869545e-01 -4.13378848e-04 -4.65506877e+01] [-1.69038841e-03 -2.53458713e-05 9.99998571e-01 -7.28803770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.12, Y:-46.56, Z:-0.73 [[ 9.66204021e-01 2.57773356e-01 1.63929208e-03 3.31121789e+02] [-2.57773026e-01 9.66205411e-01 -4.13251559e-04 -4.65578163e+01] [-1.69041812e-03 -2.32799617e-05 9.99998571e-01 -7.26546501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.15, Y:-46.57, Z:-0.72 [[ 9.66828233e-01 2.55422162e-01 1.63931160e-03 3.31148730e+02] [-2.55421829e-01 9.66829622e-01 -4.13174100e-04 -4.65683350e+01] [-1.69046884e-03 -1.92475827e-05 9.99998571e-01 -7.24984199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.17, Y:-46.58, Z:-0.73 [[ 9.67138753e-01 2.54243869e-01 1.63933108e-03 3.31174655e+02] [-2.54243534e-01 9.67140142e-01 -4.13096802e-04 -4.65781600e+01] [-1.69049023e-03 -1.72674012e-05 9.99998571e-01 -7.25777582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.20, Y:-46.59, Z:-0.73 [[ 9.67406661e-01 2.53222560e-01 1.63936046e-03 3.31201029e+02] [-2.53222224e-01 9.67408050e-01 -4.12980187e-04 -4.65878074e+01] [-1.69050641e-03 -1.56027175e-05 9.99998571e-01 -7.27498100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.23, Y:-46.60, Z:-0.73 [[ 9.67605113e-01 2.52463182e-01 1.63938986e-03 3.31227797e+02] [-2.52462844e-01 9.67606501e-01 -4.12863431e-04 -4.65978927e+01] [-1.69051711e-03 -1.43962611e-05 9.99998571e-01 -7.27454114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.25, Y:-46.61, Z:-0.73 [[ 9.67623900e-01 2.52391167e-01 1.63941954e-03 3.31253682e+02] [-2.52390830e-01 9.67625288e-01 -4.12745538e-04 -4.66055223e+01] [-1.69051714e-03 -1.43920116e-05 9.99998571e-01 -7.26016732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.28, Y:-46.61, Z:-0.73 [[ 9.67699634e-01 2.52100638e-01 1.63945391e-03 3.31280176e+02] [-2.52100300e-01 9.67701022e-01 -4.12608978e-04 -4.66136718e+01] [-1.69052021e-03 -1.40252672e-05 9.99998571e-01 -7.25578122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.31, Y:-46.62, Z:-0.73 [[ 9.68066293e-01 2.50688979e-01 1.63948320e-03 3.31305322e+02] [-2.50688640e-01 9.68067681e-01 -4.12492573e-04 -4.66236198e+01] [-1.69053804e-03 -1.16796580e-05 9.99998571e-01 -7.27076715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.33, Y:-46.63, Z:-0.73 [[ 9.68295323e-01 2.49802882e-01 1.63951715e-03 3.31332450e+02] [-2.49802542e-01 9.68296711e-01 -4.12357602e-04 -4.66321571e+01] [-1.69054718e-03 -1.02716131e-05 9.99998571e-01 -7.27539830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.36, Y:-46.64, Z:-0.73 [[ 9.68424463e-01 2.49301768e-01 1.63954636e-03 3.31358853e+02] [-2.49301428e-01 9.68425851e-01 -4.12241435e-04 -4.66407947e+01] [-1.69055159e-03 -9.51655695e-06 9.99998571e-01 -7.27921633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.39, Y:-46.65, Z:-0.73 [[ 9.68445837e-01 2.49218726e-01 1.63957541e-03 3.31385900e+02] [-2.49218385e-01 9.68447224e-01 -4.12125851e-04 -4.66499044e+01] [-1.69055173e-03 -9.49077125e-06 9.99998571e-01 -7.28079448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.41, Y:-46.66, Z:-0.73 [[ 9.68340382e-01 2.49628157e-01 1.63960435e-03 3.31411009e+02] [-2.49627817e-01 9.68341770e-01 -4.12010679e-04 -4.66589967e+01] [-1.69054685e-03 -1.03242762e-05 9.99998571e-01 -7.27176364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.44, Y:-46.67, Z:-0.73 [[ 9.68293327e-01 2.49810616e-01 1.63963796e-03 3.31438661e+02] [-2.49810277e-01 9.68294715e-01 -4.11876901e-04 -4.66657426e+01] [-1.69054399e-03 -1.07807565e-05 9.99998571e-01 -7.26774468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.47, Y:-46.67, Z:-0.73 [[ 9.68195675e-01 2.50188820e-01 1.63966660e-03 3.31465666e+02] [-2.50188482e-01 9.68197064e-01 -4.11762854e-04 -4.66727549e+01] [-1.69053885e-03 -1.15586813e-05 9.99998571e-01 -7.27174518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.49, Y:-46.68, Z:-0.73 [[ 9.68179747e-01 2.50250453e-01 1.63969561e-03 3.31492949e+02] [-2.50250115e-01 9.68181135e-01 -4.11647302e-04 -4.66804457e+01] [-1.69053728e-03 -1.17854334e-05 9.99998571e-01 -7.28125867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.52, Y:-46.69, Z:-0.73 [[ 9.68169422e-01 2.50290394e-01 1.63972460e-03 3.31518954e+02] [-2.50290056e-01 9.68170811e-01 -4.11531779e-04 -4.66876788e+01] [-1.69053595e-03 -1.19742776e-05 9.99998571e-01 -7.29694987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.55, Y:-46.70, Z:-0.73 [[ 9.68013892e-01 2.50891242e-01 1.63975830e-03 3.31546765e+02] [-2.50890905e-01 9.68015281e-01 -4.11397439e-04 -4.66954652e+01] [-1.69052711e-03 -1.31620087e-05 9.99998571e-01 -7.33196998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.57, Y:-46.70, Z:-0.73 [[ 9.68021802e-01 2.50860723e-01 1.63977688e-03 3.31574399e+02] [-2.50860386e-01 9.68023191e-01 -4.11323372e-04 -4.67023780e+01] [-1.69052693e-03 -1.31850697e-05 9.99998571e-01 -7.33518128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.60, Y:-46.71, Z:-0.73 [[ 9.68099398e-01 2.50561103e-01 1.63979627e-03 3.31601963e+02] [-2.50560766e-01 9.68100787e-01 -4.11246079e-04 -4.67090840e+01] [-1.69053033e-03 -1.27415275e-05 9.99998571e-01 -7.33154774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.63, Y:-46.72, Z:-0.73 [[ 9.68515808e-01 2.48946662e-01 1.63982529e-03 3.31628246e+02] [-2.48946322e-01 9.68517196e-01 -4.11130302e-04 -4.67170133e+01] [-1.69054851e-03 -1.00422801e-05 9.99998571e-01 -7.30759089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.66, Y:-46.73, Z:-0.73 [[ 9.68899564e-01 2.47448876e-01 1.63984933e-03 3.31655380e+02] [-2.47448535e-01 9.68900951e-01 -4.11034394e-04 -4.67251013e+01] [-1.69056158e-03 -7.52726935e-06 9.99998571e-01 -7.29895189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.68, Y:-46.73, Z:-0.73 [[ 9.69350942e-01 2.45674709e-01 1.63987285e-03 3.31682037e+02] [-2.45674366e-01 9.69352329e-01 -4.10940531e-04 -4.67332611e+01] [-1.69057227e-03 -4.52913294e-06 9.99998571e-01 -7.29016480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.71, Y:-46.74, Z:-0.73 [[ 9.70170726e-01 2.42417146e-01 1.63989999e-03 3.31707977e+02] [-2.42416797e-01 9.70172112e-01 -4.10832216e-04 -4.67424823e+01] [-1.69057801e-03 1.03808593e-06 9.99998571e-01 -7.29285209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.74, Y:-46.75, Z:-0.73 [[ 9.70664695e-01 2.40431614e-01 1.63993149e-03 3.31736650e+02] [-2.40431263e-01 9.70666080e-01 -4.10706443e-04 -4.67512461e+01] [-1.69057268e-03 4.36744554e-06 9.99998571e-01 -7.27679368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.76, Y:-46.76, Z:-0.73 [[ 9.70859391e-01 2.39644228e-01 1.63893176e-03 3.31761672e+02] [-2.39643869e-01 9.70860775e-01 -4.14701531e-04 -4.67600537e+01] [-1.69055538e-03 9.85692835e-06 9.99998571e-01 -7.26034032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.79, Y:-46.77, Z:-0.73 [[ 9.71372620e-01 2.37555348e-01 1.64005271e-03 3.31787436e+02] [-2.37554994e-01 9.71374004e-01 -4.10219971e-04 -4.67709795e+01] [-1.69055452e-03 8.87373546e-06 9.99998571e-01 -7.25879866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:-46.78, Z:-0.73 [[ 9.71540907e-01 2.36866158e-01 1.64008212e-03 3.31813993e+02] [-2.36865803e-01 9.71542291e-01 -4.10102354e-04 -4.67795834e+01] [-1.69054851e-03 9.95184401e-06 9.99998571e-01 -7.28775208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.84, Y:-46.79, Z:-0.73 [[ 9.71557183e-01 2.36799387e-01 1.64010835e-03 3.31841678e+02] [-2.36799032e-01 9.71558568e-01 -4.09997447e-04 -4.67863583e+01] [-1.69054846e-03 9.95989632e-06 9.99998571e-01 -7.28823380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.87, Y:-46.80, Z:-0.73 [[ 9.71791589e-01 2.35835571e-01 1.64013652e-03 3.31867512e+02] [-2.35835216e-01 9.71792973e-01 -4.09884727e-04 -4.67982653e+01] [-1.69053854e-03 1.15205821e-05 9.99998571e-01 -7.34952853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.89, Y:-46.81, Z:-0.73 [[ 9.71757557e-01 2.35975760e-01 1.64015986e-03 3.31893809e+02] [-2.35975405e-01 9.71758941e-01 -4.09791281e-04 -4.68081285e+01] [-1.69054082e-03 1.11803869e-05 9.99998571e-01 -7.33551708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.92, Y:-46.82, Z:-0.73 [[ 9.71633063e-01 2.36487846e-01 1.64018797e-03 3.31920118e+02] [-2.36487492e-01 9.71634447e-01 -4.09678755e-04 -4.68170637e+01] [-1.69054718e-03 1.01734845e-05 9.99998571e-01 -7.31282418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.95, Y:-46.83, Z:-0.73 [[ 9.70801372e-01 2.39879148e-01 1.64021120e-03 3.31947489e+02] [-2.39878799e-01 9.70802758e-01 -4.09585741e-04 -4.68274584e+01] [-1.69057263e-03 4.17450844e-06 9.99998571e-01 -7.26887096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.97, Y:-46.84, Z:-0.73 [[ 9.70186836e-01 2.42352662e-01 1.64022854e-03 3.31974708e+02] [-2.42352316e-01 9.70188223e-01 -4.09516287e-04 -4.68355411e+01] [-1.69057777e-03 -2.05873468e-07 9.99998571e-01 -7.26670488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.00, Y:-46.84, Z:-0.73 [[ 9.68805274e-01 2.47817775e-01 1.64025528e-03 3.32002200e+02] [-2.47817437e-01 9.68806663e-01 -4.09409127e-04 -4.68443402e+01] [-1.69054911e-03 -9.84613932e-06 9.99998571e-01 -7.28983813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.03, Y:-46.85, Z:-0.73 [[ 9.68169342e-01 2.50290700e-01 1.64027418e-03 3.32029011e+02] [-2.50290365e-01 9.68170732e-01 -4.09333421e-04 -4.68510630e+01] [-1.69051780e-03 -1.42407540e-05 9.99998571e-01 -7.29680691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.06, Y:-46.86, Z:-0.73 [[ 9.67538257e-01 2.52719274e-01 1.64030289e-03 3.32056433e+02] [-2.52718943e-01 9.67539647e-01 -4.09218342e-04 -4.68578828e+01] [-1.69047544e-03 -1.86012110e-05 9.99998571e-01 -7.29512726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.08, Y:-46.86, Z:-0.73 [[ 9.66882090e-01 2.55218207e-01 1.64033187e-03 3.32083883e+02] [-2.55217880e-01 9.66883481e-01 -4.09102119e-04 -4.68648515e+01] [-1.69042010e-03 -2.30885110e-05 9.99998571e-01 -7.30367689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:-46.87, Z:-0.73 [[ 9.65994229e-01 2.58558424e-01 1.64035586e-03 3.32111179e+02] [-2.58558102e-01 9.65995621e-01 -4.09005924e-04 -4.68702708e+01] [-1.69032850e-03 -2.90299356e-05 9.99998571e-01 -7.32781557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:-46.88, Z:-0.73 [[ 9.65682975e-01 2.59718505e-01 1.64037954e-03 3.32138481e+02] [-2.59718185e-01 9.65684367e-01 -4.08910919e-04 -4.68753781e+01] [-1.69029061e-03 -3.11580832e-05 9.99998571e-01 -7.33806394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.17, Y:-46.88, Z:-0.74 [[ 9.65444148e-01 2.60604885e-01 1.64040807e-03 3.32165997e+02] [-2.60604567e-01 9.65445541e-01 -4.08796447e-04 -4.68806135e+01] [-1.69025900e-03 -3.28276964e-05 9.99998571e-01 -7.35803446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.19, Y:-46.89, Z:-0.73 [[ 9.65447354e-01 2.60593009e-01 1.64043167e-03 3.32193859e+02] [-2.60592691e-01 9.65448747e-01 -4.08701723e-04 -4.68860942e+01] [-1.69025751e-03 -3.29045053e-05 9.99998571e-01 -7.31297642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.22, Y:-46.89, Z:-0.73 [[ 9.65542645e-01 2.60239717e-01 1.64045508e-03 3.32221852e+02] [-2.60239398e-01 9.65544038e-01 -4.08607712e-04 -4.68935132e+01] [-1.69026758e-03 -3.23828732e-05 9.99998571e-01 -7.28577598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.25, Y:-46.90, Z:-0.73 [[ 9.65720073e-01 2.59580525e-01 1.64047394e-03 3.32249324e+02] [-2.59580206e-01 9.65721466e-01 -4.08531997e-04 -4.68999211e+01] [-1.69028785e-03 -3.13070129e-05 9.99998571e-01 -7.26697876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.28, Y:-46.90, Z:-0.73 [[ 9.65580185e-01 2.60100393e-01 1.64050224e-03 3.32277119e+02] [-2.60100074e-01 9.65581578e-01 -4.08418325e-04 -4.69033804e+01] [-1.69026851e-03 -3.23341119e-05 9.99998571e-01 -7.25172706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.30, Y:-46.91, Z:-0.73 [[ 9.65280791e-01 2.61209311e-01 1.64053064e-03 3.32304168e+02] [-2.61208994e-01 9.65282184e-01 -4.08304211e-04 -4.69073457e+01] [-1.69022786e-03 -3.43931464e-05 9.99998571e-01 -7.25821048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.33, Y:-46.91, Z:-0.73 [[ 9.64235946e-01 2.65040279e-01 1.64056372e-03 3.32331535e+02] [-2.65039968e-01 9.64237340e-01 -4.08171268e-04 -4.69080735e+01] [-1.69007462e-03 -4.12415469e-05 9.99998571e-01 -7.27111146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.525769231 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.36, Y:-46.91, Z:-0.73 [[ 9.63566214e-01 2.67464875e-01 1.64059628e-03 3.32359338e+02] [-2.67464568e-01 9.63567610e-01 -4.08040334e-04 -4.69116323e+01] [-1.68996189e-03 -4.56274945e-05 9.99998571e-01 -7.26375406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.39, Y:-46.92, Z:-0.73 [[ 9.62874329e-01 2.69945060e-01 1.64062511e-03 3.32387128e+02] [-2.69944756e-01 9.62875725e-01 -4.07924404e-04 -4.69150337e+01] [-1.68983527e-03 -5.00982073e-05 9.99998571e-01 -7.25988791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.42, Y:-46.91, Z:-0.73 [[ 9.61997551e-01 2.73053146e-01 1.64065400e-03 3.32416185e+02] [-2.73052847e-01 9.61998948e-01 -4.07808151e-04 -4.69146744e+01] [-1.68966072e-03 -5.56748037e-05 9.99998571e-01 -7.25499668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.44, Y:-46.92, Z:-0.72 [[ 9.62055933e-01 2.72847374e-01 1.64068279e-03 3.32443004e+02] [-2.72847075e-01 9.62057331e-01 -4.07692289e-04 -4.69176057e+01] [-1.68966868e-03 -5.54327159e-05 9.99998571e-01 -7.24718834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.47, Y:-46.92, Z:-0.73 [[ 9.62362297e-01 2.71764820e-01 1.64071620e-03 3.32471371e+02] [-2.71764519e-01 9.62363694e-01 -4.07557787e-04 -4.69216184e+01] [-1.68972558e-03 -5.36702023e-05 9.99998571e-01 -7.25394806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.50, Y:-46.92, Z:-0.73 [[ 9.63634923e-01 2.67217220e-01 1.64074449e-03 3.32499354e+02] [-2.67216913e-01 9.63636319e-01 -4.07443898e-04 -4.69239608e+01] [-1.68995700e-03 -4.58075075e-05 9.99998571e-01 -7.29501553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.53, Y:-46.93, Z:-0.73 [[ 9.64307667e-01 2.64779213e-01 1.64077304e-03 3.32525900e+02] [-2.64778903e-01 9.64309062e-01 -4.07328881e-04 -4.69288542e+01] [-1.69006453e-03 -4.16517224e-05 9.99998571e-01 -7.31670601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.55, Y:-46.93, Z:-0.73 [[ 9.64852078e-01 2.62788462e-01 1.64080627e-03 3.32552290e+02] [-2.62788149e-01 9.64853472e-01 -4.07194971e-04 -4.69339400e+01] [-1.69014377e-03 -3.83015293e-05 9.99998571e-01 -7.32938415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.58, Y:-46.94, Z:-0.73 [[ 9.65487994e-01 2.60442393e-01 1.64083859e-03 3.32579826e+02] [-2.60442077e-01 9.65489388e-01 -4.07064691e-04 -4.69398002e+01] [-1.69022915e-03 -3.43273396e-05 9.99998571e-01 -7.32010326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.61, Y:-46.95, Z:-0.73 [[ 9.65693153e-01 2.59680654e-01 1.64086688e-03 3.32606414e+02] [-2.59680337e-01 9.65694546e-01 -4.06950623e-04 -4.69464457e+01] [-1.69025340e-03 -3.31114346e-05 9.99998571e-01 -7.32008767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.63, Y:-46.95, Z:-0.73 [[ 9.65897549e-01 2.58919356e-01 1.64089964e-03 3.32632841e+02] [-2.58919039e-01 9.65898942e-01 -4.06818470e-04 -4.69531778e+01] [-1.69027641e-03 -3.19151954e-05 9.99998571e-01 -7.32820446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.66, Y:-46.96, Z:-0.73 [[ 9.66557250e-01 2.56445686e-01 1.64094880e-03 3.32659629e+02] [-2.56445365e-01 9.66558643e-01 -4.06620105e-04 -4.69620139e+01] [-1.69034922e-03 -2.77921034e-05 9.99998571e-01 -7.32874061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.69, Y:-46.97, Z:-0.73 [[ 9.67167555e-01 2.54134271e-01 1.64097846e-03 3.32687533e+02] [-2.54133947e-01 9.67168947e-01 -4.06500379e-04 -4.69712058e+01] [-1.69040908e-03 -2.38743534e-05 9.99998571e-01 -7.32352038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:332.71, Y:-46.98, Z:-0.73 [[ 9.68790574e-01 2.47875234e-01 1.64099818e-03 3.32712801e+02] [-2.47874901e-01 9.68791963e-01 -4.06420735e-04 -4.69819551e+01] [-1.69052749e-03 -1.30256853e-05 9.99998571e-01 -7.30677558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.74, Y:-46.99, Z:-0.73 [[ 9.69564233e-01 2.44831586e-01 1.64103248e-03 3.32739634e+02] [-2.44831250e-01 9.69565621e-01 -4.06282202e-04 -4.69913218e+01] [-1.69055939e-03 -7.85934117e-06 9.99998571e-01 -7.32329044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.77, Y:-47.00, Z:-0.73 [[ 9.70233400e-01 2.42166177e-01 1.64106175e-03 3.32765352e+02] [-2.42165837e-01 9.70234787e-01 -4.06163933e-04 -4.70013329e+01] [-1.69057437e-03 -3.33527863e-06 9.99998571e-01 -7.34860166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.79, Y:-47.01, Z:-0.73 [[ 9.70767505e-01 2.40016161e-01 1.64108606e-03 3.32792587e+02] [-2.40015817e-01 9.70768892e-01 -4.06065704e-04 -4.70114991e+01] [-1.69057763e-03 3.08779613e-07 9.99998571e-01 -7.34865920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:332.82, Y:-47.02, Z:-0.73 [[ 9.71158437e-01 2.38429437e-01 1.64110534e-03 3.32818943e+02] [-2.38429091e-01 9.71159824e-01 -4.05987744e-04 -4.70235611e+01] [-1.69057501e-03 2.99116818e-06 9.99998571e-01 -7.31702736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:332.85, Y:-47.03, Z:-0.73 [[ 9.71109080e-01 2.38630386e-01 1.64112486e-03 3.32845482e+02] [-2.38630041e-01 9.71110467e-01 -4.05908847e-04 -4.70322616e+01] [-1.69057571e-03 2.56007603e-06 9.99998571e-01 -7.29340692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:332.87, Y:-47.05, Z:-0.73 [[ 9.70629760e-01 2.40572600e-01 1.64114910e-03 3.32871907e+02] [-2.40572258e-01 9.70631147e-01 -4.05810822e-04 -4.70453419e+01] [-1.69057740e-03 -9.22882686e-07 9.99998571e-01 -7.27069584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:332.90, Y:-47.06, Z:-0.73 [[ 9.70426607e-01 2.41390775e-01 1.64116849e-03 3.32898545e+02] [-2.41390434e-01 9.70427995e-01 -4.05732377e-04 -4.70553903e+01] [-1.69057590e-03 -2.42887878e-06 9.99998571e-01 -7.27393700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:332.92, Y:-47.07, Z:-0.73 [[ 9.69875767e-01 2.43594548e-01 1.64119258e-03 3.32924649e+02] [-2.43594211e-01 9.69877155e-01 -4.05634911e-04 -4.70678761e+01] [-1.69056564e-03 -6.36954107e-06 9.99998571e-01 -7.27781528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.95, Y:-47.08, Z:-0.73 [[ 9.69305910e-01 2.45852314e-01 1.64121183e-03 3.32951602e+02] [-2.45851979e-01 9.69307299e-01 -4.05556989e-04 -4.70771475e+01] [-1.69054573e-03 -1.03863920e-05 9.99998571e-01 -7.27410137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:332.98, Y:-47.09, Z:-0.73 [[ 9.68669650e-01 2.48347371e-01 1.64123113e-03 3.32977832e+02] [-2.48347040e-01 9.68671040e-01 -4.05478903e-04 -4.70851056e+01] [-1.69051268e-03 -1.48197850e-05 9.99998571e-01 -7.28161338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.00, Y:-47.09, Z:-0.73 [[ 9.67016369e-01 2.54708950e-01 1.64125659e-03 3.33004386e+02] [-2.54708629e-01 9.67017761e-01 -4.05375794e-04 -4.70938316e+01] [-1.69037712e-03 -2.60371878e-05 9.99998571e-01 -7.29839332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:-47.10, Z:-0.73 [[ 9.66247237e-01 2.57611303e-01 1.64128522e-03 3.33031804e+02] [-2.57610986e-01 9.66248630e-01 -4.05259850e-04 -4.71012340e+01] [-1.69028912e-03 -3.12318940e-05 9.99998571e-01 -7.31633565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.06, Y:-47.11, Z:-0.73 [[ 9.65006794e-01 2.62219744e-01 1.64131375e-03 3.33058527e+02] [-2.62219434e-01 9.65008189e-01 -4.05144279e-04 -4.71098545e+01] [-1.69011804e-03 -3.94173799e-05 9.99998571e-01 -7.34197905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.09, Y:-47.12, Z:-0.73 [[ 9.64576319e-01 2.63798845e-01 1.64133732e-03 3.33086191e+02] [-2.63798538e-01 9.64577715e-01 -4.05048771e-04 -4.71172115e+01] [-1.69004880e-03 -4.22819324e-05 9.99998571e-01 -7.32482162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.11, Y:-47.12, Z:-0.73 [[ 9.64192594e-01 2.65197942e-01 1.64135590e-03 3.33114199e+02] [-2.65197637e-01 9.64193990e-01 -4.04973459e-04 -4.71243891e+01] [-1.68998362e-03 -4.48112962e-05 9.99998571e-01 -7.30312978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.14, Y:-47.13, Z:-0.73 [[ 9.63761960e-01 2.66758673e-01 1.64137474e-03 3.33141153e+02] [-2.66758370e-01 9.63763357e-01 -4.04897096e-04 -4.71305322e+01] [-1.68990664e-03 -4.76260304e-05 9.99998571e-01 -7.27813829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.17, Y:-47.14, Z:-0.73 [[ 9.62750940e-01 2.70384786e-01 1.64139817e-03 3.33168734e+02] [-2.70384489e-01 9.62752338e-01 -4.04802090e-04 -4.71352033e+01] [-1.68971225e-03 -5.40850113e-05 9.99998571e-01 -7.26733375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.20, Y:-47.14, Z:-0.73 [[ 9.62214145e-01 2.72288901e-01 1.64142618e-03 3.33195013e+02] [-2.72288606e-01 9.62215543e-01 -4.04688486e-04 -4.71398598e+01] [-1.68959796e-03 -5.75446599e-05 9.99998571e-01 -7.28739169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:333.22, Y:-47.14, Z:-0.73 [[ 9.61450748e-01 2.74972299e-01 1.64146720e-03 3.33221855e+02] [-2.74972008e-01 9.61452147e-01 -4.04522038e-04 -4.71420389e+01] [-1.68942452e-03 -6.24295153e-05 9.99998571e-01 -7.34226613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.25, Y:-47.15, Z:-0.73 [[ 9.61318348e-01 2.75434819e-01 1.64149930e-03 3.33249186e+02] [-2.75434530e-01 9.61319747e-01 -4.04391716e-04 -4.71466477e+01] [-1.68938925e-03 -6.33764113e-05 9.99998571e-01 -7.33496072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.28, Y:-47.15, Z:-0.73 [[ 9.61186092e-01 2.75895997e-01 1.64152707e-03 3.33275969e+02] [-2.75895708e-01 9.61187492e-01 -4.04278969e-04 -4.71511870e+01] [-1.68935424e-03 -6.43029516e-05 9.99998571e-01 -7.32025043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57576923100004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.30, Y:-47.15, Z:-0.73 [[ 9.60804671e-01 2.77221372e-01 1.64155938e-03 3.33304197e+02] [-2.77221085e-01 9.60806071e-01 -4.04147730e-04 -4.71529355e+01] [-1.68925861e-03 -6.67678460e-05 9.99998571e-01 -7.29514990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.33, Y:-47.16, Z:-0.73 [[ 9.60708071e-01 2.77555954e-01 1.64158721e-03 3.33331687e+02] [-2.77555668e-01 9.60709471e-01 -4.04034651e-04 -4.71561801e+01] [-1.68923061e-03 -6.74724848e-05 9.99998571e-01 -7.29871552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.36, Y:-47.16, Z:-0.73 [[ 9.61221325e-01 2.75773222e-01 1.64161957e-03 3.33359923e+02] [-2.75772934e-01 9.61222724e-01 -4.03903135e-04 -4.71583077e+01] [-1.68934770e-03 -6.44739394e-05 9.99998571e-01 -7.31694592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:333.39, Y:-47.16, Z:-0.73 [[ 9.61901214e-01 2.73392319e-01 1.64164644e-03 3.33387332e+02] [-2.73392027e-01 9.61902613e-01 -4.03793878e-04 -4.71626994e+01] [-1.68949815e-03 -6.04032283e-05 9.99998571e-01 -7.31868631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.42, Y:-47.17, Z:-0.73 [[ 9.62731914e-01 2.70452520e-01 1.64167329e-03 3.33415583e+02] [-2.70452225e-01 9.62733313e-01 -4.03684683e-04 -4.71668673e+01] [-1.68967111e-03 -5.53540668e-05 9.99998571e-01 -7.31595271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:333.44, Y:-47.17, Z:-0.73 [[ 9.63559029e-01 2.67490752e-01 1.64170139e-03 3.33442725e+02] [-2.67490453e-01 9.63560426e-01 -4.03570386e-04 -4.71709400e+01] [-1.68982984e-03 -5.02755586e-05 9.99998571e-01 -7.30864647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.47, Y:-47.18, Z:-0.73 [[ 9.65450831e-01 2.60580117e-01 1.64173402e-03 3.33470689e+02] [-2.60579808e-01 9.65452226e-01 -4.03437619e-04 -4.71753291e+01] [-1.69014358e-03 -3.83035500e-05 9.99998571e-01 -7.28433042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:333.50, Y:-47.18, Z:-0.73 [[ 9.66404377e-01 2.57021177e-01 1.64176239e-03 3.33497477e+02] [-2.57020863e-01 9.66405771e-01 -4.03322121e-04 -4.71815303e+01] [-1.69027098e-03 -3.21949239e-05 9.99998571e-01 -7.28670603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.53, Y:-47.19, Z:-0.73 [[ 9.67804066e-01 2.51699413e-01 1.64179541e-03 3.33525200e+02] [-2.51699091e-01 9.67805458e-01 -4.03187688e-04 -4.71863504e+01] [-1.69042066e-03 -2.30317272e-05 9.99998571e-01 -7.31318875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.55, Y:-47.19, Z:-0.73 [[ 9.68273449e-01 2.49887640e-01 1.64182191e-03 3.33552335e+02] [-2.49887316e-01 9.68274841e-01 -4.03079728e-04 -4.71915494e+01] [-1.69045949e-03 -1.99790710e-05 9.99998571e-01 -7.31005673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.58, Y:-47.20, Z:-0.73 [[ 9.68290466e-01 2.49821693e-01 1.64184935e-03 3.33580047e+02] [-2.49821369e-01 9.68291858e-01 -4.02967936e-04 -4.71982079e+01] [-1.69045949e-03 -1.99790402e-05 9.99998571e-01 -7.31053845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.61, Y:-47.20, Z:-0.73 [[ 9.68641428e-01 2.48457417e-01 1.64187679e-03 3.33606561e+02] [-2.48457091e-01 9.68642819e-01 -4.02856113e-04 -4.72036339e+01] [-1.69048475e-03 -1.77128095e-05 9.99998571e-01 -7.30104724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.63, Y:-47.21, Z:-0.73 [[ 9.68717515e-01 2.48160595e-01 1.64190862e-03 3.33634114e+02] [-2.48160268e-01 9.68718906e-01 -4.02726319e-04 -4.72097386e+01] [-1.69048873e-03 -1.73284454e-05 9.99998571e-01 -7.28236656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.66, Y:-47.22, Z:-0.73 [[ 9.68461624e-01 2.49157352e-01 1.64193589e-03 3.33661878e+02] [-2.49157027e-01 9.68463016e-01 -4.02615092e-04 -4.72152296e+01] [-1.69046870e-03 -1.91826004e-05 9.99998571e-01 -7.28451935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.69, Y:-47.22, Z:-0.73 [[ 9.68250601e-01 2.49976153e-01 1.64196374e-03 3.33689674e+02] [-2.49975830e-01 9.68251993e-01 -4.02501489e-04 -4.72207797e+01] [-1.69045044e-03 -2.07289402e-05 9.99998571e-01 -7.30077358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.72, Y:-47.23, Z:-0.73 [[ 9.68117899e-01 2.50489595e-01 1.64199202e-03 3.33718420e+02] [-2.50489273e-01 9.68119291e-01 -4.02386086e-04 -4.72260018e+01] [-1.69043768e-03 -2.17442165e-05 9.99998571e-01 -7.33630269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.74, Y:-47.23, Z:-0.73 [[ 9.68170352e-01 2.50286783e-01 1.64201109e-03 3.33744830e+02] [-2.50286460e-01 9.68171744e-01 -4.02308246e-04 -4.72328596e+01] [-1.69044118e-03 -2.14702286e-05 9.99998571e-01 -7.33757244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:333.77, Y:-47.24, Z:-0.73 [[ 9.68004853e-01 2.50926102e-01 1.64204417e-03 3.33772905e+02] [-2.50925780e-01 9.68006245e-01 -4.02173198e-04 -4.72399633e+01] [-1.69042477e-03 -2.27256081e-05 9.99998571e-01 -7.29562993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.80, Y:-47.25, Z:-0.73 [[ 9.67681339e-01 2.52170835e-01 1.64206316e-03 3.33800543e+02] [-2.52170516e-01 9.67682732e-01 -4.02095658e-04 -4.72453346e+01] [-1.69039296e-03 -2.49794491e-05 9.99998571e-01 -7.28279800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.83, Y:-47.25, Z:-0.73 [[ 9.67155700e-01 2.54179377e-01 1.64209168e-03 3.33826859e+02] [-2.54179061e-01 9.67157093e-01 -4.01979165e-04 -4.72497756e+01] [-1.69033543e-03 -2.86088798e-05 9.99998571e-01 -7.28685072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.85, Y:-47.25, Z:-0.73 [[ 9.65881695e-01 2.58978485e-01 1.64214167e-03 3.33853384e+02] [-2.58978176e-01 9.65883090e-01 -4.01774815e-04 -4.72532728e+01] [-1.69016791e-03 -3.72119151e-05 9.99998571e-01 -7.33208093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.88, Y:-47.26, Z:-0.73 [[ 9.65193977e-01 2.61529902e-01 1.64219013e-03 3.33879503e+02] [-2.61529597e-01 9.65195373e-01 -4.01576671e-04 -4.72582437e+01] [-1.69005862e-03 -4.18819365e-05 9.99998571e-01 -7.34774506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.91, Y:-47.26, Z:-0.73 [[ 9.64562835e-01 2.63848138e-01 1.64223971e-03 3.33907628e+02] [-2.63847837e-01 9.64564232e-01 -4.01373816e-04 -4.72628807e+01] [-1.68994741e-03 -4.61511282e-05 9.99998571e-01 -7.34071775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:333.94, Y:-47.26, Z:-0.73 [[ 9.63276742e-01 2.68505533e-01 1.64226803e-03 3.33935396e+02] [-2.68505239e-01 9.63278140e-01 -4.01257874e-04 -4.72641301e+01] [-1.68970086e-03 -5.44351932e-05 9.99998571e-01 -7.32996473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.96, Y:-47.27, Z:-0.73 [[ 9.62616387e-01 2.70863424e-01 1.64230078e-03 3.33963279e+02] [-2.70863133e-01 9.62617786e-01 -4.01123805e-04 -4.72687016e+01] [-1.68955771e-03 -5.87103875e-05 9.99998571e-01 -7.32856693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.99, Y:-47.27, Z:-0.73 [[ 9.61430396e-01 2.75043446e-01 1.64232880e-03 3.33990947e+02] [-2.75043161e-01 9.61431796e-01 -4.01009065e-04 -4.72711768e+01] [-1.68928204e-03 -6.61690001e-05 9.99998571e-01 -7.31247170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.02, Y:-47.27, Z:-0.73 [[ 9.61039296e-01 2.76406900e-01 1.64236130e-03 3.34018617e+02] [-2.76406618e-01 9.61040697e-01 -4.00875903e-04 -4.72737879e+01] [-1.68918091e-03 -6.87020367e-05 9.99998571e-01 -7.30070872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.05, Y:-47.28, Z:-0.73 [[ 9.60734779e-01 2.77463487e-01 1.64239334e-03 3.34047038e+02] [-2.77463207e-01 9.60736180e-01 -4.00744598e-04 -4.72755766e+01] [-1.68909869e-03 -7.06944497e-05 9.99998571e-01 -7.30332983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:334.08, Y:-47.28, Z:-0.73 [[ 9.60389667e-01 2.78655682e-01 1.64246620e-03 3.34075198e+02] [-2.78655404e-01 9.60391069e-01 -4.00445734e-04 -4.72783629e+01] [-1.68899635e-03 -7.30981381e-05 9.99998571e-01 -7.31535418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.10, Y:-47.28, Z:-0.73 [[ 9.59761397e-01 2.80811970e-01 1.64253901e-03 3.34101940e+02] [-2.80811695e-01 9.59762800e-01 -4.00146857e-04 -4.72806729e+01] [-1.68881387e-03 -7.71986580e-05 9.99998571e-01 -7.33758370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.13, Y:-47.29, Z:-0.73 [[ 9.59857479e-01 2.80483373e-01 1.64257065e-03 3.34129145e+02] [-2.80483098e-01 9.59858881e-01 -4.00016968e-04 -4.72856588e+01] [-1.68883413e-03 -7.67540250e-05 9.99998571e-01 -7.31390987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.16, Y:-47.29, Z:-0.73 [[ 9.61024344e-01 2.76458878e-01 1.64264238e-03 3.34155784e+02] [-2.76458598e-01 9.61025746e-01 -3.99722171e-04 -4.72883995e+01] [-1.68912836e-03 -6.99798733e-05 9.99998571e-01 -7.28598581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.18, Y:-47.29, Z:-0.73 [[ 9.61849297e-01 2.73574912e-01 1.64269109e-03 3.34183542e+02] [-2.73574628e-01 9.61850697e-01 -3.99521915e-04 -4.72941211e+01] [-1.68932274e-03 -6.51187294e-05 9.99998571e-01 -7.29355025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:334.21, Y:-47.30, Z:-0.73 [[ 9.62552611e-01 2.71089970e-01 1.64276216e-03 3.34210732e+02] [-2.71089683e-01 9.62554011e-01 -3.99229444e-04 -4.73006059e+01] [-1.68947441e-03 -6.10565304e-05 9.99998571e-01 -7.29936367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.24, Y:-47.31, Z:-0.73 [[ 9.63545670e-01 2.67538861e-01 1.64283285e-03 3.34238390e+02] [-2.67538569e-01 9.63547069e-01 -3.98938354e-04 -4.73064638e+01] [-1.68967829e-03 -5.51258267e-05 9.99998571e-01 -7.29633514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.26, Y:-47.31, Z:-0.73 [[ 9.63873888e-01 2.66353954e-01 1.64290361e-03 3.34264957e+02] [-2.66353661e-01 9.63875287e-01 -3.98646758e-04 -4.73120128e+01] [-1.68973532e-03 -5.33481887e-05 9.99998571e-01 -7.30655010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.29, Y:-47.32, Z:-0.73 [[ 9.64127513e-01 2.65434437e-01 1.64293436e-03 3.34292262e+02] [-2.65434143e-01 9.64128911e-01 -3.98519979e-04 -4.73174628e+01] [-1.68978144e-03 -5.18667962e-05 9.99998571e-01 -7.32275314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.32, Y:-47.32, Z:-0.73 [[ 9.64322005e-01 2.64726976e-01 1.64300428e-03 3.34318693e+02] [-2.64726681e-01 9.64323403e-01 -3.98231499e-04 -4.73238053e+01] [-1.68981010e-03 -5.09236720e-05 9.99998571e-01 -7.33076232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.35, Y:-47.33, Z:-0.73 [[ 9.64671273e-01 2.63451391e-01 1.64305192e-03 3.34345868e+02] [-2.63451094e-01 9.64672671e-01 -3.98034832e-04 -4.73308138e+01] [-1.68987012e-03 -4.88910588e-05 9.99998571e-01 -7.31521253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.37, Y:-47.34, Z:-0.73 [[ 9.65923753e-01 2.58821569e-01 1.64312093e-03 3.34372432e+02] [-2.58821266e-01 9.65925149e-01 -3.97749765e-04 -4.73381643e+01] [-1.69007805e-03 -4.10786937e-05 9.99998571e-01 -7.29713329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.775769231 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:334.40, Y:-47.35, Z:-0.73 [[ 9.66707749e-01 2.55877759e-01 1.64314893e-03 3.34398432e+02] [-2.55877452e-01 9.66709145e-01 -3.97634066e-04 -4.73458815e+01] [-1.69019281e-03 -3.60488288e-05 9.99998571e-01 -7.31422113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:-47.35, Z:-0.73 [[ 9.67476035e-01 2.52957351e-01 1.64318146e-03 3.34424883e+02] [-2.52957041e-01 9.67477430e-01 -3.97499602e-04 -4.73546827e+01] [-1.69029142e-03 -3.10829794e-05 9.99998571e-01 -7.34042908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.45, Y:-47.37, Z:-0.73 [[ 9.68820893e-01 2.47756690e-01 1.64324982e-03 3.34450765e+02] [-2.47756373e-01 9.68822286e-01 -3.97216770e-04 -4.73669750e+01] [-1.69043016e-03 -2.22937098e-05 9.99998571e-01 -7.33640339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.48, Y:-47.38, Z:-0.73 [[ 9.69354487e-01 2.45660697e-01 1.64327311e-03 3.34477146e+02] [-2.45660376e-01 9.69355880e-01 -3.97120412e-04 -4.73760543e+01] [-1.69047333e-03 -1.87366369e-05 9.99998571e-01 -7.30997953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.50, Y:-47.39, Z:-0.73 [[ 9.69764881e-01 2.44035602e-01 1.64330130e-03 3.34503125e+02] [-2.44035280e-01 9.69766273e-01 -3.97003736e-04 -4.73851488e+01] [-1.69050122e-03 -1.60232112e-05 9.99998571e-01 -7.29136889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.53, Y:-47.39, Z:-0.73 [[ 9.70083512e-01 2.42765893e-01 1.64333387e-03 3.34529384e+02] [-2.42765569e-01 9.70084904e-01 -3.96868861e-04 -4.73947541e+01] [-1.69051960e-03 -1.39489432e-05 9.99998571e-01 -7.28992415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.55, Y:-47.41, Z:-0.73 [[ 9.70241383e-01 2.42134172e-01 1.64336261e-03 3.34553878e+02] [-2.42133848e-01 9.70242775e-01 -3.96749813e-04 -4.74076796e+01] [-1.69052739e-03 -1.29706251e-05 9.99998571e-01 -7.31065112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.58, Y:-47.42, Z:-0.73 [[ 9.70030323e-01 2.42978336e-01 1.64340867e-03 3.34580358e+02] [-2.42978013e-01 9.70031715e-01 -3.96558939e-04 -4.74164964e+01] [-1.69051376e-03 -1.46379772e-05 9.99998571e-01 -7.32167479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.61, Y:-47.43, Z:-0.73 [[ 9.69141567e-01 2.46499337e-01 1.64343720e-03 3.34605660e+02] [-2.46499019e-01 9.69142960e-01 -3.96440648e-04 -4.74260112e+01] [-1.69044795e-03 -2.08985473e-05 9.99998571e-01 -7.32436275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.63, Y:-47.43, Z:-0.73 [[ 9.68584286e-01 2.48680075e-01 1.64347034e-03 3.34632354e+02] [-2.48679761e-01 9.68585680e-01 -3.96303254e-04 -4.74347245e+01] [-1.69039456e-03 -2.48447057e-05 9.99998571e-01 -7.31554423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.66, Y:-47.44, Z:-0.73 [[ 9.67928110e-01 2.51221961e-01 1.64349872e-03 3.34658417e+02] [-2.51221650e-01 9.67929505e-01 -3.96185499e-04 -4.74432669e+01] [-1.69032140e-03 -2.94033794e-05 9.99998571e-01 -7.32035998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.68, Y:-47.45, Z:-0.74 [[ 9.66854601e-01 2.55322306e-01 1.64354422e-03 3.34683854e+02] [-2.55322002e-01 9.66855997e-01 -3.95996678e-04 -4.74510991e+01] [-1.69017737e-03 -3.67617896e-05 9.99998571e-01 -7.36094596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.71, Y:-47.46, Z:-0.74 [[ 9.66304892e-01 2.57394937e-01 1.64359328e-03 3.34711387e+02] [-2.57394636e-01 9.66306289e-01 -3.95792928e-04 -4.74572807e+01] [-1.69008962e-03 -4.05954511e-05 9.99998571e-01 -7.37191776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.74, Y:-47.46, Z:-0.74 [[ 9.65144597e-01 2.61712066e-01 1.64362150e-03 3.34739197e+02] [-2.61711771e-01 9.65145995e-01 -3.95675691e-04 -4.74620878e+01] [-1.68988781e-03 -4.82708397e-05 9.99998571e-01 -7.35388217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.77, Y:-47.47, Z:-0.73 [[ 9.64537994e-01 2.63938927e-01 1.64364482e-03 3.34766998e+02] [-2.63938636e-01 9.64539393e-01 -3.95578816e-04 -4.74677002e+01] [-1.68976882e-03 -5.22705736e-05 9.99998571e-01 -7.33682811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2257692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:334.79, Y:-47.47, Z:-0.73 [[ 9.64023342e-01 2.65812518e-01 1.64367279e-03 3.34793538e+02] [-2.65812230e-01 9.64024741e-01 -3.95462558e-04 -4.74723338e+01] [-1.68966014e-03 -5.56731929e-05 9.99998571e-01 -7.32864835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:334.82, Y:-47.47, Z:-0.73 [[ 9.63556021e-01 2.67501574e-01 1.64372206e-03 3.34820603e+02] [-2.67501289e-01 9.63557421e-01 -3.95257654e-04 -4.74746257e+01] [-1.68955264e-03 -5.88448772e-05 9.99998571e-01 -7.32046212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.85, Y:-47.48, Z:-0.73 [[ 9.63638121e-01 2.67205670e-01 1.64375388e-03 3.34847507e+02] [-2.67205384e-01 9.63639521e-01 -3.95125272e-04 -4.74789284e+01] [-1.68956592e-03 -5.84621140e-05 9.99998571e-01 -7.30652599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.88, Y:-47.48, Z:-0.73 [[ 9.64380395e-01 2.64514180e-01 1.64378537e-03 3.34875504e+02] [-2.64513891e-01 9.64381794e-01 -3.94994234e-04 -4.74818522e+01] [-1.68971826e-03 -5.38793694e-05 9.99998571e-01 -7.29887872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:334.90, Y:-47.49, Z:-0.73 [[ 9.64910825e-01 2.62572652e-01 1.64381212e-03 3.34903142e+02] [-2.62572359e-01 9.64912224e-01 -3.94882888e-04 -4.74865923e+01] [-1.68981986e-03 -5.05928540e-05 9.99998571e-01 -7.30494840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:334.93, Y:-47.49, Z:-0.73 [[ 9.65480398e-01 2.60470534e-01 1.64383904e-03 3.34929626e+02] [-2.60470239e-01 9.65481796e-01 -3.94770796e-04 -4.74908445e+01] [-1.68992283e-03 -4.70276817e-05 9.99998571e-01 -7.31307014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4057692310001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:334.96, Y:-47.49, Z:-0.73 [[ 9.66382486e-01 2.57103460e-01 1.64387036e-03 3.34957082e+02] [-2.57103160e-01 9.66383883e-01 -3.94640319e-04 -4.74947203e+01] [-1.69007322e-03 -4.12707735e-05 9.99998571e-01 -7.30230159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.98, Y:-47.50, Z:-0.73 [[ 9.66776414e-01 2.55618198e-01 1.64389730e-03 3.34984130e+02] [-2.55617897e-01 9.66777811e-01 -3.94528065e-04 -4.75003439e+01] [-1.69013199e-03 -3.87891429e-05 9.99998571e-01 -7.27404216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.01, Y:-47.51, Z:-0.72 [[ 9.67506370e-01 2.52841296e-01 1.64392402e-03 3.35012399e+02] [-2.52840990e-01 9.67507766e-01 -3.94416704e-04 -4.75061603e+01] [-1.69023409e-03 -3.40507039e-05 9.99998571e-01 -7.24756397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.04, Y:-47.51, Z:-0.73 [[ 9.67836096e-01 2.51576209e-01 1.64394216e-03 3.35039221e+02] [-2.51575902e-01 9.67837491e-01 -3.94341100e-04 -4.75122099e+01] [-1.69027569e-03 -3.19186806e-05 9.99998571e-01 -7.26245051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.525769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.07, Y:-47.52, Z:-0.73 [[ 9.68090239e-01 2.50596461e-01 1.64396474e-03 3.35067712e+02] [-2.50596153e-01 9.68091634e-01 -3.94246920e-04 -4.75185681e+01] [-1.69030540e-03 -3.03046455e-05 9.99998571e-01 -7.30131873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:335.10, Y:-47.52, Z:-0.73 [[ 9.68255991e-01 2.49955264e-01 1.64398270e-03 3.35095474e+02] [-2.49954955e-01 9.68257386e-01 -3.94172038e-04 -4.75237429e+01] [-1.69032376e-03 -2.92621844e-05 9.99998571e-01 -7.34695336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:335.12, Y:-47.53, Z:-0.74 [[ 9.68197015e-01 2.50183607e-01 1.64400988e-03 3.35122036e+02] [-2.50183298e-01 9.68198410e-01 -3.94058624e-04 -4.75287999e+01] [-1.69031476e-03 -2.97774311e-05 9.99998571e-01 -7.35143757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:335.15, Y:-47.53, Z:-0.74 [[ 9.68066437e-01 2.50688395e-01 1.64404135e-03 3.35149301e+02] [-2.50688087e-01 9.68067832e-01 -3.93927293e-04 -4.75344092e+01] [-1.69029655e-03 -3.07937905e-05 9.99998571e-01 -7.35411039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:-47.54, Z:-0.73 [[ 9.67757281e-01 2.51879221e-01 1.64406821e-03 3.35176373e+02] [-2.51878915e-01 9.67758677e-01 -3.93815148e-04 -4.75397504e+01] [-1.69025513e-03 -3.29886406e-05 9.99998571e-01 -7.34439651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.20, Y:-47.54, Z:-0.73 [[ 9.67669077e-01 2.52217872e-01 1.64409570e-03 3.35204498e+02] [-2.52217567e-01 9.67670473e-01 -3.93700348e-04 -4.75444939e+01] [-1.69024113e-03 -3.36981664e-05 9.99998571e-01 -7.34041969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.23, Y:-47.55, Z:-0.73 [[ 9.67358241e-01 2.53407439e-01 1.64412352e-03 3.35232121e+02] [-2.53407136e-01 9.67359638e-01 -3.93584163e-04 -4.75461464e+01] [-1.69019588e-03 -3.58957475e-05 9.99998571e-01 -7.34931046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.26, Y:-47.55, Z:-0.74 [[ 9.67412393e-01 2.53200628e-01 1.64415588e-03 3.35259516e+02] [-2.53200325e-01 9.67413790e-01 -3.93448941e-04 -4.75506713e+01] [-1.69020059e-03 -3.56734209e-05 9.99998571e-01 -7.35657894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.29, Y:-47.56, Z:-0.74 [[ 9.67456175e-01 2.53033291e-01 1.64422381e-03 3.35287276e+02] [-2.53032988e-01 9.67457571e-01 -3.93164816e-04 -4.75570866e+01] [-1.69020057e-03 -3.56731348e-05 9.99998571e-01 -7.35706047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.31, Y:-47.56, Z:-0.74 [[ 9.67719373e-01 2.52024822e-01 1.64429177e-03 3.35314714e+02] [-2.52024518e-01 9.67720770e-01 -3.92880402e-04 -4.75621478e+01] [-1.69023091e-03 -3.42038640e-05 9.99998571e-01 -7.35479737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.34, Y:-47.57, Z:-0.73 [[ 9.68851376e-01 2.47637453e-01 1.64431967e-03 3.35343005e+02] [-2.47637143e-01 9.68852771e-01 -3.92763613e-04 -4.75656488e+01] [-1.69036665e-03 -2.66650575e-05 9.99998571e-01 -7.34141109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.37, Y:-47.57, Z:-0.73 [[ 9.69622269e-01 2.44601617e-01 1.64434732e-03 3.35369434e+02] [-2.44601302e-01 9.69623663e-01 -3.92647805e-04 -4.75703796e+01] [-1.69044036e-03 -2.14894409e-05 9.99998571e-01 -7.33169744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.40, Y:-47.58, Z:-0.73 [[ 9.70314048e-01 2.41842808e-01 1.64437957e-03 3.35395772e+02] [-2.41842490e-01 9.70315442e-01 -3.92512723e-04 -4.75759060e+01] [-1.69049326e-03 -1.68202387e-05 9.99998571e-01 -7.31674765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.42, Y:-47.58, Z:-0.73 [[ 9.71170743e-01 2.38379285e-01 1.64441021e-03 3.35422538e+02] [-2.38378962e-01 9.71172135e-01 -3.92384283e-04 -4.75823879e+01] [-1.69054166e-03 -1.09206648e-05 9.99998571e-01 -7.29727340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.45, Y:-47.59, Z:-0.73 [[ 9.71244142e-01 2.38080053e-01 1.64443638e-03 3.35449754e+02] [-2.38079730e-01 9.71245534e-01 -3.92274597e-04 -4.75886579e+01] [-1.69054425e-03 -1.05125646e-05 9.99998571e-01 -7.28892158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.48, Y:-47.59, Z:-0.73 [[ 9.71047701e-01 2.38880007e-01 1.64446378e-03 3.35476136e+02] [-2.38879685e-01 9.71049094e-01 -3.92159700e-04 -4.75940510e+01] [-1.69053417e-03 -1.20232142e-05 9.99998571e-01 -7.27755678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.50, Y:-47.60, Z:-0.73 [[ 9.70886610e-01 2.39533892e-01 1.64451371e-03 3.35501873e+02] [-2.39533571e-01 9.70888003e-01 -3.91950191e-04 -4.76004719e+01] [-1.69052399e-03 -1.33770507e-05 9.99998571e-01 -7.26386251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.53, Y:-47.61, Z:-0.73 [[ 9.70433195e-01 2.41364268e-01 1.64454507e-03 3.35529843e+02] [-2.41363951e-01 9.70434588e-01 -3.91818590e-04 -4.76074965e+01] [-1.69049442e-03 -1.67001284e-05 9.99998571e-01 -7.28989191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.56, Y:-47.61, Z:-0.73 [[ 9.70273314e-01 2.42006180e-01 1.64456390e-03 3.35558312e+02] [-2.42005863e-01 9.70274708e-01 -3.91739505e-04 -4.76140255e+01] [-1.69048214e-03 -1.78997191e-05 9.99998571e-01 -7.30426428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.58, Y:-47.62, Z:-0.73 [[ 9.70305332e-01 2.41877775e-01 1.64458259e-03 3.35584521e+02] [-2.41877459e-01 9.70306726e-01 -3.91661041e-04 -4.76197111e+01] [-1.69048365e-03 -1.77566611e-05 9.99998571e-01 -7.32027545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.61, Y:-47.63, Z:-0.73 [[ 9.70514907e-01 2.41035497e-01 1.64463374e-03 3.35611595e+02] [-2.41035180e-01 9.70516300e-01 -3.91446158e-04 -4.76258530e+01] [-1.69049627e-03 -1.65102561e-05 9.99998571e-01 -7.33596751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.64, Y:-47.63, Z:-0.73 [[ 9.70989433e-01 2.39116742e-01 1.64466140e-03 3.35638938e+02] [-2.39116422e-01 9.70990826e-01 -3.91329911e-04 -4.76310664e+01] [-1.69052466e-03 -1.32883396e-05 9.99998571e-01 -7.33458304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.67, Y:-47.64, Z:-0.73 [[ 9.71302876e-01 2.37840320e-01 1.64469005e-03 3.35665060e+02] [-2.37839999e-01 9.71304268e-01 -3.91209467e-04 -4.76369507e+01] [-1.69053985e-03 -1.11901979e-05 9.99998571e-01 -7.32538608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:-47.64, Z:-0.73 [[ 9.72039099e-01 2.34813299e-01 1.64472334e-03 3.35691595e+02] [-2.34812973e-01 9.72040490e-01 -3.91069422e-04 -4.76449051e+01] [-1.69056599e-03 -6.06760994e-06 9.99998571e-01 -7.31684190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.72, Y:-47.65, Z:-0.73 [[ 9.72515323e-01 2.32833075e-01 1.64475100e-03 3.35718967e+02] [-2.32832747e-01 9.72516714e-01 -3.90953088e-04 -4.76528739e+01] [-1.69057464e-03 -2.74402450e-06 9.99998571e-01 -7.31081579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.275769231 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:335.74, Y:-47.66, Z:-0.73 [[ 9.72895505e-01 2.31239337e-01 1.64477865e-03 3.35744979e+02] [-2.31239006e-01 9.72896895e-01 -3.90836727e-04 -4.76609058e+01] [-1.69057686e-03 -9.36847028e-08 9.99998571e-01 -7.30271207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.77, Y:-47.67, Z:-0.73 [[ 9.73371464e-01 2.29227591e-01 1.64481079e-03 3.35770915e+02] [-2.29227258e-01 9.73372853e-01 -3.90701405e-04 -4.76711089e+01] [-1.69057371e-03 3.26213069e-06 9.99998571e-01 -7.31549949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.80, Y:-47.68, Z:-0.73 [[ 9.73499007e-01 2.28685325e-01 1.64483890e-03 3.35797134e+02] [-2.28684991e-01 9.73500397e-01 -3.90583048e-04 -4.76803231e+01] [-1.69057193e-03 4.08224057e-06 9.99998571e-01 -7.31354201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.82, Y:-47.69, Z:-0.73 [[ 9.73650972e-01 2.28037452e-01 1.64486769e-03 3.35822661e+02] [-2.28037117e-01 9.73652361e-01 -3.90461756e-04 -4.76896743e+01] [-1.69056921e-03 5.08258210e-06 9.99998571e-01 -7.30168543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.85, Y:-47.70, Z:-0.73 [[ 9.73622638e-01 2.28158394e-01 1.64491396e-03 3.35847938e+02] [-2.28158060e-01 9.73624028e-01 -3.90266740e-04 -4.77026698e+01] [-1.69057038e-03 4.67215592e-06 9.99998571e-01 -7.30723966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.87, Y:-47.71, Z:-0.73 [[ 9.73356678e-01 2.29290367e-01 1.64494188e-03 3.35873350e+02] [-2.29290035e-01 9.73358068e-01 -3.90149014e-04 -4.77114011e+01] [-1.69057486e-03 2.58536722e-06 9.99998571e-01 -7.31595464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:-47.72, Z:-0.73 [[ 9.73012332e-01 2.30747256e-01 1.64497436e-03 3.35899183e+02] [-2.30746927e-01 9.73013722e-01 -3.90012003e-04 -4.77204162e+01] [-1.69057683e-03 -8.62904325e-08 9.99998571e-01 -7.33570020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.93, Y:-47.73, Z:-0.74 [[ 9.72728118e-01 2.31942456e-01 1.64500646e-03 3.35925366e+02] [-2.31942128e-01 9.72729509e-01 -3.89876590e-04 -4.77327409e+01] [-1.69057526e-03 -2.30237706e-06 9.99998571e-01 -7.36083873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:335.95, Y:-47.74, Z:-0.74 [[ 9.72819050e-01 2.31560769e-01 1.64503407e-03 3.35950772e+02] [-2.31560441e-01 9.72820441e-01 -3.89760066e-04 -4.77419210e+01] [-1.69057591e-03 -1.75879686e-06 9.99998571e-01 -7.35768488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.98, Y:-47.75, Z:-0.73 [[ 9.73398509e-01 2.29112717e-01 1.64506620e-03 3.35977056e+02] [-2.29112386e-01 9.73399899e-01 -3.89624395e-04 -4.77545306e+01] [-1.69057517e-03 2.35476328e-06 9.99998571e-01 -7.33795196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.00, Y:-47.76, Z:-0.73 [[ 9.73819301e-01 2.27317536e-01 1.64509390e-03 3.36003597e+02] [-2.27317202e-01 9.73820691e-01 -3.89507405e-04 -4.77641731e+01] [-1.69056834e-03 5.35168633e-06 9.99998571e-01 -7.32963622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.03, Y:-47.78, Z:-0.73 [[ 9.74573094e-01 2.24063780e-01 1.64512182e-03 3.36029547e+02] [-2.24063442e-01 9.74574483e-01 -3.89389418e-04 -4.77763398e+01] [-1.69054182e-03 1.08767919e-05 9.99998571e-01 -7.30535184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.06, Y:-47.78, Z:-0.73 [[ 9.74723910e-01 2.23406789e-01 1.64514494e-03 3.36055872e+02] [-2.23406450e-01 9.74725298e-01 -3.89291716e-04 -4.77849316e+01] [-1.69053481e-03 1.19159525e-05 9.99998571e-01 -7.28672019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.08, Y:-47.79, Z:-0.73 [[ 9.74627369e-01 2.23827577e-01 1.64516949e-03 3.36083738e+02] [-2.23827239e-01 9.74628758e-01 -3.89187939e-04 -4.77937426e+01] [-1.69054049e-03 1.10794729e-05 9.99998571e-01 -7.29274284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.11, Y:-47.80, Z:-0.73 [[ 9.73786222e-01 2.27459201e-01 1.64518788e-03 3.36110275e+02] [-2.27458868e-01 9.73787611e-01 -3.89110203e-04 -4.78025125e+01] [-1.69057027e-03 4.69758216e-06 9.99998571e-01 -7.31499035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.14, Y:-47.81, Z:-0.73 [[ 9.73182834e-01 2.30027096e-01 1.64521274e-03 3.36137254e+02] [-2.30026767e-01 9.73184225e-01 -3.89005045e-04 -4.78096885e+01] [-1.69057679e-03 1.30063384e-07 9.99998571e-01 -7.33015476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:336.16, Y:-47.82, Z:-0.73 [[ 9.72658993e-01 2.32232163e-01 1.64523848e-03 3.36163878e+02] [-2.32231837e-01 9.72660384e-01 -3.88896182e-04 -4.78170092e+01] [-1.69057249e-03 -3.81338523e-06 9.99998571e-01 -7.34253685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7857692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:336.19, Y:-47.83, Z:-0.74 [[ 9.72404102e-01 2.33297141e-01 1.64526469e-03 3.36191360e+02] [-2.33296817e-01 9.72405494e-01 -3.88785245e-04 -4.78264336e+01] [-1.69056691e-03 -5.77864911e-06 9.99998571e-01 -7.35957778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.22, Y:-47.83, Z:-0.74 [[ 9.72629430e-01 2.32355943e-01 1.64528279e-03 3.36219500e+02] [-2.32355618e-01 9.72630822e-01 -3.88708658e-04 -4.78346135e+01] [-1.69057151e-03 -4.22121699e-06 9.99998571e-01 -7.35171406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8457692310001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:336.25, Y:-47.84, Z:-0.73 [[ 9.73162190e-01 2.30114417e-01 1.64530101e-03 3.36246271e+02] [-2.30114089e-01 9.73163581e-01 -3.88631522e-04 -4.78437815e+01] [-1.69057673e-03 -4.05439056e-07 9.99998571e-01 -7.30698607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.27, Y:-47.85, Z:-0.73 [[ 9.73300799e-01 2.29527443e-01 1.64532453e-03 3.36274405e+02] [-2.29527114e-01 9.73302190e-01 -3.88531898e-04 -4.78517394e+01] [-1.69057670e-03 5.11815615e-07 9.99998571e-01 -7.28964851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9057692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:336.30, Y:-47.86, Z:-0.73 [[ 9.73382616e-01 2.29180227e-01 1.64534275e-03 3.36300886e+02] [-2.29179898e-01 9.73384006e-01 -3.88454733e-04 -4.78591922e+01] [-1.69057646e-03 1.03560056e-06 9.99998571e-01 -7.28547944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.33, Y:-47.87, Z:-0.73 [[ 9.73227293e-01 2.29838919e-01 1.64536538e-03 3.36328252e+02] [-2.29838591e-01 9.73228684e-01 -3.88358852e-04 -4.78682854e+01] [-1.69057676e-03 -2.07025477e-07 9.99998571e-01 -7.29255761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9657692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:336.36, Y:-47.88, Z:-0.73 [[ 9.73142746e-01 2.30196629e-01 1.64538332e-03 3.36355906e+02] [-2.30196301e-01 9.73144137e-01 -3.88282827e-04 -4.78751595e+01] [-1.69057653e-03 -9.06537535e-07 9.99998571e-01 -7.28999654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99576923100005 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:336.38, Y:-47.88, Z:-0.73 [[ 9.72992230e-01 2.30832002e-01 1.64540124e-03 3.36384286e+02] [-2.30831675e-01 9.72993621e-01 -3.88206864e-04 -4.78824271e+01] [-1.69057548e-03 -2.08846344e-06 9.99998571e-01 -7.27874332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.025769231 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:336.41, Y:-47.89, Z:-0.73 [[ 9.72997258e-01 2.30810807e-01 1.64541906e-03 3.36411208e+02] [-2.30810481e-01 9.72998649e-01 -3.88131345e-04 -4.78896414e+01] [-1.69057543e-03 -2.12922975e-06 9.99998571e-01 -7.25892821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:336.44, Y:-47.90, Z:-0.72 [[ 9.73307273e-01 2.29499990e-01 1.64544177e-03 3.36436837e+02] [-2.29499662e-01 9.73308664e-01 -3.88035032e-04 -4.79002440e+01] [-1.69057677e-03 4.89883972e-08 9.99998571e-01 -7.23625467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:336.46, Y:-47.91, Z:-0.72 [[ 9.73709948e-01 2.27785489e-01 1.64546368e-03 3.36464761e+02] [-2.27785159e-01 9.73711339e-01 -3.87942118e-04 -4.79093397e+01] [-1.69057422e-03 2.93089394e-06 9.99998571e-01 -7.24595501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11576923100006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.49, Y:-47.92, Z:-0.73 [[ 9.74704628e-01 2.23490895e-01 1.64548124e-03 3.36491151e+02] [-2.23490559e-01 9.74706017e-01 -3.87867616e-04 -4.79222031e+01] [-1.69054534e-03 1.03068389e-05 9.99998571e-01 -7.27796859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:336.52, Y:-47.93, Z:-0.73 [[ 9.75125648e-01 2.21646708e-01 1.64549437e-03 3.36518592e+02] [-2.21646369e-01 9.75127036e-01 -3.87811886e-04 -4.79326115e+01] [-1.69052328e-03 1.34474639e-05 9.99998571e-01 -7.29531028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:336.55, Y:-47.94, Z:-0.73 [[ 9.75468409e-01 2.20133311e-01 1.64550742e-03 3.36546968e+02] [-2.20132970e-01 9.75469797e-01 -3.87756522e-04 -4.79432931e+01] [-1.69050091e-03 1.60138031e-05 9.99998571e-01 -7.31531682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.57, Y:-47.96, Z:-0.74 [[ 9.75552645e-01 2.19759706e-01 1.64551608e-03 3.36573763e+02] [-2.19759365e-01 9.75554033e-01 -3.87719770e-04 -4.79563416e+01] [-1.69049503e-03 1.66234800e-05 9.99998571e-01 -7.35123970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:336.60, Y:-47.97, Z:-0.74 [[ 9.75220023e-01 2.21231099e-01 1.64552899e-03 3.36601602e+02] [-2.21230759e-01 9.75221411e-01 -3.87664966e-04 -4.79658707e+01] [-1.69051865e-03 1.40170096e-05 9.99998571e-01 -7.36249500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.63, Y:-47.98, Z:-0.74 [[ 9.74753631e-01 2.23277074e-01 1.64553757e-03 3.36629038e+02] [-2.23276738e-01 9.74755019e-01 -3.87628527e-04 -4.79751296e+01] [-1.69054457e-03 1.04320526e-05 9.99998571e-01 -7.36686128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.66, Y:-47.98, Z:-0.74 [[ 9.74211080e-01 2.25632587e-01 1.64555034e-03 3.36657464e+02] [-2.25632254e-01 9.74212470e-01 -3.87574337e-04 -4.79845156e+01] [-1.69056506e-03 6.28998261e-06 9.99998571e-01 -7.36878761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:336.68, Y:-48.00, Z:-0.74 [[ 9.73229340e-01 2.29830251e-01 1.64555883e-03 3.36684499e+02] [-2.29829924e-01 9.73230731e-01 -3.87538262e-04 -4.79957703e+01] [-1.69057644e-03 -1.03505544e-06 9.99998571e-01 -7.39058053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:336.72, Y:-48.00, Z:-0.74 [[ 9.72793565e-01 2.31667805e-01 1.64556818e-03 3.36715484e+02] [-2.31667481e-01 9.72794957e-01 -3.87498548e-04 -4.80048534e+01] [-1.69057137e-03 -4.26854216e-06 9.99998571e-01 -7.40563985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:336.75, Y:-48.02, Z:-0.74 [[ 9.72238841e-01 2.33984891e-01 1.64550344e-03 3.36746243e+02] [-2.33984569e-01 9.72240233e-01 -3.87773266e-04 -4.80175842e+01] [-1.69055774e-03 -8.01418417e-06 9.99998571e-01 -7.42287915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:336.78, Y:-48.03, Z:-0.74 [[ 9.71985346e-01 2.35035699e-01 1.64542781e-03 3.36776463e+02] [-2.35035379e-01 9.71986739e-01 -3.88093928e-04 -4.80280485e+01] [-1.69054994e-03 -9.51213747e-06 9.99998571e-01 -7.43226247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44576923100004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.80, Y:-48.04, Z:-0.74 [[ 9.71862911e-01 2.35541450e-01 1.64535724e-03 3.36803916e+02] [-2.35541130e-01 9.71864304e-01 -3.88392903e-04 -4.80368744e+01] [-1.69054659e-03 -1.00846453e-05 9.99998571e-01 -7.43224379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4757692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:336.83, Y:-48.05, Z:-0.74 [[ 9.71886613e-01 2.35443632e-01 1.64536966e-03 3.36831289e+02] [-2.35443312e-01 9.71888006e-01 -3.88340265e-04 -4.80472518e+01] [-1.69054728e-03 -9.96857749e-06 9.99998571e-01 -7.41777130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:336.86, Y:-48.06, Z:-0.74 [[ 9.71974859e-01 2.35079064e-01 1.64537376e-03 3.36859503e+02] [-2.35078744e-01 9.71976251e-01 -3.88322879e-04 -4.80562924e+01] [-1.69055080e-03 -9.35232256e-06 9.99998571e-01 -7.39281058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:336.89, Y:-48.07, Z:-0.74 [[ 9.72027715e-01 2.34860416e-01 1.64537783e-03 3.36889971e+02] [-2.34860095e-01 9.72029107e-01 -3.88305673e-04 -4.80687962e+01] [-1.69055277e-03 -8.98971616e-06 9.99998571e-01 -7.36964989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:336.92, Y:-48.08, Z:-0.74 [[ 9.71978492e-01 2.35064042e-01 1.64530459e-03 3.36920139e+02] [-2.35063721e-01 9.71979885e-01 -3.88615741e-04 -4.80789394e+01] [-1.69055255e-03 -9.02527598e-06 9.99998571e-01 -7.36742265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5957692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:336.95, Y:-48.09, Z:-0.74 [[ 9.71877119e-01 2.35482821e-01 1.64523600e-03 3.36948552e+02] [-2.35482500e-01 9.71878511e-01 -3.88905880e-04 -4.80884521e+01] [-1.69055017e-03 -9.45556086e-06 9.99998571e-01 -7.38118768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:336.98, Y:-48.10, Z:-0.74 [[ 9.71652145e-01 2.36409394e-01 1.64523197e-03 3.36977703e+02] [-2.36409075e-01 9.71653538e-01 -3.88922927e-04 -4.80976134e+01] [-1.69054050e-03 -1.10499720e-05 9.99998571e-01 -7.38741290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6557692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:337.01, Y:-48.11, Z:-0.74 [[ 9.70859587e-01 2.39643394e-01 1.64523197e-03 3.37009530e+02] [-2.39643079e-01 9.70860980e-01 -3.88922927e-04 -4.81067973e+01] [-1.69049434e-03 -1.66789040e-05 9.99998571e-01 -7.39523790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68576923100005 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:337.04, Y:-48.11, Z:-0.74 [[ 9.70814244e-01 2.39827016e-01 1.64515827e-03 3.37042070e+02] [-2.39826701e-01 9.70815638e-01 -3.89234444e-04 -4.81146878e+01] [-1.69049431e-03 -1.66785376e-05 9.99998571e-01 -7.39580454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7157692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:337.07, Y:-48.12, Z:-0.74 [[ 9.70456222e-01 2.41271662e-01 1.64508459e-03 3.37073068e+02] [-2.41271349e-01 9.70457616e-01 -3.89545591e-04 -4.81214904e+01] [-1.69047119e-03 -1.88748357e-05 9.99998571e-01 -7.38580842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:337.10, Y:-48.13, Z:-0.74 [[ 9.69903917e-01 2.43482413e-01 1.64501582e-03 3.37104675e+02] [-2.43482102e-01 9.69905312e-01 -3.89835782e-04 -4.81275106e+01] [-1.69042774e-03 -2.24286577e-05 9.99998571e-01 -7.36661314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.775769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:337.14, Y:-48.13, Z:-0.73 [[ 9.69707269e-01 2.44264419e-01 1.64495101e-03 3.37136007e+02] [-2.44264108e-01 9.69708664e-01 -3.90109081e-04 -4.81347028e+01] [-1.69041301e-03 -2.35108800e-05 9.99998571e-01 -7.34342293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:337.16, Y:-48.14, Z:-0.74 [[ 9.69646983e-01 2.44503625e-01 1.64488205e-03 3.37164951e+02] [-2.44503315e-01 9.69648378e-01 -3.90399634e-04 -4.81409562e+01] [-1.69041134e-03 -2.36292871e-05 9.99998571e-01 -7.35573059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:337.19, Y:-48.15, Z:-0.74 [[ 9.69629452e-01 2.44573137e-01 1.64489010e-03 3.37194362e+02] [-2.44572827e-01 9.69630847e-01 -3.90365712e-04 -4.81469582e+01] [-1.69040915e-03 -2.37853306e-05 9.99998571e-01 -7.38201925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:337.23, Y:-48.15, Z:-0.74 [[ 9.69499049e-01 2.45089552e-01 1.64489815e-03 3.37226267e+02] [-2.45089242e-01 9.69500444e-01 -3.90331784e-04 -4.81533910e+01] [-1.69039573e-03 -2.47205488e-05 9.99998571e-01 -7.44236977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89576923100003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:337.26, Y:-48.16, Z:-0.74 [[ 9.69419498e-01 2.45404015e-01 1.64482457e-03 3.37258724e+02] [-2.45403706e-01 9.69420893e-01 -3.90641608e-04 -4.81602877e+01] [-1.69039232e-03 -2.49504523e-05 9.99998571e-01 -7.44114738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:337.29, Y:-48.17, Z:-0.74 [[ 9.69235951e-01 2.46127946e-01 1.64475138e-03 3.37291110e+02] [-2.46127637e-01 9.69237346e-01 -3.90949531e-04 -4.81669698e+01] [-1.69037806e-03 -2.58964297e-05 9.99998571e-01 -7.43192697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:337.32, Y:-48.17, Z:-0.74 [[ 9.68898194e-01 2.47454208e-01 1.64467812e-03 3.37322963e+02] [-2.47453901e-01 9.68899589e-01 -3.91257491e-04 -4.81708340e+01] [-1.69034626e-03 -2.78933390e-05 9.99998571e-01 -7.42250173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:337.35, Y:-48.18, Z:-0.74 [[ 9.68793078e-01 2.47865423e-01 1.64460973e-03 3.37354015e+02] [-2.47865115e-01 9.68794473e-01 -3.91544726e-04 -4.81765053e+01] [-1.69033922e-03 -2.83155603e-05 9.99998571e-01 -7.44668968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:337.38, Y:-48.18, Z:-0.75 [[ 9.68703406e-01 2.48215647e-01 1.64455147e-03 3.37384649e+02] [-2.48215340e-01 9.68704801e-01 -3.91789284e-04 -4.81825630e+01] [-1.69033313e-03 -2.86752877e-05 9.99998571e-01 -7.47332042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:337.42, Y:-48.19, Z:-0.75 [[ 9.68747748e-01 2.48042529e-01 1.64449427e-03 3.37416213e+02] [-2.48042221e-01 9.68749143e-01 -3.92029221e-04 -4.81869656e+01] [-1.69034234e-03 -2.81265866e-05 9.99998571e-01 -7.50669372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:337.45, Y:-48.19, Z:-0.75 [[ 9.68840456e-01 2.47680172e-01 1.64448536e-03 3.37446945e+02] [-2.47679863e-01 9.68841851e-01 -3.92066601e-04 -4.81922706e+01] [-1.69035336e-03 -2.74559237e-05 9.99998571e-01 -7.50596704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10576923100007 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:337.48, Y:-48.20, Z:-0.75 [[ 9.69006352e-01 2.47030333e-01 1.64447645e-03 3.37479519e+02] [-2.47030023e-01 9.69007747e-01 -3.92103949e-04 -4.81984205e+01] [-1.69037199e-03 -2.62838390e-05 9.99998571e-01 -7.49390830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:337.51, Y:-48.20, Z:-0.75 [[ 9.69319580e-01 2.45798388e-01 1.64440166e-03 3.37510984e+02] [-2.45798076e-01 9.69320975e-01 -3.92417358e-04 -4.82049025e+01] [-1.69040858e-03 -2.38129353e-05 9.99998571e-01 -7.47851497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:337.54, Y:-48.21, Z:-0.75 [[ 9.70110727e-01 2.42657110e-01 1.64433185e-03 3.37541900e+02] [-2.42656793e-01 9.70112121e-01 -3.92709654e-04 -4.82099665e+01] [-1.69048005e-03 -1.80364464e-05 9.99998571e-01 -7.46758255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:337.57, Y:-48.22, Z:-0.75 [[ 9.70360359e-01 2.41656925e-01 1.64429641e-03 3.37570591e+02] [-2.41656606e-01 9.70361752e-01 -3.92858008e-04 -4.82159035e+01] [-1.69049920e-03 -1.61412513e-05 9.99998571e-01 -7.48847731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2257692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:337.60, Y:-48.22, Z:-0.75 [[ 9.70480525e-01 2.41173894e-01 1.64429154e-03 3.37600947e+02] [-2.41173575e-01 9.70481918e-01 -3.92878379e-04 -4.82224141e+01] [-1.69050722e-03 -1.52788538e-05 9.99998571e-01 -7.51481578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25576923100004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:337.63, Y:-48.23, Z:-0.75 [[ 9.70273608e-01 2.42005002e-01 1.64428256e-03 3.37632356e+02] [-2.42004684e-01 9.70275002e-01 -3.92915981e-04 -4.82287354e+01] [-1.69049389e-03 -1.66880734e-05 9.99998571e-01 -7.54253410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2857692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:337.66, Y:-48.24, Z:-0.75 [[ 9.70077142e-01 2.42791341e-01 1.64421583e-03 3.37663234e+02] [-2.42791023e-01 9.70078535e-01 -3.93195018e-04 -4.82355521e+01] [-1.69048283e-03 -1.77713435e-05 9.99998571e-01 -7.53964151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:337.69, Y:-48.24, Z:-0.75 [[ 9.69942004e-01 2.43330651e-01 1.64415414e-03 3.37691281e+02] [-2.43330333e-01 9.69943397e-01 -3.93452810e-04 -4.82414265e+01] [-1.69047558e-03 -1.84461671e-05 9.99998571e-01 -7.52795310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3457692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:337.72, Y:-48.25, Z:-0.75 [[ 9.69826591e-01 2.43790238e-01 1.64416742e-03 3.37720973e+02] [-2.43789922e-01 9.69827984e-01 -3.93397301e-04 -4.82484817e+01] [-1.69046600e-03 -1.93042829e-05 9.99998571e-01 -7.51838519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:337.75, Y:-48.25, Z:-0.75 [[ 9.69514238e-01 2.45029466e-01 1.64416742e-03 3.37749778e+02] [-2.45029151e-01 9.69515632e-01 -3.93397301e-04 -4.82541600e+01] [-1.69043994e-03 -2.14646616e-05 9.99998571e-01 -7.52216547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4057692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:337.78, Y:-48.26, Z:-0.75 [[ 9.69233824e-01 2.46136325e-01 1.64417190e-03 3.37780912e+02] [-2.46136012e-01 9.69235219e-01 -3.93378557e-04 -4.82601282e+01] [-1.69041407e-03 -2.34141121e-05 9.99998571e-01 -7.52863240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:337.81, Y:-48.27, Z:-0.75 [[ 9.68924805e-01 2.47349992e-01 1.64416260e-03 3.37810140e+02] [-2.47349681e-01 9.68926200e-01 -3.93417425e-04 -4.82650192e+01] [-1.69038402e-03 -2.54911927e-05 9.99998571e-01 -7.53311037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4657692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:337.84, Y:-48.27, Z:-0.75 [[ 9.68627389e-01 2.48512127e-01 1.64416722e-03 3.37839823e+02] [-2.48511817e-01 9.68628784e-01 -3.93398149e-04 -4.82704123e+01] [-1.69035190e-03 -2.75387601e-05 9.99998571e-01 -7.52959092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:337.87, Y:-48.28, Z:-0.75 [[ 9.68487408e-01 2.49057096e-01 1.64417613e-03 3.37869313e+02] [-2.49056787e-01 9.68488803e-01 -3.93360886e-04 -4.82751465e+01] [-1.69033549e-03 -2.85281595e-05 9.99998571e-01 -7.52189454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.525769231 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:337.90, Y:-48.28, Z:-0.75 [[ 9.68405033e-01 2.49377202e-01 1.64418529e-03 3.37898153e+02] [-2.49376894e-01 9.68406428e-01 -3.93322596e-04 -4.82797953e+01] [-1.69032529e-03 -2.91262390e-05 9.99998571e-01 -7.52319115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:337.93, Y:-48.28, Z:-0.75 [[ 9.68093828e-01 2.50582593e-01 1.64419897e-03 3.37927413e+02] [-2.50582286e-01 9.68095224e-01 -3.93265395e-04 -4.82807755e+01] [-1.69028663e-03 -3.12893354e-05 9.99998571e-01 -7.51248468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:337.96, Y:-48.28, Z:-0.75 [[ 9.67815505e-01 2.51655410e-01 1.64421707e-03 3.37956240e+02] [-2.51655105e-01 9.67816901e-01 -3.93189707e-04 -4.82839190e+01] [-1.69024939e-03 -3.32405246e-05 9.99998571e-01 -7.50454562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:337.99, Y:-48.29, Z:-0.75 [[ 9.67630538e-01 2.52365686e-01 1.64423509e-03 3.37985490e+02] [-2.52365382e-01 9.67631934e-01 -3.93114334e-04 -4.82870306e+01] [-1.69022295e-03 -3.45585825e-05 9.99998571e-01 -7.49570029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:338.01, Y:-48.29, Z:-0.75 [[ 9.67566781e-01 2.52610018e-01 1.64425314e-03 3.38013496e+02] [-2.52609714e-01 9.67568177e-01 -3.93038848e-04 -4.82901567e+01] [-1.69021256e-03 -3.50629817e-05 9.99998571e-01 -7.49111780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:338.04, Y:-48.29, Z:-0.75 [[ 9.67955217e-01 2.51117492e-01 1.64427554e-03 3.38042091e+02] [-2.51117187e-01 9.67956613e-01 -3.92945086e-04 -4.82905857e+01] [-1.69026277e-03 -3.25526027e-05 9.99998571e-01 -7.47660640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70576923100003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:338.07, Y:-48.29, Z:-0.75 [[ 9.68349487e-01 2.49592803e-01 1.64429782e-03 3.38070401e+02] [-2.49592496e-01 9.68350882e-01 -3.92851835e-04 -4.82942991e+01] [-1.69031024e-03 -2.99865248e-05 9.99998571e-01 -7.47336883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:338.10, Y:-48.30, Z:-0.75 [[ 9.68745996e-01 2.48049372e-01 1.64431543e-03 3.38098661e+02] [-2.48049062e-01 9.68747391e-01 -3.92778112e-04 -4.82980588e+01] [-1.69035465e-03 -2.73686781e-05 9.99998571e-01 -7.48478021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:338.13, Y:-48.30, Z:-0.75 [[ 9.69051649e-01 2.46852584e-01 1.64434176e-03 3.38126908e+02] [-2.46852273e-01 9.69053044e-01 -3.92667863e-04 -4.83024446e+01] [-1.69038546e-03 -2.53940596e-05 9.99998571e-01 -7.49296332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.15, Y:-48.31, Z:-0.75 [[ 9.69588909e-01 2.44733822e-01 1.64436799e-03 3.38154857e+02] [-2.44733508e-01 9.69590303e-01 -3.92557996e-04 -4.83057319e+01] [-1.69043547e-03 -2.18120677e-05 9.99998571e-01 -7.51762753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:338.18, Y:-48.31, Z:-0.75 [[ 9.69812496e-01 2.43846300e-01 1.64438981e-03 3.38182644e+02] [-2.43845985e-01 9.69813890e-01 -3.92466568e-04 -4.83108534e+01] [-1.69045360e-03 -2.03588704e-05 9.99998571e-01 -7.53699466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:338.21, Y:-48.32, Z:-0.75 [[ 9.70034663e-01 2.42961004e-01 1.64441580e-03 3.38210095e+02] [-2.42960688e-01 9.70036056e-01 -3.92357652e-04 -4.83164044e+01] [-1.69047022e-03 -1.89278707e-05 9.99998571e-01 -7.53980803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.24, Y:-48.32, Z:-0.75 [[ 9.70188664e-01 2.42345314e-01 1.64444170e-03 3.38236937e+02] [-2.42344997e-01 9.70190058e-01 -3.92249072e-04 -4.83221929e+01] [-1.69048071e-03 -1.79666149e-05 9.99998571e-01 -7.51854185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:338.26, Y:-48.33, Z:-0.75 [[ 9.70230243e-01 2.42178799e-01 1.64447186e-03 3.38264593e+02] [-2.42178483e-01 9.70231637e-01 -3.92122561e-04 -4.83284197e+01] [-1.69048240e-03 -1.78065333e-05 9.99998571e-01 -7.49437576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.29, Y:-48.33, Z:-0.75 [[ 9.69986857e-01 2.43151791e-01 1.64449768e-03 3.38292701e+02] [-2.43151475e-01 9.69988251e-01 -3.92014244e-04 -4.83347488e+01] [-1.69046240e-03 -1.96133736e-05 9.99998571e-01 -7.50544305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.32, Y:-48.34, Z:-0.75 [[ 9.69808559e-01 2.43861959e-01 1.64451603e-03 3.38319752e+02] [-2.43861645e-01 9.69809953e-01 -3.91937256e-04 -4.83407683e+01] [-1.69044660e-03 -2.09302790e-05 9.99998571e-01 -7.54509817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.35, Y:-48.35, Z:-0.76 [[ 9.69716097e-01 2.44229375e-01 1.64453885e-03 3.38347352e+02] [-2.44229061e-01 9.69717491e-01 -3.91841502e-04 -4.83465188e+01] [-1.69043729e-03 -2.16691671e-05 9.99998571e-01 -7.57419282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0357692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:338.37, Y:-48.35, Z:-0.76 [[ 9.69633648e-01 2.44556504e-01 1.64456423e-03 3.38374339e+02] [-2.44556191e-01 9.69635043e-01 -3.91734941e-04 -4.83524636e+01] [-1.69042843e-03 -2.23489840e-05 9.99998571e-01 -7.55832770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:338.40, Y:-48.36, Z:-0.75 [[ 9.69750988e-01 2.44090797e-01 1.64459043e-03 3.38401806e+02] [-2.44090484e-01 9.69752382e-01 -3.91624936e-04 -4.83586729e+01] [-1.69043753e-03 -2.16502041e-05 9.99998571e-01 -7.54394230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.43, Y:-48.36, Z:-0.76 [[ 9.69869322e-01 2.43620181e-01 1.64461206e-03 3.38429576e+02] [-2.43619867e-01 9.69870717e-01 -3.91534060e-04 -4.83649741e+01] [-1.69044668e-03 -2.09232988e-05 9.99998571e-01 -7.55364161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.46, Y:-48.37, Z:-0.76 [[ 9.70005751e-01 2.43076403e-01 1.64463692e-03 3.38457418e+02] [-2.43076088e-01 9.70007145e-01 -3.91429589e-04 -4.83716886e+01] [-1.69045686e-03 -2.00829575e-05 9.99998571e-01 -7.57417540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1557692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.48, Y:-48.38, Z:-0.76 [[ 9.70412099e-01 2.41449070e-01 1.64465522e-03 3.38484527e+02] [-2.41448754e-01 9.70413492e-01 -3.91352711e-04 -4.83800545e+01] [-1.69048736e-03 -1.73265477e-05 9.99998571e-01 -7.60748662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.51, Y:-48.39, Z:-0.76 [[ 9.70739358e-01 2.40129951e-01 1.64467861e-03 3.38511605e+02] [-2.40129632e-01 9.70740752e-01 -3.91254374e-04 -4.83870961e+01] [-1.69050844e-03 -1.51300506e-05 9.99998571e-01 -7.59540883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2157692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:338.54, Y:-48.39, Z:-0.76 [[ 9.71209077e-01 2.38223055e-01 1.64470273e-03 3.38539830e+02] [-2.38222734e-01 9.71210469e-01 -3.91152960e-04 -4.83944409e+01] [-1.69053416e-03 -1.19142757e-05 9.99998571e-01 -7.58027409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:338.57, Y:-48.40, Z:-0.76 [[ 9.71665734e-01 2.36353541e-01 1.64472107e-03 3.38566923e+02] [-2.36353217e-01 9.71667126e-01 -3.91075851e-04 -4.84020265e+01] [-1.69055355e-03 -8.74011140e-06 9.99998571e-01 -7.58675685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.275769231 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:338.59, Y:-48.41, Z:-0.76 [[ 9.72298474e-01 2.33736974e-01 1.64474417e-03 3.38593982e+02] [-2.33736647e-01 9.72299865e-01 -3.90978674e-04 -4.84125218e+01] [-1.69057070e-03 -4.28901961e-06 9.99998571e-01 -7.59474236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:338.62, Y:-48.42, Z:-0.76 [[ 9.72338661e-01 2.33569741e-01 1.64476212e-03 3.38622168e+02] [-2.33569414e-01 9.72340052e-01 -3.90903139e-04 -4.84206799e+01] [-1.69057123e-03 -4.07588932e-06 9.99998571e-01 -7.57937600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.65, Y:-48.43, Z:-0.76 [[ 9.72177398e-01 2.34240053e-01 1.64478050e-03 3.38649431e+02] [-2.34239727e-01 9.72178789e-01 -3.90825777e-04 -4.84266605e+01] [-1.69056777e-03 -5.32094838e-06 9.99998571e-01 -7.57213672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:338.68, Y:-48.43, Z:-0.76 [[ 9.72049514e-01 2.34770177e-01 1.64480428e-03 3.38676176e+02] [-2.34769852e-01 9.72050906e-01 -3.90725656e-04 -4.84323688e+01] [-1.69056423e-03 -6.34577413e-06 9.99998571e-01 -7.59370785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:338.70, Y:-48.44, Z:-0.76 [[ 9.72017007e-01 2.34904729e-01 1.64482652e-03 3.38704159e+02] [-2.34904404e-01 9.72018399e-01 -3.90632013e-04 -4.84388893e+01] [-1.69056295e-03 -6.67603419e-06 9.99998571e-01 -7.61434384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.73, Y:-48.45, Z:-0.76 [[ 9.72117803e-01 2.34487251e-01 1.64484518e-03 3.38731187e+02] [-2.34486926e-01 9.72119195e-01 -3.90553442e-04 -4.84454969e+01] [-1.69056537e-03 -6.03073453e-06 9.99998571e-01 -7.63929534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.76, Y:-48.45, Z:-0.76 [[ 9.72467017e-01 2.33034752e-01 1.64486837e-03 3.38759732e+02] [-2.33034425e-01 9.72468408e-01 -3.90455757e-04 -4.84515918e+01] [-1.69057228e-03 -3.60560845e-06 9.99998571e-01 -7.64481515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:338.79, Y:-48.46, Z:-0.77 [[ 9.73521058e-01 2.28591433e-01 1.64488709e-03 3.38788505e+02] [-2.28591100e-01 9.73522448e-01 -3.90376852e-04 -4.84557946e+01] [-1.69057131e-03 4.03353645e-06 9.99998571e-01 -7.65325873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:338.82, Y:-48.46, Z:-0.76 [[ 9.74120655e-01 2.26022664e-01 1.64490110e-03 3.38817200e+02] [-2.26022327e-01 9.74122043e-01 -3.90317817e-04 -4.84618332e+01] [-1.69055510e-03 8.43227236e-06 9.99998571e-01 -7.62919748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.85, Y:-48.47, Z:-0.76 [[ 9.74815488e-01 2.23006859e-01 1.64491947e-03 3.38846566e+02] [-2.23006518e-01 9.74816875e-01 -3.90240378e-04 -4.84682436e+01] [-1.69052154e-03 1.35846006e-05 9.99998571e-01 -7.61171101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.88, Y:-48.47, Z:-0.76 [[ 9.74826109e-01 2.22960424e-01 1.64492877e-03 3.38875129e+02] [-2.22960083e-01 9.74827497e-01 -3.90201174e-04 -4.84749259e+01] [-1.69052122e-03 1.36248370e-05 9.99998571e-01 -7.61220689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.90, Y:-48.48, Z:-0.76 [[ 9.75516999e-01 2.19917891e-01 1.64494736e-03 3.38902708e+02] [-2.19917546e-01 9.75518386e-01 -3.90122818e-04 -4.84814522e+01] [-1.69047138e-03 1.88186555e-05 9.99998571e-01 -7.60711170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.93, Y:-48.49, Z:-0.76 [[ 9.76251288e-01 2.16634984e-01 1.64496122e-03 3.38931297e+02] [-2.16634634e-01 9.76252674e-01 -3.90064368e-04 -4.84885111e+01] [-1.69039937e-03 2.44452703e-05 9.99998571e-01 -7.61840167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:338.96, Y:-48.50, Z:-0.76 [[ 9.77458074e-01 2.11123207e-01 1.64497042e-03 3.38958232e+02] [-2.11122850e-01 9.77459457e-01 -3.90025553e-04 -4.84974807e+01] [-1.69023534e-03 3.39427827e-05 9.99998571e-01 -7.62504004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:338.99, Y:-48.51, Z:-0.76 [[ 9.77825510e-01 2.09414820e-01 1.64498418e-03 3.38985821e+02] [-2.09414460e-01 9.77826893e-01 -3.89967518e-04 -4.85062508e+01] [-1.69017474e-03 3.68367135e-05 9.99998571e-01 -7.62211872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.01, Y:-48.52, Z:-0.76 [[ 9.78031514e-01 2.08450598e-01 1.64499775e-03 3.39014754e+02] [-2.08450236e-01 9.78032897e-01 -3.89910258e-04 -4.85157083e+01] [-1.69013894e-03 3.84443504e-05 9.99998571e-01 -7.61208668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.04, Y:-48.53, Z:-0.76 [[ 9.78148852e-01 2.07899294e-01 1.64499775e-03 3.39044173e+02] [-2.07898932e-01 9.78150235e-01 -3.89910258e-04 -4.85252483e+01] [-1.69011700e-03 3.93969955e-05 9.99998571e-01 -7.62329777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7857692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.07, Y:-48.54, Z:-0.77 [[ 9.77917862e-01 2.08983132e-01 1.64499775e-03 3.39073476e+02] [-2.08982772e-01 9.77919245e-01 -3.89910258e-04 -4.85381570e+01] [-1.69015962e-03 3.75240172e-05 9.99998571e-01 -7.66367931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:339.10, Y:-48.55, Z:-0.77 [[ 9.77625949e-01 2.10344473e-01 1.64498377e-03 3.39102574e+02] [-2.10344114e-01 9.77627333e-01 -3.89969235e-04 -4.85487550e+01] [-1.69020897e-03 3.52313898e-05 9.99998571e-01 -7.67528556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8457692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:339.13, Y:-48.56, Z:-0.77 [[ 9.77227309e-01 2.12188786e-01 1.64497911e-03 3.39132495e+02] [-2.12188430e-01 9.77228693e-01 -3.89988907e-04 -4.85590960e+01] [-1.69027205e-03 3.20622771e-05 9.99998571e-01 -7.67336906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:339.16, Y:-48.57, Z:-0.77 [[ 9.76848549e-01 2.13925701e-01 1.64496962e-03 3.39161266e+02] [-2.13925347e-01 9.76849934e-01 -3.90028901e-04 -4.85689255e+01] [-1.69032567e-03 2.90984682e-05 9.99998571e-01 -7.68006999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9057692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:339.19, Y:-48.58, Z:-0.77 [[ 9.75903044e-01 2.18198404e-01 1.64496492e-03 3.39188035e+02] [-2.18198056e-01 9.75904430e-01 -3.90048729e-04 -4.85821554e+01] [-1.69043656e-03 2.17215941e-05 9.99998571e-01 -7.68232752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.22, Y:-48.59, Z:-0.77 [[ 9.75337297e-01 2.20713503e-01 1.64496932e-03 3.39217538e+02] [-2.20713159e-01 9.75338684e-01 -3.90030191e-04 -4.85929712e+01] [-1.69048714e-03 1.73446180e-05 9.99998571e-01 -7.66685766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9657692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:339.25, Y:-48.60, Z:-0.77 [[ 9.74801181e-01 2.23069388e-01 1.64496020e-03 3.39246432e+02] [-2.23069047e-01 9.74802569e-01 -3.90068627e-04 -4.86028540e+01] [-1.69052380e-03 1.32996529e-05 9.99998571e-01 -7.65681737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:339.28, Y:-48.61, Z:-0.76 [[ 9.74110358e-01 2.26067038e-01 1.64495568e-03 3.39276192e+02] [-2.26066701e-01 9.74111746e-01 -3.90087677e-04 -4.86122746e+01] [-1.69055662e-03 8.11874115e-06 9.99998571e-01 -7.64264713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.025769231 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.31, Y:-48.62, Z:-0.76 [[ 9.73955115e-01 2.26734928e-01 1.64494673e-03 3.39305163e+02] [-2.26734593e-01 9.73956504e-01 -3.90125428e-04 -4.86202248e+01] [-1.69056163e-03 6.99832953e-06 9.99998571e-01 -7.63818299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.34, Y:-48.63, Z:-0.76 [[ 9.73899151e-01 2.26975192e-01 1.64494229e-03 3.39336290e+02] [-2.26974857e-01 9.73900540e-01 -3.90144165e-04 -4.86292740e+01] [-1.69056323e-03 6.60053094e-06 9.99998571e-01 -7.63142638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.37, Y:-48.64, Z:-0.76 [[ 9.73831336e-01 2.27265977e-01 1.64487758e-03 3.39367549e+02] [-2.27265642e-01 9.73832725e-01 -3.90416792e-04 -4.86386771e+01] [-1.69056407e-03 6.37594719e-06 9.99998571e-01 -7.61811845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:339.40, Y:-48.65, Z:-0.76 [[ 9.73859184e-01 2.27146613e-01 1.64479929e-03 3.39397777e+02] [-2.27146277e-01 9.73860573e-01 -3.90746337e-04 -4.86477922e+01] [-1.69056189e-03 6.92187366e-06 9.99998571e-01 -7.59562577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.43, Y:-48.66, Z:-0.76 [[ 9.74048715e-01 2.26332489e-01 1.64472617e-03 3.39428977e+02] [-2.26332152e-01 9.74050104e-01 -3.91053886e-04 -4.86557977e+01] [-1.69055389e-03 8.65112275e-06 9.99998571e-01 -7.58936298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.46, Y:-48.66, Z:-0.76 [[ 9.74339629e-01 2.25076835e-01 1.64465830e-03 3.39461043e+02] [-2.25076496e-01 9.74341017e-01 -3.91339100e-04 -4.86645329e+01] [-1.69053941e-03 1.11232668e-05 9.99998571e-01 -7.58726374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.49, Y:-48.67, Z:-0.76 [[ 9.74608016e-01 2.23911836e-01 1.64458445e-03 3.39493205e+02] [-2.23911494e-01 9.74609403e-01 -3.91649209e-04 -4.86735229e+01] [-1.69052236e-03 1.34630970e-05 9.99998571e-01 -7.58879211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.52, Y:-48.68, Z:-0.76 [[ 9.75195825e-01 2.21337749e-01 1.64451002e-03 3.39524105e+02] [-2.21337402e-01 9.75197211e-01 -3.91961502e-04 -4.86829162e+01] [-1.69047746e-03 1.82476453e-05 9.99998571e-01 -7.61991676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:339.56, Y:-48.69, Z:-0.76 [[ 9.75495355e-01 2.20013881e-01 1.64444070e-03 3.39556006e+02] [-2.20013532e-01 9.75496741e-01 -3.92252114e-04 -4.86922332e+01] [-1.69044745e-03 2.08409101e-05 9.99998571e-01 -7.64173673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:339.59, Y:-48.70, Z:-0.77 [[ 9.75799508e-01 2.18660963e-01 1.64436488e-03 3.39586965e+02] [-2.18660612e-01 9.75800893e-01 -3.92569669e-04 -4.87024515e+01] [-1.69041238e-03 2.35114570e-05 9.99998571e-01 -7.67402655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.62, Y:-48.72, Z:-0.77 [[ 9.76569101e-01 2.15197787e-01 1.64428914e-03 3.39616909e+02] [-2.15197431e-01 9.76570485e-01 -3.92886677e-04 -4.87174289e+01] [-1.69031258e-03 2.98341913e-05 9.99998571e-01 -7.67801704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.65, Y:-48.73, Z:-0.77 [[ 9.76918231e-01 2.13607271e-01 1.64421389e-03 3.39647818e+02] [-2.13606912e-01 9.76919614e-01 -3.93201354e-04 -4.87291885e+01] [-1.69025546e-03 3.29101213e-05 9.99998571e-01 -7.66594062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.68, Y:-48.74, Z:-0.76 [[ 9.77177458e-01 2.12418249e-01 1.64413872e-03 3.39679033e+02] [-2.12417888e-01 9.77178840e-01 -3.93515390e-04 -4.87411995e+01] [-1.69020742e-03 3.52898937e-05 9.99998571e-01 -7.64956684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.71, Y:-48.76, Z:-0.76 [[ 9.77378784e-01 2.11489976e-01 1.64406350e-03 3.39708981e+02] [-2.11489612e-01 9.77380166e-01 -3.93829411e-04 -4.87575950e+01] [-1.69016603e-03 3.72181585e-05 9.99998571e-01 -7.63473969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.74, Y:-48.77, Z:-0.76 [[ 9.77227098e-01 2.12189763e-01 1.64398654e-03 3.39738864e+02] [-2.12189400e-01 9.77228481e-01 -3.94150390e-04 -4.87688836e+01] [-1.69018515e-03 3.63379236e-05 9.99998571e-01 -7.64473672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.77, Y:-48.78, Z:-0.77 [[ 9.76907777e-01 2.13655081e-01 1.64391478e-03 3.39768546e+02] [-2.13654720e-01 9.76909159e-01 -3.94449477e-04 -4.87806831e+01] [-1.69023154e-03 3.41106091e-05 9.99998571e-01 -7.65934083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.80, Y:-48.80, Z:-0.77 [[ 9.75978943e-01 2.17858669e-01 1.64384528e-03 3.39798708e+02] [-2.17858313e-01 9.75980327e-01 -3.94738895e-04 -4.87971020e+01] [-1.69035795e-03 2.71314899e-05 9.99998571e-01 -7.66985401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.83, Y:-48.81, Z:-0.77 [[ 9.75334031e-01 2.20727944e-01 1.64377211e-03 3.39829634e+02] [-2.20727592e-01 9.75335416e-01 -3.95043369e-04 -4.88090145e+01] [-1.69042626e-03 2.24733825e-05 9.99998571e-01 -7.67300564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.86, Y:-48.82, Z:-0.77 [[ 9.74602928e-01 2.23933986e-01 1.64369905e-03 3.39861008e+02] [-2.23933638e-01 9.74604314e-01 -3.95347121e-04 -4.88204045e+01] [-1.69048784e-03 1.72269544e-05 9.99998571e-01 -7.68856463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:339.89, Y:-48.83, Z:-0.77 [[ 9.73850876e-01 2.27182241e-01 1.64362593e-03 3.39891963e+02] [-2.27181897e-01 9.73852263e-01 -3.95650860e-04 -4.88307003e+01] [-1.69053368e-03 1.19028791e-05 9.99998571e-01 -7.71659321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.92, Y:-48.84, Z:-0.77 [[ 9.73042953e-01 2.30618105e-01 1.64355242e-03 3.39921799e+02] [-2.30617765e-01 9.73044341e-01 -3.95956003e-04 -4.88407875e+01] [-1.69056400e-03 6.24981257e-06 9.99998571e-01 -7.74789532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:339.95, Y:-48.85, Z:-0.78 [[ 9.71523241e-01 2.36938581e-01 1.64349303e-03 3.39952123e+02] [-2.36938250e-01 9.71524631e-01 -3.96202342e-04 -4.88529753e+01] [-1.69056958e-03 -4.48658103e-06 9.99998571e-01 -7.76883768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.98, Y:-48.86, Z:-0.78 [[ 9.70808955e-01 2.39848437e-01 1.64342920e-03 3.39983424e+02] [-2.39848109e-01 9.70810346e-01 -3.96466951e-04 -4.88625992e+01] [-1.69055005e-03 -9.27971990e-06 9.99998571e-01 -7.75197259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7157692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.01, Y:-48.87, Z:-0.77 [[ 9.70096339e-01 2.42714631e-01 1.64335560e-03 3.40014309e+02] [-2.42714307e-01 9.70097731e-01 -3.96771787e-04 -4.88718935e+01] [-1.69051786e-03 -1.39590578e-05 9.99998571e-01 -7.73755378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:-48.88, Z:-0.77 [[ 9.69447648e-01 2.45292799e-01 1.64328723e-03 3.40044908e+02] [-2.45292478e-01 9.69449041e-01 -3.97054758e-04 -4.88803392e+01] [-1.69047790e-03 -1.81621960e-05 9.99998571e-01 -7.71959717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.08, Y:-48.89, Z:-0.77 [[ 9.68937298e-01 2.47301055e-01 1.64322119e-03 3.40076852e+02] [-2.47300737e-01 9.68938691e-01 -3.97327860e-04 -4.88884272e+01] [-1.69044019e-03 -2.13840283e-05 9.99998571e-01 -7.71938554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:340.11, Y:-48.89, Z:-0.77 [[ 9.68075992e-01 2.50651497e-01 1.64314956e-03 3.40108589e+02] [-2.50651183e-01 9.68077387e-01 -3.97623888e-04 -4.88947772e+01] [-1.69036095e-03 -2.69272404e-05 9.99998571e-01 -7.74678171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.14, Y:-48.90, Z:-0.78 [[ 9.67564791e-01 2.52617645e-01 1.64308276e-03 3.40141302e+02] [-2.52617334e-01 9.67566186e-01 -3.97899729e-04 -4.89014509e+01] [-1.69030781e-03 -3.00774169e-05 9.99998571e-01 -7.75372868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.17, Y:-48.91, Z:-0.77 [[ 9.67053983e-01 2.54566090e-01 1.64301397e-03 3.40172888e+02] [-2.54565780e-01 9.67055378e-01 -3.98183568e-04 -4.89084434e+01] [-1.69024953e-03 -3.31901276e-05 9.99998571e-01 -7.73668581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.21, Y:-48.92, Z:-0.77 [[ 9.66637959e-01 2.56141283e-01 1.64294971e-03 3.40205154e+02] [-2.56140975e-01 9.66639355e-01 -3.98448513e-04 -4.89161597e+01] [-1.69019896e-03 -3.56712855e-05 9.99998571e-01 -7.70419110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.24, Y:-48.92, Z:-0.77 [[ 9.66149865e-01 2.57976239e-01 1.64288159e-03 3.40236529e+02] [-2.57975934e-01 9.66151261e-01 -3.98729192e-04 -4.89238442e+01] [-1.69013478e-03 -3.85917582e-05 9.99998571e-01 -7.66394840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.27, Y:-48.93, Z:-0.77 [[ 9.66131141e-01 2.58046352e-01 1.64281783e-03 3.40268805e+02] [-2.58046046e-01 9.66132537e-01 -3.98991743e-04 -4.89312364e+01] [-1.69013812e-03 -3.84442972e-05 9.99998571e-01 -7.68949862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.30, Y:-48.94, Z:-0.78 [[ 9.66002120e-01 2.58528924e-01 1.64278730e-03 3.40298731e+02] [-2.58528619e-01 9.66003517e-01 -3.99117377e-04 -4.89383543e+01] [-1.69012170e-03 -3.91593004e-05 9.99998571e-01 -7.75201712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.33, Y:-48.95, Z:-0.78 [[ 9.65924137e-01 2.58820135e-01 1.64273074e-03 3.40329808e+02] [-2.58819830e-01 9.65925533e-01 -3.99350043e-04 -4.89461576e+01] [-1.69011540e-03 -3.94294461e-05 9.99998571e-01 -7.75938769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.36, Y:-48.95, Z:-0.77 [[ 9.65824830e-01 2.59190468e-01 1.64266592e-03 3.40361438e+02] [-2.59190163e-01 9.65826226e-01 -3.99616512e-04 -4.89541145e+01] [-1.69010662e-03 -3.98032978e-05 9.99998571e-01 -7.74046748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.39, Y:-48.96, Z:-0.77 [[ 9.65753405e-01 2.59456474e-01 1.64259673e-03 3.40392445e+02] [-2.59456168e-01 9.65754802e-01 -3.99900705e-04 -4.89612862e+01] [-1.69010251e-03 -3.99763862e-05 9.99998571e-01 -7.72026058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.42, Y:-48.97, Z:-0.77 [[ 9.65771868e-01 2.59387742e-01 1.64255362e-03 3.40424432e+02] [-2.59387436e-01 9.65773264e-01 -4.00077700e-04 -4.89687064e+01] [-1.69010962e-03 -3.96739845e-05 9.99998571e-01 -7.70719188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.46, Y:-48.98, Z:-0.77 [[ 9.66032815e-01 2.58414206e-01 1.64248552e-03 3.40456838e+02] [-2.58413899e-01 9.66034211e-01 -4.00357069e-04 -4.89766933e+01] [-1.69015516e-03 -3.76830214e-05 9.99998571e-01 -7.69752659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.49, Y:-48.99, Z:-0.77 [[ 9.66137177e-01 2.58023753e-01 1.64241762e-03 3.40487988e+02] [-2.58023445e-01 9.66138573e-01 -4.00635440e-04 -4.89854223e+01] [-1.69017647e-03 -3.67134594e-05 9.99998571e-01 -7.69293073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.52, Y:-48.99, Z:-0.77 [[ 9.66194586e-01 2.57808698e-01 1.64235425e-03 3.40519468e+02] [-2.57808389e-01 9.66195981e-01 -4.00895032e-04 -4.89938762e+01] [-1.69019031e-03 -3.60700939e-05 9.99998571e-01 -7.68300958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.55, Y:-49.00, Z:-0.77 [[ 9.66239909e-01 2.57638781e-01 1.64228707e-03 3.40550951e+02] [-2.57638471e-01 9.66241304e-01 -4.01170083e-04 -4.90015738e+01] [-1.69020257e-03 -3.54897845e-05 9.99998571e-01 -7.66756920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.58, Y:-49.01, Z:-0.77 [[ 9.66424620e-01 2.56945045e-01 1.64222437e-03 3.40582842e+02] [-2.56944734e-01 9.66426015e-01 -4.01426558e-04 -4.90080326e+01] [-1.69023292e-03 -3.40123952e-05 9.99998571e-01 -7.66672267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.61, Y:-49.02, Z:-0.77 [[ 9.66535367e-01 2.56528143e-01 1.64215754e-03 3.40614022e+02] [-2.56527831e-01 9.66536761e-01 -4.01699758e-04 -4.90154850e+01] [-1.69025293e-03 -3.30020895e-05 9.99998571e-01 -7.67907809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:-49.02, Z:-0.77 [[ 9.66549470e-01 2.56475001e-01 1.64209526e-03 3.40645717e+02] [-2.56474688e-01 9.66550864e-01 -4.01954189e-04 -4.90237939e+01] [-1.69025980e-03 -3.26472616e-05 9.99998571e-01 -7.68607805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.68, Y:-49.03, Z:-0.77 [[ 9.66846056e-01 2.55354670e-01 1.64202893e-03 3.40677296e+02] [-2.55354355e-01 9.66847450e-01 -4.02225002e-04 -4.90324351e+01] [-1.69030151e-03 -3.04095802e-05 9.99998571e-01 -7.69764474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.71, Y:-49.04, Z:-0.77 [[ 9.67099004e-01 2.54395007e-01 1.64196264e-03 3.40709397e+02] [-2.54394690e-01 9.67100398e-01 -4.02495417e-04 -4.90400762e+01] [-1.69033555e-03 -2.84536603e-05 9.99998571e-01 -7.69666409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.74, Y:-49.05, Z:-0.77 [[ 9.67351804e-01 2.53432027e-01 1.64189064e-03 3.40740636e+02] [-2.53431708e-01 9.67353197e-01 -4.02788899e-04 -4.90472023e+01] [-1.69036777e-03 -2.64685820e-05 9.99998571e-01 -7.70796428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.77, Y:-49.06, Z:-0.77 [[ 9.67607722e-01 2.52453166e-01 1.64184566e-03 3.40772478e+02] [-2.52452845e-01 9.67609115e-01 -4.02972154e-04 -4.90552301e+01] [-1.69039642e-03 -2.45696412e-05 9.99998571e-01 -7.71028431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.80, Y:-49.07, Z:-0.77 [[ 9.68234335e-01 2.50039153e-01 1.64177057e-03 3.40803108e+02] [-2.50038829e-01 9.68235726e-01 -4.03277879e-04 -4.90659250e+01] [-1.69045618e-03 -2.00389006e-05 9.99998571e-01 -7.72830612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.84, Y:-49.07, Z:-0.77 [[ 9.68189771e-01 2.50211656e-01 1.64172382e-03 3.40835571e+02] [-2.50211331e-01 9.68191162e-01 -4.03468095e-04 -4.90741039e+01] [-1.69045491e-03 -2.01442202e-05 9.99998571e-01 -7.72887252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.87, Y:-49.08, Z:-0.77 [[ 9.68233464e-01 2.50042524e-01 1.64165188e-03 3.40867662e+02] [-2.50042199e-01 9.68234856e-01 -4.03760582e-04 -4.90832135e+01] [-1.69046189e-03 -1.95477393e-05 9.99998571e-01 -7.70375102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.90, Y:-49.09, Z:-0.77 [[ 9.68077766e-01 2.50644656e-01 1.64157402e-03 3.40898855e+02] [-2.50644331e-01 9.68079158e-01 -4.04076907e-04 -4.90905332e+01] [-1.69045331e-03 -2.02733521e-05 9.99998571e-01 -7.67357445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:-49.10, Z:-0.76 [[ 9.67241262e-01 2.53853594e-01 1.64152550e-03 3.40931064e+02] [-2.53853274e-01 9.67242654e-01 -4.04273900e-04 -4.90952511e+01] [-1.69037987e-03 -2.56762259e-05 9.99998571e-01 -7.63079334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:-49.10, Z:-0.76 [[ 9.66663804e-01 2.56043736e-01 1.64147934e-03 3.40963607e+02] [-2.56043418e-01 9.66665198e-01 -4.04461268e-04 -4.91013522e+01] [-1.69032072e-03 -2.93119114e-05 9.99998571e-01 -7.64364043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.00, Y:-49.11, Z:-0.77 [[ 9.66094589e-01 2.58183173e-01 1.64140260e-03 3.40995194e+02] [-2.58182857e-01 9.66095983e-01 -4.04772459e-04 -4.91072041e+01] [-1.69025789e-03 -3.27335299e-05 9.99998571e-01 -7.67250782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.03, Y:-49.11, Z:-0.77 [[ 9.65587789e-01 2.60072158e-01 1.64133079e-03 3.41028203e+02] [-2.60071845e-01 9.65589184e-01 -4.05063431e-04 -4.91128811e+01] [-1.69019698e-03 -3.57396232e-05 9.99998571e-01 -7.69270647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.06, Y:-49.11, Z:-0.77 [[ 9.64999504e-01 2.62246570e-01 1.64125430e-03 3.41060804e+02] [-2.62246259e-01 9.65000899e-01 -4.05373089e-04 -4.91142511e+01] [-1.69011958e-03 -3.92279722e-05 9.99998571e-01 -7.71064350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.09, Y:-49.12, Z:-0.77 [[ 9.64971561e-01 2.62349373e-01 1.64118277e-03 3.41093051e+02] [-2.62349062e-01 9.64972956e-01 -4.05662513e-04 -4.91195361e+01] [-1.69012229e-03 -3.91099708e-05 9.99998571e-01 -7.70520191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.12, Y:-49.13, Z:-0.77 [[ 9.65259688e-01 2.61287277e-01 1.64110841e-03 3.41124193e+02] [-2.61286964e-01 9.65261083e-01 -4.05963086e-04 -4.91254300e+01] [-1.69017107e-03 -3.69404337e-05 9.99998571e-01 -7.69944192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.16, Y:-49.13, Z:-0.77 [[ 9.65772238e-01 2.59386373e-01 1.64103890e-03 3.41156681e+02] [-2.59386057e-01 9.65773632e-01 -4.06243865e-04 -4.91319035e+01] [-1.69024623e-03 -3.33235636e-05 9.99998571e-01 -7.68758803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.19, Y:-49.14, Z:-0.77 [[ 9.66790909e-01 2.55563390e-01 1.64096538e-03 3.41188033e+02] [-2.55563068e-01 9.66792301e-01 -4.06540635e-04 -4.91370378e+01] [-1.69036960e-03 -2.63303573e-05 9.99998571e-01 -7.67678820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.22, Y:-49.14, Z:-0.77 [[ 9.67134584e-01 2.54259717e-01 1.64089204e-03 3.41220133e+02] [-2.54259393e-01 9.67135976e-01 -4.06836464e-04 -4.91442622e+01] [-1.69040784e-03 -2.37465984e-05 9.99998571e-01 -7.67643583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.25, Y:-49.15, Z:-0.77 [[ 9.67516168e-01 2.52803823e-01 1.64081829e-03 3.41251321e+02] [-2.52803496e-01 9.67517559e-01 -4.07133653e-04 -4.91512644e+01] [-1.69044545e-03 -2.08962093e-05 9.99998571e-01 -7.70438033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.28, Y:-49.16, Z:-0.77 [[ 9.67724540e-01 2.52005005e-01 1.64074930e-03 3.41283499e+02] [-2.52004677e-01 9.67725931e-01 -4.07411519e-04 -4.91586850e+01] [-1.69046538e-03 -1.92143715e-05 9.99998571e-01 -7.72876342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.31, Y:-49.17, Z:-0.78 [[ 9.67817527e-01 2.51647654e-01 1.64067530e-03 3.41313983e+02] [-2.51647325e-01 9.67818918e-01 -4.07709313e-04 -4.91654192e+01] [-1.69047568e-03 -1.82833302e-05 9.99998571e-01 -7.75263375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.35, Y:-49.17, Z:-0.77 [[ 9.67804359e-01 2.51698292e-01 1.64063890e-03 3.41345661e+02] [-2.51697963e-01 9.67805750e-01 -4.07855719e-04 -4.91742586e+01] [-1.69047635e-03 -1.82209252e-05 9.99998571e-01 -7.73621630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.38, Y:-49.18, Z:-0.77 [[ 9.67779237e-01 2.51794872e-01 1.64056544e-03 3.41377627e+02] [-2.51794542e-01 9.67780627e-01 -4.08150981e-04 -4.91836164e+01] [-1.69047778e-03 -1.80853788e-05 9.99998571e-01 -7.69929085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:-49.19, Z:-0.77 [[ 9.67646819e-01 2.52303275e-01 1.64048798e-03 3.41408087e+02] [-2.52302945e-01 9.67648209e-01 -4.08462101e-04 -4.91926011e+01] [-1.69047158e-03 -1.86528947e-05 9.99998571e-01 -7.66811568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:-49.20, Z:-0.76 [[ 9.67255216e-01 2.53800427e-01 1.64041584e-03 3.41439646e+02] [-2.53800098e-01 9.67256607e-01 -4.08751604e-04 -4.92017725e+01] [-1.69044439e-03 -2.09705803e-05 9.99998571e-01 -7.64583951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.47, Y:-49.21, Z:-0.77 [[ 9.65937823e-01 2.58769070e-01 1.64033742e-03 3.41470624e+02] [-2.58768748e-01 9.65939215e-01 -4.09066061e-04 -4.92111695e+01] [-1.69031989e-03 -2.93356801e-05 9.99998571e-01 -7.65499039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.50, Y:-49.22, Z:-0.77 [[ 9.64950247e-01 2.62427761e-01 1.64026455e-03 3.41502430e+02] [-2.62427444e-01 9.64951641e-01 -4.09358038e-04 -4.92185969e+01] [-1.69020288e-03 -3.54402941e-05 9.99998571e-01 -7.69285112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.53, Y:-49.23, Z:-0.77 [[ 9.63849528e-01 2.66442107e-01 1.64018670e-03 3.41533891e+02] [-2.66441795e-01 9.63850923e-01 -4.09669741e-04 -4.92252234e+01] [-1.69004873e-03 -4.21543020e-05 9.99998571e-01 -7.72469091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18576923100005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.57, Y:-49.23, Z:-0.77 [[ 9.62584647e-01 2.70976211e-01 1.64011872e-03 3.41566510e+02] [-2.70975905e-01 9.62586043e-01 -4.09941702e-04 -4.92323271e+01] [-1.68983984e-03 -4.98290665e-05 9.99998571e-01 -7.73226282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.60, Y:-49.24, Z:-0.77 [[ 9.61297775e-01 2.75506622e-01 1.64003850e-03 3.41598177e+02] [-2.75506323e-01 9.61299172e-01 -4.10262399e-04 -4.92390824e+01] [-1.68959766e-03 -5.74566457e-05 9.99998571e-01 -7.74256537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.63, Y:-49.24, Z:-0.77 [[ 9.60128408e-01 2.79554558e-01 1.63998869e-03 3.41626995e+02] [-2.79554264e-01 9.60129806e-01 -4.10461397e-04 -4.92446064e+01] [-1.68934838e-03 -6.43701839e-05 9.99998571e-01 -7.71646978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.66, Y:-49.25, Z:-0.77 [[ 9.58324252e-01 2.85678034e-01 1.63999750e-03 3.41660699e+02] [-2.85677749e-01 9.58325652e-01 -4.10426192e-04 -4.92468863e+01] [-1.68890142e-03 -7.51894222e-05 9.99998571e-01 -7.68797200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.69, Y:-49.25, Z:-0.77 [[ 9.57371014e-01 2.88856455e-01 1.63992060e-03 3.41694015e+02] [-2.88856174e-01 9.57372415e-01 -4.10733260e-04 -4.92478334e+01] [-1.68865770e-03 -8.04770715e-05 9.99998571e-01 -7.70728707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.72, Y:-49.25, Z:-0.77 [[ 9.57193014e-01 2.89445755e-01 1.63985358e-03 3.41723870e+02] [-2.89445474e-01 9.57194415e-01 -4.11000661e-04 -4.92515136e+01] [-1.68862108e-03 -8.12412346e-05 9.99998571e-01 -7.71667325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.75, Y:-49.25, Z:-0.77 [[ 9.57168666e-01 2.89526262e-01 1.63982992e-03 3.41754539e+02] [-2.89525982e-01 9.57170067e-01 -4.11095031e-04 -4.92544449e+01] [-1.68861892e-03 -8.12860855e-05 9.99998571e-01 -7.72191448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.78, Y:-49.26, Z:-0.77 [[ 9.57154994e-01 2.89571455e-01 1.63982992e-03 3.41784758e+02] [-2.89571175e-01 9.57156396e-01 -4.11095031e-04 -4.92562860e+01] [-1.68861508e-03 -8.13658147e-05 9.99998571e-01 -7.71474975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.81, Y:-49.26, Z:-0.77 [[ 9.57123441e-01 2.89675732e-01 1.63983948e-03 3.41813710e+02] [-2.89675451e-01 9.57124842e-01 -4.11056886e-04 -4.92575114e+01] [-1.68860431e-03 -8.15890606e-05 9.99998571e-01 -7.70222354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.84, Y:-49.25, Z:-0.77 [[ 9.57682969e-01 2.87820502e-01 1.63985371e-03 3.41843938e+02] [-2.87820220e-01 9.57684370e-01 -4.11000104e-04 -4.92543596e+01] [-1.68875652e-03 -7.83752560e-05 9.99998571e-01 -7.68063165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.87, Y:-49.26, Z:-0.77 [[ 9.58362934e-01 2.85548239e-01 1.63987238e-03 3.41873126e+02] [-2.85547953e-01 9.58364334e-01 -4.10925603e-04 -4.92578296e+01] [-1.68893428e-03 -7.44463354e-05 9.99998571e-01 -7.67822177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.90, Y:-49.26, Z:-0.77 [[ 9.59313461e-01 2.82338438e-01 1.63989107e-03 3.41901037e+02] [-2.82338148e-01 9.59314861e-01 -4.10850992e-04 -4.92616989e+01] [-1.68917090e-03 -6.88689208e-05 9.99998571e-01 -7.67747464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.93, Y:-49.27, Z:-0.77 [[ 9.60376264e-01 2.78701887e-01 1.63991435e-03 3.41929530e+02] [-2.78701592e-01 9.60377662e-01 -4.10758070e-04 -4.92664738e+01] [-1.68941616e-03 -6.25644382e-05 9.99998571e-01 -7.67761323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.96, Y:-49.27, Z:-0.77 [[ 9.62740323e-01 2.70422599e-01 1.63993347e-03 3.41957400e+02] [-2.70422291e-01 9.62741718e-01 -4.10681706e-04 -4.92684164e+01] [-1.68988998e-03 -4.80947287e-05 9.99998571e-01 -7.70252890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.99, Y:-49.27, Z:-0.77 [[ 9.63828442e-01 2.66518376e-01 1.63995734e-03 3.41985664e+02] [-2.66518063e-01 9.63829836e-01 -4.10586389e-04 -4.92723843e+01] [-1.69006863e-03 -4.13434131e-05 9.99998571e-01 -7.70427481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.01, Y:-49.28, Z:-0.77 [[ 9.64702519e-01 2.63336969e-01 1.63997637e-03 3.42012860e+02] [-2.63336652e-01 9.64703913e-01 -4.10510366e-04 -4.92764332e+01] [-1.69019417e-03 -3.58455009e-05 9.99998571e-01 -7.69885044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.04, Y:-49.28, Z:-0.77 [[ 9.65925900e-01 2.58813574e-01 1.64000011e-03 3.42041679e+02] [-2.58813250e-01 9.65927292e-01 -4.10415467e-04 -4.92792573e+01] [-1.69034196e-03 -2.80228295e-05 9.99998571e-01 -7.68905318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.07, Y:-49.28, Z:-0.77 [[ 9.66232595e-01 2.57666225e-01 1.64001902e-03 3.42069472e+02] [-2.57665899e-01 9.66233986e-01 -4.10339911e-04 -4.92840418e+01] [-1.69037285e-03 -2.60931783e-05 9.99998571e-01 -7.69531975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.10, Y:-49.29, Z:-0.77 [[ 9.66357942e-01 2.57195718e-01 1.64004256e-03 3.42097478e+02] [-2.57195392e-01 9.66359334e-01 -4.10245816e-04 -4.92886420e+01] [-1.69038390e-03 -2.53670862e-05 9.99998571e-01 -7.69377423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.13, Y:-49.29, Z:-0.77 [[ 9.66226087e-01 2.57690627e-01 1.64006555e-03 3.42126307e+02] [-2.57690302e-01 9.66227478e-01 -4.10153871e-04 -4.92939466e+01] [-1.69036921e-03 -2.63276167e-05 9.99998571e-01 -7.67145027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.15, Y:-49.30, Z:-0.77 [[ 9.66059207e-01 2.58315542e-01 1.64008548e-03 3.42154277e+02] [-2.58315218e-01 9.66060599e-01 -4.10074146e-04 -4.92972150e+01] [-1.69035049e-03 -2.75031346e-05 9.99998571e-01 -7.65207694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.18, Y:-49.30, Z:-0.77 [[ 9.65947337e-01 2.58733555e-01 1.64011029e-03 3.42183350e+02] [-2.58733232e-01 9.65948729e-01 -4.09974915e-04 -4.93018146e+01] [-1.69033671e-03 -2.83368580e-05 9.99998571e-01 -7.65536615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.21, Y:-49.31, Z:-0.77 [[ 9.65783369e-01 2.59344932e-01 1.64012997e-03 3.42211014e+02] [-2.59344609e-01 9.65784762e-01 -4.09896166e-04 -4.93056749e+01] [-1.69031702e-03 -2.94879661e-05 9.99998571e-01 -7.66568394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.24, Y:-49.31, Z:-0.77 [[ 9.65332086e-01 2.61019680e-01 1.64015451e-03 3.42240743e+02] [-2.61019360e-01 9.65333479e-01 -4.09797931e-04 -4.93070315e+01] [-1.69026139e-03 -3.25209900e-05 9.99998571e-01 -7.68990539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.27, Y:-49.31, Z:-0.77 [[ 9.65066623e-01 2.61999472e-01 1.64017399e-03 3.42269471e+02] [-2.61999154e-01 9.65068016e-01 -4.09719966e-04 -4.93109444e+01] [-1.69022587e-03 -3.43171343e-05 9.99998571e-01 -7.69873242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.30, Y:-49.31, Z:-0.77 [[ 9.64740994e-01 2.63195980e-01 1.64019365e-03 3.42296531e+02] [-2.63195663e-01 9.64742388e-01 -4.09641258e-04 -4.93135482e+01] [-1.69018027e-03 -3.64941399e-05 9.99998571e-01 -7.71219425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.33, Y:-49.31, Z:-0.77 [[ 9.63593693e-01 2.67365861e-01 1.64022771e-03 3.42326753e+02] [-2.67365551e-01 9.63595088e-01 -4.09504805e-04 -4.93110001e+01] [-1.69000297e-03 -4.39441387e-05 9.99998571e-01 -7.72104075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.35, Y:-49.31, Z:-0.77 [[ 9.62992012e-01 2.69524941e-01 1.64024800e-03 3.42354923e+02] [-2.69524635e-01 9.62993408e-01 -4.09423540e-04 -4.93134715e+01] [-1.68989787e-03 -4.78156442e-05 9.99998571e-01 -7.73335325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.38, Y:-49.32, Z:-0.78 [[ 9.62577525e-01 2.71001509e-01 1.64027316e-03 3.42381885e+02] [-2.71001205e-01 9.62578921e-01 -4.09322714e-04 -4.93157960e+01] [-1.68981944e-03 -5.05111579e-05 9.99998571e-01 -7.75171752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.41, Y:-49.32, Z:-0.77 [[ 9.62430773e-01 2.71522221e-01 1.64030776e-03 3.42410939e+02] [-2.71521917e-01 9.62432170e-01 -4.09184026e-04 -4.93179477e+01] [-1.68978751e-03 -5.15682081e-05 9.99998571e-01 -7.73045546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.44, Y:-49.31, Z:-0.77 [[ 9.62773733e-01 2.70303622e-01 1.64032670e-03 3.42440530e+02] [-2.70303317e-01 9.62775129e-01 -4.09108075e-04 -4.93133270e+01] [-1.68984914e-03 -4.95072386e-05 9.99998571e-01 -7.69540304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.47, Y:-49.31, Z:-0.77 [[ 9.63073803e-01 2.69232536e-01 1.64036200e-03 3.42469479e+02] [-2.69232230e-01 9.63075199e-01 -4.08966485e-04 -4.93145013e+01] [-1.68989904e-03 -4.77734100e-05 9.99998571e-01 -7.69572405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.50, Y:-49.32, Z:-0.77 [[ 9.63461335e-01 2.67842427e-01 1.64039011e-03 3.42497919e+02] [-2.67842118e-01 9.63462730e-01 -4.08853686e-04 -4.93168850e+01] [-1.68996310e-03 -4.54508443e-05 9.99998571e-01 -7.70650767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:342.53, Y:-49.32, Z:-0.77 [[ 9.63923472e-01 2.66174470e-01 1.64041821e-03 3.42525949e+02] [-2.66174159e-01 9.63924867e-01 -4.08740909e-04 -4.93192859e+01] [-1.69003630e-03 -4.26419826e-05 9.99998571e-01 -7.71060905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.56, Y:-49.32, Z:-0.77 [[ 9.64644177e-01 2.63550604e-01 1.64044658e-03 3.42555672e+02] [-2.63550290e-01 9.64645571e-01 -4.08627010e-04 -4.93179651e+01] [-1.69014343e-03 -3.81605084e-05 9.99998571e-01 -7.69400280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.58, Y:-49.32, Z:-0.77 [[ 9.64861136e-01 2.62755204e-01 1.64046606e-03 3.42582774e+02] [-2.62754889e-01 9.64862530e-01 -4.08548791e-04 -4.93202048e+01] [-1.69017256e-03 -3.68476289e-05 9.99998571e-01 -7.68787589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.61, Y:-49.32, Z:-0.77 [[ 9.64997827e-01 2.62252747e-01 1.64051920e-03 3.42609374e+02] [-2.62252431e-01 9.64999220e-01 -4.08335326e-04 -4.93230096e+01] [-1.69018681e-03 -3.61874458e-05 9.99998571e-01 -7.68368996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.64, Y:-49.33, Z:-0.77 [[ 9.65152566e-01 2.61682697e-01 1.64057857e-03 3.42636939e+02] [-2.61682381e-01 9.65153959e-01 -4.08096644e-04 -4.93265779e+01] [-1.69020273e-03 -3.54349829e-05 9.99998571e-01 -7.68463838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.67, Y:-49.33, Z:-0.77 [[ 9.65321574e-01 2.61058551e-01 1.64060719e-03 3.42665758e+02] [-2.61058234e-01 9.65322968e-01 -4.07981536e-04 -4.93261005e+01] [-1.69022287e-03 -3.44606385e-05 9.99998571e-01 -7.69053896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.69, Y:-49.33, Z:-0.77 [[ 9.65174526e-01 2.61601687e-01 1.64068368e-03 3.42692816e+02] [-2.61601372e-01 9.65175920e-01 -4.07673735e-04 -4.93286004e+01] [-1.69019651e-03 -3.57287971e-05 9.99998571e-01 -7.69993909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.72, Y:-49.34, Z:-0.77 [[ 9.65223289e-01 2.61421710e-01 1.64073584e-03 3.42720511e+02] [-2.61421395e-01 9.65224683e-01 -4.07463694e-04 -4.93352747e+01] [-1.69019859e-03 -3.56300046e-05 9.99998571e-01 -7.70042064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.75, Y:-49.34, Z:-0.77 [[ 9.64913213e-01 2.62563896e-01 1.64081176e-03 3.42748017e+02] [-2.62563583e-01 9.64914607e-01 -4.07157737e-04 -4.93383784e+01] [-1.69014816e-03 -3.79455352e-05 9.99998571e-01 -7.70605171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.78, Y:-49.34, Z:-0.77 [[ 9.64272563e-01 2.64907026e-01 1.64084474e-03 3.42777164e+02] [-2.64906717e-01 9.64273958e-01 -4.07024771e-04 -4.93389354e+01] [-1.69004758e-03 -4.21879754e-05 9.99998571e-01 -7.71322572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.80, Y:-49.34, Z:-0.77 [[ 9.64183402e-01 2.65231361e-01 1.64091789e-03 3.42804638e+02] [-2.65231053e-01 9.64184797e-01 -4.06729663e-04 -4.93427906e+01] [-1.69002555e-03 -4.30603896e-05 9.99998571e-01 -7.73075190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.83, Y:-49.35, Z:-0.77 [[ 9.64255644e-01 2.64968603e-01 1.64099247e-03 3.42830851e+02] [-2.64968295e-01 9.64257039e-01 -4.06428548e-04 -4.93473060e+01] [-1.69002934e-03 -4.29099550e-05 9.99998571e-01 -7.74883332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.86, Y:-49.35, Z:-0.77 [[ 9.64462483e-01 2.64214735e-01 1.64102481e-03 3.42858504e+02] [-2.64214425e-01 9.64463878e-01 -4.06297922e-04 -4.93529604e+01] [-1.69005905e-03 -4.17233248e-05 9.99998571e-01 -7.74182690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.89, Y:-49.36, Z:-0.77 [[ 9.65260859e-01 2.61282951e-01 1.64109889e-03 3.42886733e+02] [-2.61282638e-01 9.65262254e-01 -4.05998479e-04 -4.93574403e+01] [-1.69017129e-03 -3.68962074e-05 9.99998571e-01 -7.72002451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.91, Y:-49.36, Z:-0.77 [[ 9.65746898e-01 2.59480702e-01 1.64117284e-03 3.42913337e+02] [-2.59480387e-01 9.65748292e-01 -4.05699331e-04 -4.93619362e+01] [-1.69023102e-03 -3.40492931e-05 9.99998571e-01 -7.72941097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.94, Y:-49.37, Z:-0.77 [[ 9.66028802e-01 2.58429218e-01 1.64122340e-03 3.42939581e+02] [-2.58428902e-01 9.66030195e-01 -4.05494686e-04 -4.93664510e+01] [-1.69026304e-03 -3.24200159e-05 9.99998571e-01 -7.72751235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.97, Y:-49.37, Z:-0.77 [[ 9.66154595e-01 2.57958532e-01 1.64127323e-03 3.42967410e+02] [-2.57958216e-01 9.66155989e-01 -4.05292894e-04 -4.93717955e+01] [-1.69027472e-03 -3.18043222e-05 9.99998571e-01 -7.72167231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.00, Y:-49.38, Z:-0.77 [[ 9.66211107e-01 2.57746781e-01 1.64134588e-03 3.42995319e+02] [-2.57746464e-01 9.66212500e-01 -4.04998468e-04 -4.93775451e+01] [-1.69027596e-03 -3.17370793e-05 9.99998571e-01 -7.72023620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.02, Y:-49.38, Z:-0.78 [[ 9.66293466e-01 2.57437844e-01 1.64141829e-03 3.43023970e+02] [-2.57437528e-01 9.66294859e-01 -4.04704784e-04 -4.93826372e+01] [-1.69028038e-03 -3.14990787e-05 9.99998571e-01 -7.76119828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.05, Y:-49.39, Z:-0.78 [[ 9.66504604e-01 2.56644027e-01 1.64148115e-03 3.43052304e+02] [-2.56643710e-01 9.66505997e-01 -4.04449664e-04 -4.93872960e+01] [-1.69030097e-03 -3.03733505e-05 9.99998571e-01 -7.80371622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.08, Y:-49.39, Z:-0.78 [[ 9.66963106e-01 2.54911075e-01 1.64154401e-03 3.43081158e+02] [-2.54910756e-01 9.66964499e-01 -4.04194390e-04 -4.93917858e+01] [-1.69034840e-03 -2.76061612e-05 9.99998571e-01 -7.83545948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.11, Y:-49.40, Z:-0.78 [[ 9.68092046e-01 2.50589496e-01 1.64160665e-03 3.43109545e+02] [-2.50589171e-01 9.68093438e-01 -4.03939790e-04 -4.93973933e+01] [-1.69045170e-03 -2.03179524e-05 9.99998571e-01 -7.81266131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.14, Y:-49.41, Z:-0.78 [[ 9.68633479e-01 2.48488407e-01 1.64166459e-03 3.43135722e+02] [-2.48488079e-01 9.68634870e-01 -4.03704186e-04 -4.94053036e+01] [-1.69048938e-03 -1.68926909e-05 9.99998571e-01 -7.78543342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.16, Y:-49.41, Z:-0.78 [[ 9.69201963e-01 2.46261772e-01 1.64170363e-03 3.43163003e+02] [-2.46261442e-01 9.69203353e-01 -4.03545363e-04 -4.94128818e+01] [-1.69052246e-03 -1.31713463e-05 9.99998571e-01 -7.76232291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.19, Y:-49.42, Z:-0.78 [[ 9.70152335e-01 2.42490724e-01 1.64172568e-03 3.43191490e+02] [-2.42490389e-01 9.70153724e-01 -4.03455631e-04 -4.94192678e+01] [-1.69056053e-03 -6.68927667e-06 9.99998571e-01 -7.79298285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.22, Y:-49.43, Z:-0.78 [[ 9.70482710e-01 2.41165118e-01 1.64178712e-03 3.43219919e+02] [-2.41164781e-01 9.70484099e-01 -4.03205484e-04 -4.94262780e+01] [-1.69056739e-03 -4.63727862e-06 9.99998571e-01 -7.83742293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.25, Y:-49.43, Z:-0.79 [[ 9.70844556e-01 2.39704303e-01 1.64184393e-03 3.43247333e+02] [-2.39703964e-01 9.70845944e-01 -4.02974015e-04 -4.94338190e+01] [-1.69057212e-03 -2.33137042e-06 9.99998571e-01 -7.87088594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.27, Y:-49.44, Z:-0.79 [[ 9.71764141e-01 2.35948634e-01 1.64190463e-03 3.43273803e+02] [-2.35948290e-01 9.71765528e-01 -4.02726525e-04 -4.94433619e+01] [-1.69056910e-03 3.95060565e-06 9.99998571e-01 -7.89606283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.30, Y:-49.45, Z:-0.79 [[ 9.72358356e-01 2.33487755e-01 1.64192625e-03 3.43301190e+02] [-2.33487408e-01 9.72359742e-01 -4.02638379e-04 -4.94508276e+01] [-1.69055412e-03 8.13968825e-06 9.99998571e-01 -7.88460845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.33, Y:-49.46, Z:-0.78 [[ 9.72946259e-01 2.31025715e-01 1.64198615e-03 3.43329209e+02] [-2.31025365e-01 9.72947644e-01 -4.02393960e-04 -4.94587854e+01] [-1.69052991e-03 1.21672490e-05 9.99998571e-01 -7.82763915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.36, Y:-49.47, Z:-0.78 [[ 9.73872606e-01 2.27089082e-01 1.64205219e-03 3.43355143e+02] [-2.27088727e-01 9.73873990e-01 -4.02124264e-04 -4.94694961e+01] [-1.69046995e-03 1.87262630e-05 9.99998571e-01 -7.77949074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.38, Y:-49.48, Z:-0.78 [[ 9.74214453e-01 2.25618045e-01 1.64207564e-03 3.43383130e+02] [-2.25617688e-01 9.74215837e-01 -4.02028490e-04 -4.94782023e+01] [-1.69044098e-03 2.11806557e-05 9.99998571e-01 -7.76213897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.41, Y:-49.49, Z:-0.78 [[ 9.74427598e-01 2.24695703e-01 1.64209468e-03 3.43409316e+02] [-2.24695345e-01 9.74428982e-01 -4.01950694e-04 -4.94860007e+01] [-1.69042125e-03 2.27008187e-05 9.99998571e-01 -7.78175530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.44, Y:-49.49, Z:-0.78 [[ 9.74544970e-01 2.24186093e-01 1.64212784e-03 3.43435814e+02] [-2.24185734e-01 9.74546354e-01 -4.01815190e-04 -4.94934354e+01] [-1.69041108e-03 2.34453379e-05 9.99998571e-01 -7.79331511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.46, Y:-49.50, Z:-0.78 [[ 9.74482767e-01 2.24456320e-01 1.64219464e-03 3.43463561e+02] [-2.24455962e-01 9.74484151e-01 -4.01542011e-04 -4.95009390e+01] [-1.69042129e-03 2.26953918e-05 9.99998571e-01 -7.78303587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.49, Y:-49.51, Z:-0.79 [[ 9.73934948e-01 2.26821559e-01 1.64221364e-03 3.43490457e+02] [-2.26821205e-01 9.73936333e-01 -4.01464275e-04 -4.95091046e+01] [-1.69047228e-03 1.85112110e-05 9.99998571e-01 -7.86731190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.52, Y:-49.52, Z:-0.78 [[ 9.73579346e-01 2.28343077e-01 1.64224869e-03 3.43518649e+02] [-2.28342724e-01 9.73580731e-01 -4.01320868e-04 -4.95162138e+01] [-1.69050052e-03 1.57221684e-05 9.99998571e-01 -7.84737921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.54, Y:-49.52, Z:-0.79 [[ 9.73133182e-01 2.30237081e-01 1.64226741e-03 3.43544764e+02] [-2.30236731e-01 9.73134568e-01 -4.01244238e-04 -4.95224255e+01] [-1.69052849e-03 1.23538015e-05 9.99998571e-01 -7.88780422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.57, Y:-49.53, Z:-0.78 [[ 9.72666992e-01 2.32198676e-01 1.64230004e-03 3.43573070e+02] [-2.32198329e-01 9.72668379e-01 -4.01110645e-04 -4.95293808e+01] [-1.69055068e-03 8.80775936e-06 9.99998571e-01 -7.81028351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.60, Y:-49.54, Z:-0.77 [[ 9.71784984e-01 2.35862771e-01 1.64236831e-03 3.43600737e+02] [-2.35862430e-01 9.71786372e-01 -4.00830909e-04 -4.95392883e+01] [-1.69057223e-03 2.14847826e-06 9.99998571e-01 -7.73693833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.63, Y:-49.55, Z:-0.77 [[ 9.71419113e-01 2.37365139e-01 1.64243668e-03 3.43626984e+02] [-2.37364802e-01 9.71420501e-01 -4.00550555e-04 -4.95476035e+01] [-1.69057340e-03 -7.54191996e-07 9.99998571e-01 -7.71029552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.65, Y:-49.56, Z:-0.77 [[ 9.71160877e-01 2.38419490e-01 1.64246088e-03 3.43653025e+02] [-2.38419154e-01 9.71162266e-01 -4.00451308e-04 -4.95554750e+01] [-1.69057142e-03 -2.69148914e-06 9.99998571e-01 -7.70797791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.68, Y:-49.56, Z:-0.77 [[ 9.70955216e-01 2.39255658e-01 1.64251369e-03 3.43679631e+02] [-2.39255324e-01 9.70956606e-01 -4.00234557e-04 -4.95625115e+01] [-1.69056790e-03 -4.37031481e-06 9.99998571e-01 -7.70427909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.71, Y:-49.57, Z:-0.78 [[ 9.70325947e-01 2.41795076e-01 1.64254256e-03 3.43706124e+02] [-2.41794745e-01 9.70327337e-01 -4.00116072e-04 -4.95702644e+01] [-1.69055004e-03 -8.91515169e-06 9.99998571e-01 -7.75743779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:-49.58, Z:-0.78 [[ 9.69999847e-01 2.43099977e-01 1.64257821e-03 3.43733526e+02] [-2.43099648e-01 9.70001238e-01 -3.99969662e-04 -4.95779789e+01] [-1.69053551e-03 -1.13396737e-05 9.99998571e-01 -7.78797401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.76, Y:-49.59, Z:-0.78 [[ 9.69618713e-01 2.44615728e-01 1.64259728e-03 3.43761614e+02] [-2.44615401e-01 9.69620104e-01 -3.99891319e-04 -4.95858060e+01] [-1.69051505e-03 -1.40624867e-05 9.99998571e-01 -7.80680476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.79, Y:-49.59, Z:-0.78 [[ 9.69158371e-01 2.46433265e-01 1.64261632e-03 3.43788283e+02] [-2.46432941e-01 9.69159763e-01 -3.99813096e-04 -4.95923456e+01] [-1.69048489e-03 -1.73125623e-05 9.99998571e-01 -7.80685931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.82, Y:-49.60, Z:-0.78 [[ 9.67994792e-01 2.50964908e-01 1.64264934e-03 3.43816781e+02] [-2.50964591e-01 9.67996185e-01 -3.99677380e-04 -4.95973737e+01] [-1.69038329e-03 -2.53611972e-05 9.99998571e-01 -7.78139901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.84, Y:-49.60, Z:-0.78 [[ 9.67568770e-01 2.52602410e-01 1.64271505e-03 3.43844693e+02] [-2.52602096e-01 9.67570164e-01 -3.99407131e-04 -4.96032678e+01] [-1.69033327e-03 -2.84993982e-05 9.99998571e-01 -7.77738318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.87, Y:-49.61, Z:-0.78 [[ 9.67458689e-01 2.53023687e-01 1.64273385e-03 3.43872288e+02] [-2.53023374e-01 9.67460083e-01 -3.99329769e-04 -4.96093824e+01] [-1.69031932e-03 -2.93150073e-05 9.99998571e-01 -7.77920146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.90, Y:-49.62, Z:-0.78 [[ 9.68306906e-01 2.49757955e-01 1.64276212e-03 3.43897980e+02] [-2.49757637e-01 9.68308300e-01 -3.99213471e-04 -4.96166041e+01] [-1.69040693e-03 -2.37312242e-05 9.99998571e-01 -7.79268193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.93, Y:-49.62, Z:-0.78 [[ 9.69209981e-01 2.46230204e-01 1.64279020e-03 3.43925737e+02] [-2.46229882e-01 9.69211373e-01 -3.99097876e-04 -4.96242683e+01] [-1.69048090e-03 -1.76943915e-05 9.99998571e-01 -7.78410953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.95, Y:-49.63, Z:-0.78 [[ 9.70193869e-01 2.42324488e-01 1.64280885e-03 3.43953464e+02] [-2.42324160e-01 9.70195260e-01 -3.99021105e-04 -4.96320536e+01] [-1.69053794e-03 -1.09644434e-05 9.99998571e-01 -7.77600458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.98, Y:-49.64, Z:-0.78 [[ 9.71091990e-01 2.38699914e-01 1.64282741e-03 3.43981126e+02] [-2.38699581e-01 9.71093379e-01 -3.98944674e-04 -4.96401919e+01] [-1.69056688e-03 -4.73023528e-06 9.99998571e-01 -7.76462420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.01, Y:-49.65, Z:-0.78 [[ 9.72372361e-01 2.33429417e-01 1.64284593e-03 3.44006885e+02] [-2.33429077e-01 9.72373749e-01 -3.98868384e-04 -4.96503445e+01] [-1.69056787e-03 4.36058340e-06 9.99998571e-01 -7.78909779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.03, Y:-49.66, Z:-0.78 [[ 9.72811770e-01 2.31591367e-01 1.64286894e-03 3.44033181e+02] [-2.31591024e-01 9.72813157e-01 -3.98773577e-04 -4.96586634e+01] [-1.69055704e-03 7.45792907e-06 9.99998571e-01 -7.81082665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.06, Y:-49.67, Z:-0.78 [[ 9.73072587e-01 2.30493039e-01 1.64288708e-03 3.44060711e+02] [-2.30492694e-01 9.73073974e-01 -3.98698829e-04 -4.96675887e+01] [-1.69054797e-03 9.28943173e-06 9.99998571e-01 -7.81797989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.09, Y:-49.68, Z:-0.78 [[ 9.73392511e-01 2.29138214e-01 1.64290554e-03 3.44085695e+02] [-2.29137868e-01 9.73393897e-01 -3.98622738e-04 -4.96799005e+01] [-1.69053393e-03 1.15645148e-05 9.99998571e-01 -7.83300717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.11, Y:-49.69, Z:-0.78 [[ 9.73662695e-01 2.27987404e-01 1.64293751e-03 3.44113230e+02] [-2.27987056e-01 9.73664081e-01 -3.98490965e-04 -4.96894145e+01] [-1.69052016e-03 1.34273019e-05 9.99998571e-01 -7.83646051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.14, Y:-49.70, Z:-0.78 [[ 9.73824064e-01 2.27297147e-01 1.64295548e-03 3.44140658e+02] [-2.27296799e-01 9.73825450e-01 -3.98416834e-04 -4.96990414e+01] [-1.69051087e-03 1.45493792e-05 9.99998571e-01 -7.82299743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.17, Y:-49.71, Z:-0.78 [[ 9.73911198e-01 2.26923507e-01 1.64297459e-03 3.44166436e+02] [-2.26923158e-01 9.73912584e-01 -3.98338015e-04 -4.97076918e+01] [-1.69050589e-03 1.51168706e-05 9.99998571e-01 -7.84565336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.19, Y:-49.72, Z:-0.78 [[ 9.73732789e-01 2.27687847e-01 1.64302074e-03 3.44191499e+02] [-2.27687499e-01 9.73734175e-01 -3.98147579e-04 -4.97191478e+01] [-1.69051881e-03 1.35940687e-05 9.99998571e-01 -7.84605139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:344.22, Y:-49.73, Z:-0.78 [[ 9.73471224e-01 2.28803576e-01 1.64306811e-03 3.44219430e+02] [-2.28803230e-01 9.73472611e-01 -3.97952001e-04 -4.97280421e+01] [-1.69053464e-03 1.14555308e-05 9.99998571e-01 -7.83098675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:-49.74, Z:-0.78 [[ 9.73086654e-01 2.30433643e-01 1.64308222e-03 3.44245164e+02] [-2.30433299e-01 9.73088041e-01 -3.97893746e-04 -4.97356332e+01] [-1.69055176e-03 8.56423793e-06 9.99998571e-01 -7.83864551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.27, Y:-49.74, Z:-0.79 [[ 9.72568378e-01 2.32611373e-01 1.64311514e-03 3.44272918e+02] [-2.32611033e-01 9.72569766e-01 -3.97757755e-04 -4.97434298e+01] [-1.69056708e-03 4.63990499e-06 9.99998571e-01 -7.85189534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.30, Y:-49.75, Z:-0.78 [[ 9.71526595e-01 2.36924833e-01 1.64313384e-03 3.44298908e+02] [-2.36924499e-01 9.71527984e-01 -3.97680470e-04 -4.97519838e+01] [-1.69057089e-03 -2.94150885e-06 9.99998571e-01 -7.83423461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.33, Y:-49.76, Z:-0.78 [[ 9.71087581e-01 2.38717847e-01 1.64318356e-03 3.44327168e+02] [-2.38717516e-01 9.71088971e-01 -3.97474934e-04 -4.97595391e+01] [-1.69056179e-03 -6.27372600e-06 9.99998571e-01 -7.80810219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.35, Y:-49.77, Z:-0.78 [[ 9.69598842e-01 2.44694473e-01 1.64320194e-03 3.44354832e+02] [-2.44694151e-01 9.69600234e-01 -3.97398938e-04 -4.97654141e+01] [-1.69049031e-03 -1.67643528e-05 9.99998571e-01 -7.75126509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.38, Y:-49.77, Z:-0.77 [[ 9.68710321e-01 2.48188667e-01 1.64322476e-03 3.44382836e+02] [-2.48188350e-01 9.68711714e-01 -3.97304552e-04 -4.97701747e+01] [-1.69041756e-03 -2.29562223e-05 9.99998571e-01 -7.72152963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.41, Y:-49.77, Z:-0.77 [[ 9.67707418e-01 2.52070729e-01 1.64324734e-03 3.44411730e+02] [-2.52070417e-01 9.67708813e-01 -3.97211149e-04 -4.97745891e+01] [-1.69031023e-03 -2.98298667e-05 9.99998571e-01 -7.71274056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.44, Y:-49.78, Z:-0.77 [[ 9.66688812e-01 2.55949293e-01 1.64326534e-03 3.44440451e+02] [-2.55948987e-01 9.66690208e-01 -3.97136668e-04 -4.97786794e+01] [-1.69017536e-03 -3.66845247e-05 9.99998571e-01 -7.73710353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.47, Y:-49.79, Z:-0.77 [[ 9.66706038e-01 2.55884222e-01 1.64328325e-03 3.44468184e+02] [-2.55883916e-01 9.66707434e-01 -3.97062527e-04 -4.97852374e+01] [-1.69017617e-03 -3.66470118e-05 9.99998571e-01 -7.73758526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.50, Y:-49.79, Z:-0.78 [[ 9.64904620e-01 2.62595457e-01 1.64330997e-03 3.44496284e+02] [-2.62595162e-01 9.64906018e-01 -3.96951912e-04 -4.97858610e+01] [-1.68987745e-03 -4.85045141e-05 9.99998571e-01 -7.82281365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.52, Y:-49.79, Z:-0.78 [[ 9.64215348e-01 2.65115185e-01 1.64333212e-03 3.44523236e+02] [-2.65114893e-01 9.64216747e-01 -3.96860201e-04 -4.97889687e+01] [-1.68974202e-03 -5.30131222e-05 9.99998571e-01 -7.81965927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.55, Y:-49.79, Z:-0.78 [[ 9.63793456e-01 2.66644846e-01 1.64336293e-03 3.44550643e+02] [-2.66644557e-01 9.63794855e-01 -3.96732562e-04 -4.97920494e+01] [-1.68965143e-03 -5.58255335e-05 9.99998571e-01 -7.78175997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.58, Y:-49.80, Z:-0.77 [[ 9.63711876e-01 2.66939542e-01 1.64340135e-03 3.44579477e+02] [-2.66939253e-01 9.63713276e-01 -3.96573375e-04 -4.97963051e+01] [-1.68962881e-03 -5.65058575e-05 9.99998571e-01 -7.74214812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.61, Y:-49.80, Z:-0.77 [[ 9.64418296e-01 2.64375964e-01 1.64346238e-03 3.44606643e+02] [-2.64375672e-01 9.64419695e-01 -3.96320272e-04 -4.98018455e+01] [-1.68976504e-03 -5.22729497e-05 9.99998571e-01 -7.71475490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.63, Y:-49.81, Z:-0.77 [[ 9.65056283e-01 2.62037536e-01 1.64348403e-03 3.44634276e+02] [-2.62037241e-01 9.65057681e-01 -3.96230496e-04 -4.98078908e+01] [-1.68988415e-03 -4.82692903e-05 9.99998571e-01 -7.74735199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.66, Y:-49.81, Z:-0.78 [[ 9.65791736e-01 2.59313753e-01 1.64350548e-03 3.44662367e+02] [-2.59313454e-01 9.65793133e-01 -3.96141508e-04 -4.98131193e+01] [-1.69001124e-03 -4.35928874e-05 9.99998571e-01 -7.77125520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.69, Y:-49.82, Z:-0.78 [[ 9.66436539e-01 2.56900204e-01 1.64356573e-03 3.44690061e+02] [-2.56899902e-01 9.66437936e-01 -3.95891367e-04 -4.98177625e+01] [-1.69010884e-03 -3.96279913e-05 9.99998571e-01 -7.80283407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.72, Y:-49.82, Z:-0.78 [[ 9.66938484e-01 2.55004446e-01 1.64358709e-03 3.44717729e+02] [-2.55004142e-01 9.66939880e-01 -3.95802668e-04 -4.98230922e+01] [-1.69018134e-03 -3.64046838e-05 9.99998571e-01 -7.79293069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.74, Y:-49.83, Z:-0.78 [[ 9.67285133e-01 2.53686361e-01 1.64365502e-03 3.44744502e+02] [-2.53686055e-01 9.67286529e-01 -3.95520357e-04 -4.98301821e+01] [-1.69022348e-03 -3.43913973e-05 9.99998571e-01 -7.77448988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.77, Y:-49.84, Z:-0.78 [[ 9.67222656e-01 2.53924460e-01 1.64372294e-03 3.44772045e+02] [-2.53924155e-01 9.67224052e-01 -3.95237908e-04 -4.98371340e+01] [-1.69020893e-03 -3.50978980e-05 9.99998571e-01 -7.77234833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.80, Y:-49.84, Z:-0.78 [[ 9.66932276e-01 2.55027981e-01 1.64379063e-03 3.44799269e+02] [-2.55027678e-01 9.66933673e-01 -3.94956183e-04 -4.98430473e+01] [-1.69016139e-03 -3.73162265e-05 9.99998571e-01 -7.77418593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.83, Y:-49.85, Z:-0.78 [[ 9.66502520e-01 2.56651860e-01 1.64385793e-03 3.44826442e+02] [-2.56651560e-01 9.66503917e-01 -3.94675864e-04 -4.98477225e+01] [-1.69008942e-03 -4.04434839e-05 9.99998571e-01 -7.78613923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.85, Y:-49.85, Z:-0.78 [[ 9.66056820e-01 2.58324443e-01 1.64392489e-03 3.44854523e+02] [-2.58324145e-01 9.66058218e-01 -3.94396755e-04 -4.98525417e+01] [-1.69000947e-03 -4.36558180e-05 9.99998571e-01 -7.80548478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.88, Y:-49.86, Z:-0.78 [[ 9.65455118e-01 2.60564221e-01 1.64398316e-03 3.44882997e+02] [-2.60563927e-01 9.65456516e-01 -3.94153717e-04 -4.98552035e+01] [-1.68989661e-03 -4.78249855e-05 9.99998571e-01 -7.79105641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.91, Y:-49.86, Z:-0.78 [[ 9.65257860e-01 2.61294014e-01 1.64405253e-03 3.44911105e+02] [-2.61293722e-01 9.65259258e-01 -3.93864171e-04 -4.98602253e+01] [-1.68985127e-03 -4.94001172e-05 9.99998571e-01 -7.76563661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.94, Y:-49.86, Z:-0.78 [[ 9.65196438e-01 2.61520810e-01 1.64411366e-03 3.44938544e+02] [-2.61520518e-01 9.65197837e-01 -3.93608822e-04 -4.98648560e+01] [-1.68983184e-03 -5.00596238e-05 9.99998571e-01 -7.75757442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.97, Y:-49.87, Z:-0.78 [[ 9.65554957e-01 2.60194009e-01 1.64414632e-03 3.44966999e+02] [-2.60193715e-01 9.65556355e-01 -3.93472348e-04 -4.98688570e+01] [-1.68989508e-03 -4.78773636e-05 9.99998571e-01 -7.78123151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.99, Y:-49.87, Z:-0.78 [[ 9.66010113e-01 2.58499049e-01 1.64420828e-03 3.44994520e+02] [-2.58498754e-01 9.66011511e-01 -3.93213251e-04 -4.98747452e+01] [-1.68996938e-03 -4.51778157e-05 9.99998571e-01 -7.81229814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.02, Y:-49.88, Z:-0.78 [[ 9.66691469e-01 2.55939252e-01 1.64423028e-03 3.45021879e+02] [-2.55938953e-01 9.66692866e-01 -3.93121255e-04 -4.98804289e+01] [-1.69008084e-03 -4.07956131e-05 9.99998571e-01 -7.81421543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.05, Y:-49.89, Z:-0.78 [[ 9.68111425e-01 2.50514600e-01 1.64429805e-03 3.45049658e+02] [-2.50514294e-01 9.68112821e-01 -3.92837586e-04 -4.98862465e+01] [-1.69027757e-03 -3.16096096e-05 9.99998571e-01 -7.78294775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.08, Y:-49.89, Z:-0.78 [[ 9.68676998e-01 2.48318684e-01 1.64431630e-03 3.45077037e+02] [-2.48318375e-01 9.68678394e-01 -3.92761159e-04 -4.98919895e+01] [-1.69034361e-03 -2.78552525e-05 9.99998571e-01 -7.78750781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.11, Y:-49.90, Z:-0.77 [[ 9.69123199e-01 2.46571532e-01 1.64433903e-03 3.45105348e+02] [-2.46571221e-01 9.69124594e-01 -3.92666015e-04 -4.98980064e+01] [-1.69038965e-03 -2.49049354e-05 9.99998571e-01 -7.74063676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.13, Y:-49.90, Z:-0.77 [[ 9.69552173e-01 2.44879319e-01 1.64435745e-03 3.45133861e+02] [-2.44879005e-01 9.69553567e-01 -3.92588854e-04 -4.99041402e+01] [-1.69042952e-03 -2.20332387e-05 9.99998571e-01 -7.72009831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.16, Y:-49.91, Z:-0.77 [[ 9.70895165e-01 2.39499215e-01 1.64437581e-03 3.45161853e+02] [-2.39498894e-01 9.70896558e-01 -3.92511920e-04 -4.99112595e+01] [-1.69052511e-03 -1.27382616e-05 9.99998571e-01 -7.70987449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.19, Y:-49.92, Z:-0.77 [[ 9.71667691e-01 2.36345497e-01 1.64439428e-03 3.45189833e+02] [-2.36345171e-01 9.71669083e-01 -3.92434549e-04 -4.99193026e+01] [-1.69055722e-03 -7.32867363e-06 9.99998571e-01 -7.72606171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.22, Y:-49.93, Z:-0.77 [[ 9.72482118e-01 2.32971727e-01 1.64441286e-03 3.45215853e+02] [-2.32971396e-01 9.72483509e-01 -3.92356661e-04 -4.99271956e+01] [-1.69057240e-03 -1.54132324e-06 9.99998571e-01 -7.74463752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.24, Y:-49.94, Z:-0.78 [[ 9.73367475e-01 2.29244531e-01 1.64446376e-03 3.45243414e+02] [-2.29244195e-01 9.73368864e-01 -3.92143209e-04 -4.99352584e+01] [-1.69056651e-03 4.71567392e-06 9.99998571e-01 -7.75519058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.27, Y:-49.95, Z:-0.78 [[ 9.74800901e-01 2.23070615e-01 1.64448222e-03 3.45269374e+02] [-2.23070271e-01 9.74802288e-01 -3.92065765e-04 -4.99450048e+01] [-1.69050339e-03 1.53509646e-05 9.99998571e-01 -7.75412306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.30, Y:-49.95, Z:-0.78 [[ 9.75264654e-01 2.21034276e-01 1.64451008e-03 3.45296581e+02] [-2.21033929e-01 9.75266040e-01 -3.91948897e-04 -4.99537307e+01] [-1.69046897e-03 1.87613814e-05 9.99998571e-01 -7.75523910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.32, Y:-49.96, Z:-0.78 [[ 9.75730295e-01 2.18969601e-01 1.64453782e-03 3.45323355e+02] [-2.18969252e-01 9.75731681e-01 -3.91832473e-04 -4.99633399e+01] [-1.69042705e-03 2.22195988e-05 9.99998571e-01 -7.77604208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.35, Y:-49.98, Z:-0.78 [[ 9.76697881e-01 2.14612543e-01 1.64456086e-03 3.45349327e+02] [-2.14612188e-01 9.76699266e-01 -3.91735745e-04 -4.99779222e+01] [-1.69031279e-03 2.96646681e-05 9.99998571e-01 -7.76817991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.38, Y:-49.99, Z:-0.78 [[ 9.77128541e-01 2.12643151e-01 1.64457924e-03 3.45375119e+02] [-2.12642792e-01 9.77129925e-01 -3.91658573e-04 -4.99882917e+01] [-1.69025110e-03 3.29928489e-05 9.99998571e-01 -7.75468484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.40, Y:-50.00, Z:-0.77 [[ 9.77482974e-01 2.11007891e-01 1.64460203e-03 3.45402208e+02] [-2.11007531e-01 9.77484357e-01 -3.91562848e-04 -4.99991073e+01] [-1.69019561e-03 3.57226045e-05 9.99998571e-01 -7.73489197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.43, Y:-50.01, Z:-0.77 [[ 9.77613838e-01 2.10400758e-01 1.64462030e-03 3.45428611e+02] [-2.10400397e-01 9.77615221e-01 -3.91486087e-04 -5.00100124e+01] [-1.69017481e-03 3.66934518e-05 9.99998571e-01 -7.72357491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.46, Y:-50.02, Z:-0.77 [[ 9.77273307e-01 2.11976837e-01 1.64464303e-03 3.45455024e+02] [-2.11976478e-01 9.77274690e-01 -3.91390582e-04 -5.00242845e+01] [-1.69023374e-03 3.38699312e-05 9.99998571e-01 -7.69245361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:345.48, Y:-50.03, Z:-0.77 [[ 9.76904604e-01 2.13669580e-01 1.64466151e-03 3.45481391e+02] [-2.13669224e-01 9.76905988e-01 -3.91312898e-04 -5.00343471e+01] [-1.69029134e-03 3.08618222e-05 9.99998571e-01 -7.71296099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.51, Y:-50.04, Z:-0.78 [[ 9.76417856e-01 2.15882991e-01 1.64468447e-03 3.45508831e+02] [-2.15882638e-01 9.76419241e-01 -3.91216363e-04 -5.00440807e+01] [-1.69035852e-03 2.69318186e-05 9.99998571e-01 -7.76249660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.54, Y:-50.05, Z:-0.78 [[ 9.75843167e-01 2.18466034e-01 1.64469768e-03 3.45536485e+02] [-2.18465685e-01 9.75844553e-01 -3.91160839e-04 -5.00530711e+01] [-1.69042463e-03 2.24016260e-05 9.99998571e-01 -7.79753626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:-50.06, Z:-0.79 [[ 9.74730742e-01 2.23376981e-01 1.64471621e-03 3.45562323e+02] [-2.23376640e-01 9.74732129e-01 -3.91082914e-04 -5.00636242e+01] [-1.69051665e-03 1.38093594e-05 9.99998571e-01 -7.88458145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.59, Y:-50.07, Z:-0.78 [[ 9.74162283e-01 2.25843179e-01 1.64473924e-03 3.45589296e+02] [-2.25842840e-01 9.74163671e-01 -3.90986034e-04 -5.00727816e+01] [-1.69054674e-03 9.43126675e-06 9.99998571e-01 -7.82963191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.62, Y:-50.08, Z:-0.78 [[ 9.73688930e-01 2.27875324e-01 1.64476682e-03 3.45615930e+02] [-2.27874989e-01 9.73690319e-01 -3.90869956e-04 -5.00817880e+01] [-1.69056315e-03 5.78452787e-06 9.99998571e-01 -7.82391552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.64, Y:-50.09, Z:-0.78 [[ 9.73293099e-01 2.29560098e-01 1.64479033e-03 3.45643501e+02] [-2.29559766e-01 9.73294488e-01 -3.90771026e-04 -5.00902611e+01] [-1.69057080e-03 2.75706010e-06 9.99998571e-01 -7.77326524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.67, Y:-50.10, Z:-0.77 [[ 9.72950837e-01 2.31006414e-01 1.64480902e-03 3.45670578e+02] [-2.31006084e-01 9.72952227e-01 -3.90692335e-04 -5.00992764e+01] [-1.69057303e-03 1.63543763e-07 9.99998571e-01 -7.71921253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.70, Y:-50.11, Z:-0.78 [[ 9.72844944e-01 2.31451960e-01 1.64482767e-03 3.45697097e+02] [-2.31451631e-01 9.72846334e-01 -3.90613815e-04 -5.01065941e+01] [-1.69057290e-03 -6.91371219e-07 9.99998571e-01 -7.75123004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.72, Y:-50.11, Z:-0.78 [[ 9.72758022e-01 2.31817010e-01 1.64485082e-03 3.45723599e+02] [-2.31816681e-01 9.72759412e-01 -3.90516308e-04 -5.01142502e+01] [-1.69057244e-03 -1.42598593e-06 9.99998571e-01 -7.77161418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.75, Y:-50.12, Z:-0.77 [[ 9.72678231e-01 2.32151574e-01 1.64487235e-03 3.45750650e+02] [-2.32151245e-01 9.72679622e-01 -3.90425594e-04 -5.01220504e+01] [-1.69057173e-03 -2.10068776e-06 9.99998571e-01 -7.74316427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.78, Y:-50.13, Z:-0.77 [[ 9.72568477e-01 2.32610944e-01 1.64490013e-03 3.45777987e+02] [-2.32610617e-01 9.72569868e-01 -3.90308511e-04 -5.01292035e+01] [-1.69057033e-03 -3.01947939e-06 9.99998571e-01 -7.73152073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.81, Y:-50.14, Z:-0.77 [[ 9.72385478e-01 2.33374757e-01 1.64492317e-03 3.45806317e+02] [-2.33374431e-01 9.72386869e-01 -3.90211386e-04 -5.01358856e+01] [-1.69056718e-03 -4.44712468e-06 9.99998571e-01 -7.69826379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.83, Y:-50.14, Z:-0.77 [[ 9.72415582e-01 2.33249287e-01 1.64494220e-03 3.45832838e+02] [-2.33248961e-01 9.72416973e-01 -3.90131149e-04 -5.01427711e+01] [-1.69056753e-03 -4.31145099e-06 9.99998571e-01 -7.71613805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.86, Y:-50.15, Z:-0.77 [[ 9.72447908e-01 2.33114478e-01 1.64496580e-03 3.45860802e+02] [-2.33114152e-01 9.72449300e-01 -3.90031624e-04 -5.01505918e+01] [-1.69056786e-03 -4.17936936e-06 9.99998571e-01 -7.71390512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.89, Y:-50.16, Z:-0.77 [[ 9.72441392e-01 2.33141660e-01 1.64498456e-03 3.45888142e+02] [-2.33141333e-01 9.72442783e-01 -3.89952491e-04 -5.01584661e+01] [-1.69056753e-03 -4.30794964e-06 9.99998571e-01 -7.73248408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.92, Y:-50.16, Z:-0.77 [[ 9.72453086e-01 2.33092876e-01 1.64500351e-03 3.45915709e+02] [-2.33092550e-01 9.72454478e-01 -3.89872504e-04 -5.01644310e+01] [-1.69056754e-03 -4.30534448e-06 9.99998571e-01 -7.74908638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.94, Y:-50.17, Z:-0.78 [[ 9.72459275e-01 2.33067054e-01 1.64502701e-03 3.45944024e+02] [-2.33066728e-01 9.72460667e-01 -3.89773342e-04 -5.01709842e+01] [-1.69056739e-03 -4.36236089e-06 9.99998571e-01 -7.75520145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.97, Y:-50.18, Z:-0.78 [[ 9.72475181e-01 2.33000676e-01 1.64504556e-03 3.45971672e+02] [-2.33000351e-01 9.72476573e-01 -3.89695047e-04 -5.01773696e+01] [-1.69056748e-03 -4.32742960e-06 9.99998571e-01 -7.76362705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.00, Y:-50.18, Z:-0.78 [[ 9.72439904e-01 2.33147865e-01 1.64506455e-03 3.45998539e+02] [-2.33147539e-01 9.72441296e-01 -3.89614857e-04 -5.01827914e+01] [-1.69056657e-03 -4.66571734e-06 9.99998571e-01 -7.76548988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.03, Y:-50.19, Z:-0.77 [[ 9.72336185e-01 2.33580043e-01 1.64508814e-03 3.46025624e+02] [-2.33579718e-01 9.72337577e-01 -3.89515232e-04 -5.01878375e+01] [-1.69056400e-03 -5.51946903e-06 9.99998571e-01 -7.74483537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.05, Y:-50.19, Z:-0.77 [[ 9.71955480e-01 2.35159176e-01 1.64511489e-03 3.46053991e+02] [-2.35158853e-01 9.71956873e-01 -3.89402191e-04 -5.01930663e+01] [-1.69055223e-03 -8.38173839e-06 9.99998571e-01 -7.71418711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.08, Y:-50.20, Z:-0.77 [[ 9.71590955e-01 2.36660747e-01 1.64513314e-03 3.46080945e+02] [-2.36660427e-01 9.71592348e-01 -3.89325111e-04 -5.01975745e+01] [-1.69053674e-03 -1.10731539e-05 9.99998571e-01 -7.71775174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.11, Y:-50.20, Z:-0.77 [[ 9.71154569e-01 2.38445163e-01 1.64516483e-03 3.46110073e+02] [-2.38444846e-01 9.71155963e-01 -3.89191120e-04 -5.02007647e+01] [-1.69051238e-03 -1.43163413e-05 9.99998571e-01 -7.72219610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.14, Y:-50.21, Z:-0.77 [[ 9.71080985e-01 2.38744664e-01 1.64518295e-03 3.46138840e+02] [-2.38744347e-01 9.71082378e-01 -3.89114538e-04 -5.02059590e+01] [-1.69050719e-03 -1.49164005e-05 9.99998571e-01 -7.72778795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.17, Y:-50.21, Z:-0.78 [[ 9.71153658e-01 2.38448876e-01 1.64520148e-03 3.46165879e+02] [-2.38448559e-01 9.71155051e-01 -3.89036165e-04 -5.02113155e+01] [-1.69051096e-03 -1.44820273e-05 9.99998571e-01 -7.75566123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.19, Y:-50.22, Z:-0.78 [[ 9.71170023e-01 2.38382212e-01 1.64522462e-03 3.46193645e+02] [-2.38381895e-01 9.71171417e-01 -3.88938287e-04 -5.02177361e+01] [-1.69051109e-03 -1.44665570e-05 9.99998571e-01 -7.75614294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.22, Y:-50.22, Z:-0.78 [[ 9.71406210e-01 2.37417919e-01 1.64525131e-03 3.46222323e+02] [-2.37417601e-01 9.71407603e-01 -3.88825352e-04 -5.02228838e+01] [-1.69052374e-03 -1.29042577e-05 9.99998571e-01 -7.77389290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.25, Y:-50.23, Z:-0.78 [[ 9.71543424e-01 2.36855795e-01 1.64526917e-03 3.46250288e+02] [-2.36855477e-01 9.71544817e-01 -3.88749749e-04 -5.02281032e+01] [-1.69053037e-03 -1.20037522e-05 9.99998571e-01 -7.77880477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.28, Y:-50.23, Z:-0.78 [[ 9.71618229e-01 2.36548747e-01 1.64528751e-03 3.46278311e+02] [-2.36548428e-01 9.71619622e-01 -3.88672126e-04 -5.02331986e+01] [-1.69053353e-03 -1.15492509e-05 9.99998571e-01 -7.79620844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.31, Y:-50.24, Z:-0.78 [[ 9.71922865e-01 2.35293938e-01 1.64530586e-03 3.46305999e+02] [-2.35293617e-01 9.71924258e-01 -3.88594412e-04 -5.02374612e+01] [-1.69054659e-03 -9.44617408e-06 9.99998571e-01 -7.83080838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.33, Y:-50.24, Z:-0.78 [[ 9.72219908e-01 2.34063545e-01 1.64532864e-03 3.46334814e+02] [-2.34063223e-01 9.72221300e-01 -3.88497958e-04 -5.02429622e+01] [-1.69055676e-03 -7.40547535e-06 9.99998571e-01 -7.81590242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.36, Y:-50.25, Z:-0.78 [[ 9.72527280e-01 2.32783123e-01 1.64534671e-03 3.46362271e+02] [-2.32782799e-01 9.72528672e-01 -3.88421410e-04 -5.02483957e+01] [-1.69056480e-03 -5.25799420e-06 9.99998571e-01 -7.81217058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.39, Y:-50.25, Z:-0.78 [[ 9.72746497e-01 2.31865361e-01 1.64536923e-03 3.46390138e+02] [-2.31865036e-01 9.72747888e-01 -3.88326006e-04 -5.02543317e+01] [-1.69056879e-03 -3.76083254e-06 9.99998571e-01 -7.78627205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.42, Y:-50.26, Z:-0.78 [[ 9.73594133e-01 2.28279997e-01 1.64538721e-03 3.46417210e+02] [-2.28279667e-01 9.73595523e-01 -3.88249800e-04 -5.02612944e+01] [-1.69057128e-03 2.38928439e-06 9.99998571e-01 -7.75032426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.44, Y:-50.27, Z:-0.77 [[ 9.74273720e-01 2.25361956e-01 1.64540956e-03 3.46444648e+02] [-2.25361622e-01 9.74275109e-01 -3.88155039e-04 -5.02690473e+01] [-1.69055696e-03 7.35708633e-06 9.99998571e-01 -7.73922294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.47, Y:-50.28, Z:-0.77 [[ 9.74881946e-01 2.22716153e-01 1.64501074e-03 3.46470653e+02] [-2.22715812e-01 9.74883334e-01 -3.89845751e-04 -5.02767099e+01] [-1.69051850e-03 1.36836813e-05 9.99998571e-01 -7.73542386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.50, Y:-50.28, Z:-0.77 [[ 9.75620280e-01 2.19459248e-01 1.64545405e-03 3.46497029e+02] [-2.19458905e-01 9.75621668e-01 -3.87965557e-04 -5.02844434e+01] [-1.69048326e-03 1.73975203e-05 9.99998571e-01 -7.74110073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:346.52, Y:-50.30, Z:-0.78 [[ 9.76651204e-01 2.14824855e-01 1.64548019e-03 3.46523737e+02] [-2.14824506e-01 9.76652590e-01 -3.87854658e-04 -5.02951194e+01] [-1.69038331e-03 2.53092496e-05 9.99998571e-01 -7.77393079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.55, Y:-50.30, Z:-0.78 [[ 9.76950748e-01 2.13458493e-01 1.64549794e-03 3.46549790e+02] [-2.13458143e-01 9.76952133e-01 -3.87779354e-04 -5.03039068e+01] [-1.69034752e-03 2.75963966e-05 9.99998571e-01 -7.78727855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.58, Y:-50.32, Z:-0.78 [[ 9.76957836e-01 2.13426050e-01 1.64551996e-03 3.46577038e+02] [-2.13425700e-01 9.76959221e-01 -3.87685872e-04 -5.03162071e+01] [-1.69034817e-03 2.75565007e-05 9.99998571e-01 -7.78684155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.60, Y:-50.33, Z:-0.78 [[ 9.76809128e-01 2.14105626e-01 1.64553366e-03 3.46604382e+02] [-2.14105277e-01 9.76810514e-01 -3.87627736e-04 -5.03258116e+01] [-1.69036786e-03 2.63208723e-05 9.99998571e-01 -7.79553008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.63, Y:-50.33, Z:-0.78 [[ 9.76630478e-01 2.14919057e-01 1.64555191e-03 3.46630686e+02] [-2.14918709e-01 9.76631864e-01 -3.87550241e-04 -5.03349318e+01] [-1.69039036e-03 2.48334862e-05 9.99998571e-01 -7.80884595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:-50.34, Z:-0.78 [[ 9.76440627e-01 2.15779967e-01 1.64557456e-03 3.46658209e+02] [-2.15779620e-01 9.76442013e-01 -3.87454032e-04 -5.03441598e+01] [-1.69041296e-03 2.32444040e-05 9.99998571e-01 -7.77737894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.68, Y:-50.35, Z:-0.78 [[ 9.76169128e-01 2.17004896e-01 1.64559246e-03 3.46684814e+02] [-2.17004551e-01 9.76170515e-01 -3.87377992e-04 -5.03532897e+01] [-1.69044176e-03 2.10453835e-05 9.99998571e-01 -7.75849320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.71, Y:-50.37, Z:-0.77 [[ 9.75418885e-01 2.20352650e-01 1.64561675e-03 3.46712301e+02] [-2.20352310e-01 9.75420273e-01 -3.87274765e-04 -5.03658176e+01] [-1.69050496e-03 1.51396662e-05 9.99998571e-01 -7.65587561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.74, Y:-50.38, Z:-0.76 [[ 9.75021732e-01 2.22103386e-01 1.64562609e-03 3.46739921e+02] [-2.22103048e-01 9.75023121e-01 -3.87235103e-04 -5.03750510e+01] [-1.69052971e-03 1.20640704e-05 9.99998571e-01 -7.64795756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.77, Y:-50.38, Z:-0.77 [[ 9.74648525e-01 2.23735434e-01 1.64563998e-03 3.46766130e+02] [-2.23735099e-01 9.74649914e-01 -3.87176074e-04 -5.03838472e+01] [-1.69054787e-03 9.17316694e-06 9.99998571e-01 -7.65773377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.79, Y:-50.39, Z:-0.77 [[ 9.74272866e-01 2.25365644e-01 1.64566227e-03 3.46792519e+02] [-2.25365311e-01 9.74274256e-01 -3.87081300e-04 -5.03928366e+01] [-1.69056121e-03 6.24761875e-06 9.99998571e-01 -7.68606980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.82, Y:-50.40, Z:-0.77 [[ 9.73620593e-01 2.28167115e-01 1.64568426e-03 3.46818955e+02] [-2.28166787e-01 9.73621984e-01 -3.86987795e-04 -5.04048113e+01] [-1.69057226e-03 1.28879709e-06 9.99998571e-01 -7.73034644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.85, Y:-50.41, Z:-0.77 [[ 9.73266239e-01 2.29673941e-01 1.64570105e-03 3.46847237e+02] [-2.29673615e-01 9.73267631e-01 -3.86916357e-04 -5.04136292e+01] [-1.69057217e-03 -1.40148159e-06 9.99998571e-01 -7.69882126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.87, Y:-50.42, Z:-0.77 [[ 9.72899157e-01 2.31223965e-01 1.64571043e-03 3.46874623e+02] [-2.31223642e-01 9.72900549e-01 -3.86876447e-04 -5.04212316e+01] [-1.69056769e-03 -4.13538974e-06 9.99998571e-01 -7.69862583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.90, Y:-50.43, Z:-0.77 [[ 9.72449229e-01 2.33108962e-01 1.64572138e-03 3.46903263e+02] [-2.33108641e-01 9.72450622e-01 -3.86829880e-04 -5.04293629e+01] [-1.69055629e-03 -7.45945522e-06 9.99998571e-01 -7.68252506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.93, Y:-50.44, Z:-0.77 [[ 9.72045516e-01 2.34786725e-01 1.64572608e-03 3.46931362e+02] [-2.34786407e-01 9.72046909e-01 -3.86809890e-04 -5.04370854e+01] [-1.69054077e-03 -1.03972923e-05 9.99998571e-01 -7.68461508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.96, Y:-50.45, Z:-0.77 [[ 9.71619250e-01 2.36544552e-01 1.64574018e-03 3.46959045e+02] [-2.36544236e-01 9.71620643e-01 -3.86749888e-04 -5.04469486e+01] [-1.69051871e-03 -1.35167166e-05 9.99998571e-01 -7.70398021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.99, Y:-50.45, Z:-0.77 [[ 9.71635653e-01 2.36477166e-01 1.64574939e-03 3.46986463e+02] [-2.36476850e-01 9.71637046e-01 -3.86710668e-04 -5.04548930e+01] [-1.69051932e-03 -1.34397602e-05 9.99998571e-01 -7.71216363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.02, Y:-50.46, Z:-0.77 [[ 9.71655010e-01 2.36397617e-01 1.64576317e-03 3.47015361e+02] [-2.36397301e-01 9.71656404e-01 -3.86652047e-04 -5.04629902e+01] [-1.69051994e-03 -1.33615718e-05 9.99998571e-01 -7.71203998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.04, Y:-50.47, Z:-0.77 [[ 9.71491798e-01 2.37067456e-01 1.64577221e-03 3.47043384e+02] [-2.37067141e-01 9.71493192e-01 -3.86613537e-04 -5.04721361e+01] [-1.69050999e-03 -1.45666327e-05 9.99998571e-01 -7.71618674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.07, Y:-50.48, Z:-0.77 [[ 9.71383694e-01 2.37510022e-01 1.64578135e-03 3.47070634e+02] [-2.37509708e-01 9.71385088e-01 -3.86574646e-04 -5.04796725e+01] [-1.69050281e-03 -1.53767400e-05 9.99998571e-01 -7.72416030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.10, Y:-50.49, Z:-0.77 [[ 9.71279038e-01 2.37937643e-01 1.64579117e-03 3.47099946e+02] [-2.37937330e-01 9.71280432e-01 -3.86532815e-04 -5.04867324e+01] [-1.69049547e-03 -1.61639369e-05 9.99998571e-01 -7.72673837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.13, Y:-50.49, Z:-0.77 [[ 9.71229292e-01 2.38140618e-01 1.64580028e-03 3.47128146e+02] [-2.38140305e-01 9.71230686e-01 -3.86494014e-04 -5.04933129e+01] [-1.69049166e-03 -1.65570742e-05 9.99998571e-01 -7.73470123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.16, Y:-50.50, Z:-0.77 [[ 9.71219716e-01 2.38179667e-01 1.64581390e-03 3.47156830e+02] [-2.38179354e-01 9.71221111e-01 -3.86436038e-04 -5.04999103e+01] [-1.69049041e-03 -1.66845911e-05 9.99998571e-01 -7.73267952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.18, Y:-50.51, Z:-0.77 [[ 9.71407671e-01 2.37411939e-01 1.64582294e-03 3.47184328e+02] [-2.37411625e-01 9.71409065e-01 -3.86397517e-04 -5.05061758e+01] [-1.69050271e-03 -1.53879864e-05 9.99998571e-01 -7.69987059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.21, Y:-50.51, Z:-0.77 [[ 9.71613204e-01 2.36569382e-01 1.64584087e-03 3.47212940e+02] [-2.36569067e-01 9.71614598e-01 -3.86321151e-04 -5.05126267e+01] [-1.69051477e-03 -1.40003062e-05 9.99998571e-01 -7.67457530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.24, Y:-50.52, Z:-0.77 [[ 9.72403908e-01 2.33297945e-01 1.64584982e-03 3.47243348e+02] [-2.33297625e-01 9.72405301e-01 -3.86282994e-04 -5.05181487e+01] [-1.69055212e-03 -8.34976149e-06 9.99998571e-01 -7.65179912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.27, Y:-50.52, Z:-0.77 [[ 9.72841353e-01 2.31467044e-01 1.64584982e-03 3.47272729e+02] [-2.31466722e-01 9.72842745e-01 -3.86282994e-04 -5.05248601e+01] [-1.69056484e-03 -5.16739210e-06 9.99998571e-01 -7.67301078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.30, Y:-50.53, Z:-0.77 [[ 9.73136551e-01 2.30222814e-01 1.64584982e-03 3.47302205e+02] [-2.30222490e-01 9.73137943e-01 -3.86282994e-04 -5.05327448e+01] [-1.69057007e-03 -3.00554391e-06 9.99998571e-01 -7.69537808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.33, Y:-50.54, Z:-0.77 [[ 9.73369981e-01 2.29233880e-01 1.64584982e-03 3.47330705e+02] [-2.29233554e-01 9.73371372e-01 -3.86282994e-04 -5.05406564e+01] [-1.69057225e-03 -1.28773363e-06 9.99998571e-01 -7.71047031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.36, Y:-50.55, Z:-0.77 [[ 9.73665755e-01 2.27974317e-01 1.64584448e-03 3.47359630e+02] [-2.27973990e-01 9.73667146e-01 -3.86305757e-04 -5.05489088e+01] [-1.69057249e-03 9.22954310e-07 9.99998571e-01 -7.72409066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:-50.56, Z:-0.78 [[ 9.73787957e-01 2.27451767e-01 1.64584448e-03 3.47388600e+02] [-2.27451439e-01 9.73789348e-01 -3.86305757e-04 -5.05564351e+01] [-1.69057175e-03 1.83019857e-06 9.99998571e-01 -7.75051507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.42, Y:-50.56, Z:-0.78 [[ 9.73968014e-01 2.26679509e-01 1.64582067e-03 3.47417441e+02] [-2.26679179e-01 9.73969404e-01 -3.86407166e-04 -5.05639238e+01] [-1.69056956e-03 3.27494182e-06 9.99998571e-01 -7.76157722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.45, Y:-50.57, Z:-0.78 [[ 9.74024101e-01 2.26438385e-01 1.64582509e-03 3.47445412e+02] [-2.26438055e-01 9.74025491e-01 -3.86388347e-04 -5.05709498e+01] [-1.69056874e-03 3.67413074e-06 9.99998571e-01 -7.77820315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.47, Y:-50.58, Z:-0.78 [[ 9.74019356e-01 2.26458794e-01 1.64583414e-03 3.47474722e+02] [-2.26458465e-01 9.74020746e-01 -3.86349792e-04 -5.05776301e+01] [-1.69056890e-03 3.59910340e-06 9.99998571e-01 -7.75560148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.50, Y:-50.58, Z:-0.77 [[ 9.73917280e-01 2.26897383e-01 1.64583414e-03 3.47503223e+02] [-2.26897054e-01 9.73918671e-01 -3.86349792e-04 -5.05842448e+01] [-1.69057035e-03 2.83782063e-06 9.99998571e-01 -7.74652967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.53, Y:-50.59, Z:-0.77 [[ 9.73753690e-01 2.27598424e-01 1.64583126e-03 3.47532135e+02] [-2.27598096e-01 9.73755081e-01 -3.86362060e-04 -5.05918011e+01] [-1.69057195e-03 1.63342138e-06 9.99998571e-01 -7.69915716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.56, Y:-50.60, Z:-0.76 [[ 9.73288731e-01 2.29578608e-01 1.64584011e-03 3.47559989e+02] [-2.29578283e-01 9.73290123e-01 -3.86324338e-04 -5.06003568e+01] [-1.69057173e-03 -1.84402179e-06 9.99998571e-01 -7.63822286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.59, Y:-50.61, Z:-0.76 [[ 9.72940816e-01 2.31048608e-01 1.64584890e-03 3.47590387e+02] [-2.31048285e-01 9.72942208e-01 -3.86286908e-04 -5.06068055e+01] [-1.69056691e-03 -4.43626590e-06 9.99998571e-01 -7.60615559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.62, Y:-50.61, Z:-0.76 [[ 9.72538123e-01 2.32737816e-01 1.64583967e-03 3.47620385e+02] [-2.32737496e-01 9.72539515e-01 -3.86326196e-04 -5.06119895e+01] [-1.69055683e-03 -7.33165163e-06 9.99998571e-01 -7.60071047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.65, Y:-50.61, Z:-0.77 [[ 9.71821880e-01 2.35710681e-01 1.64583967e-03 3.47650286e+02] [-2.35710365e-01 9.71823273e-01 -3.86326196e-04 -5.06149735e+01] [-1.69052651e-03 -1.25012203e-05 9.99998571e-01 -7.65298318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.68, Y:-50.62, Z:-0.77 [[ 9.71549388e-01 2.36831327e-01 1.64584425e-03 3.47679469e+02] [-2.36831012e-01 9.71550782e-01 -3.86306700e-04 -5.06200965e+01] [-1.69051080e-03 -1.44709211e-05 9.99998571e-01 -7.66638376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.71, Y:-50.63, Z:-0.77 [[ 9.71449205e-01 2.37241930e-01 1.64585344e-03 3.47709299e+02] [-2.37241616e-01 9.71450599e-01 -3.86267560e-04 -5.06251720e+01] [-1.69050417e-03 -1.52256156e-05 9.99998571e-01 -7.65893189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.74, Y:-50.63, Z:-0.77 [[ 9.71467527e-01 2.37166891e-01 1.64585344e-03 3.47737992e+02] [-2.37166577e-01 9.71468922e-01 -3.86267560e-04 -5.06299030e+01] [-1.69050534e-03 -1.50950351e-05 9.99998571e-01 -7.65796772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.77, Y:-50.63, Z:-0.76 [[ 9.71828916e-01 2.35681668e-01 1.64585808e-03 3.47766545e+02] [-2.35681352e-01 9.71830310e-01 -3.86247754e-04 -5.06328787e+01] [-1.69052629e-03 -1.25313217e-05 9.99998571e-01 -7.64261043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.79, Y:-50.64, Z:-0.76 [[ 9.72048186e-01 2.34775669e-01 1.64587158e-03 3.47794893e+02] [-2.34775352e-01 9.72049579e-01 -3.86190241e-04 -5.06383263e+01] [-1.69053685e-03 -1.10145567e-05 9.99998571e-01 -7.63406720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.82, Y:-50.64, Z:-0.76 [[ 9.72236873e-01 2.33993063e-01 1.64588901e-03 3.47823164e+02] [-2.33992744e-01 9.72238266e-01 -3.86115962e-04 -5.06431564e+01] [-1.69054473e-03 -9.72990911e-06 9.99998571e-01 -7.62400571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.85, Y:-50.65, Z:-0.76 [[ 9.72281716e-01 2.33806663e-01 1.64590697e-03 3.47851033e+02] [-2.33806344e-01 9.72283109e-01 -3.86039372e-04 -5.06479583e+01] [-1.69054612e-03 -9.48446790e-06 9.99998571e-01 -7.62688290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.88, Y:-50.65, Z:-0.76 [[ 9.71814514e-01 2.35741045e-01 1.64592936e-03 3.47881039e+02] [-2.35740730e-01 9.71815908e-01 -3.85943884e-04 -5.06507481e+01] [-1.69052315e-03 -1.29467201e-05 9.99998571e-01 -7.64651199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.91, Y:-50.66, Z:-0.77 [[ 9.71381254e-01 2.37520001e-01 1.64593865e-03 3.47909933e+02] [-2.37519688e-01 9.71382648e-01 -3.85904259e-04 -5.06552107e+01] [-1.69049622e-03 -1.60826723e-05 9.99998571e-01 -7.65672457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.94, Y:-50.66, Z:-0.77 [[ 9.70956600e-01 2.39250018e-01 1.64595734e-03 3.47937833e+02] [-2.39249708e-01 9.70957995e-01 -3.85824522e-04 -5.06592155e+01] [-1.69046396e-03 -1.91759472e-05 9.99998571e-01 -7.66960225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.97, Y:-50.66, Z:-0.77 [[ 9.70260022e-01 2.42059457e-01 1.64598056e-03 3.47965497e+02] [-2.42059151e-01 9.70261418e-01 -3.85725428e-04 -5.06611253e+01] [-1.69039992e-03 -2.41706954e-05 9.99998571e-01 -7.67031201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.99, Y:-50.67, Z:-0.77 [[ 9.70271232e-01 2.42014519e-01 1.64600311e-03 3.47994079e+02] [-2.42014213e-01 9.70272628e-01 -3.85629194e-04 -5.06677280e+01] [-1.69039963e-03 -2.41912346e-05 9.99998571e-01 -7.67080781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.02, Y:-50.67, Z:-0.77 [[ 9.70025618e-01 2.42997100e-01 1.64602097e-03 3.48020916e+02] [-2.42996795e-01 9.70027014e-01 -3.85552958e-04 -5.06730321e+01] [-1.69037305e-03 -2.59815730e-05 9.99998571e-01 -7.68014757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.05, Y:-50.68, Z:-0.77 [[ 9.69860040e-01 2.43657121e-01 1.64604316e-03 3.48048772e+02] [-2.43656818e-01 9.69861437e-01 -3.85458161e-04 -5.06796549e+01] [-1.69035341e-03 -2.72291720e-05 9.99998571e-01 -7.67860834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.08, Y:-50.69, Z:-0.77 [[ 9.69866872e-01 2.43629927e-01 1.64606129e-03 3.48076589e+02] [-2.43629624e-01 9.69868268e-01 -3.85380733e-04 -5.06855474e+01] [-1.69035289e-03 -2.72612871e-05 9.99998571e-01 -7.68935590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.10, Y:-50.69, Z:-0.77 [[ 9.70385010e-01 2.41557908e-01 1.64607956e-03 3.48104377e+02] [-2.41557602e-01 9.70386406e-01 -3.85302679e-04 -5.06893467e+01] [-1.69040614e-03 -2.37310888e-05 9.99998571e-01 -7.71100770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.13, Y:-50.69, Z:-0.77 [[ 9.70716238e-01 2.40223387e-01 1.64610226e-03 3.48132297e+02] [-2.40223079e-01 9.70717633e-01 -3.85205685e-04 -5.06949420e+01] [-1.69043590e-03 -2.15063403e-05 9.99998571e-01 -7.70668805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.16, Y:-50.70, Z:-0.77 [[ 9.71070522e-01 2.38787211e-01 1.64612033e-03 3.48159214e+02] [-2.38786901e-01 9.71071917e-01 -3.85128463e-04 -5.07010221e+01] [-1.69046497e-03 -1.90850746e-05 9.99998571e-01 -7.70537637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.19, Y:-50.71, Z:-0.77 [[ 9.71553343e-01 2.36815100e-01 1.64614385e-03 3.48186773e+02] [-2.36814788e-01 9.71554738e-01 -3.85027909e-04 -5.07082222e+01] [-1.69049928e-03 -1.57560535e-05 9.99998571e-01 -7.70461478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.22, Y:-50.72, Z:-0.77 [[ 9.72644167e-01 2.32294242e-01 1.64616171e-03 3.48215575e+02] [-2.32293923e-01 9.72645560e-01 -3.84951506e-04 -5.07158797e+01] [-1.69055390e-03 -7.97252578e-06 9.99998571e-01 -7.71224502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.24, Y:-50.72, Z:-0.77 [[ 9.73212065e-01 2.29903387e-01 1.64617113e-03 3.48243546e+02] [-2.29903065e-01 9.73213457e-01 -3.84911238e-04 -5.07223763e+01] [-1.69056829e-03 -3.85952714e-06 9.99998571e-01 -7.71805738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.27, Y:-50.73, Z:-0.77 [[ 9.74340035e-01 2.25075069e-01 1.64618517e-03 3.48271076e+02] [-2.25074740e-01 9.74341425e-01 -3.84851164e-04 -5.07312240e+01] [-1.69056681e-03 4.46119631e-06 9.99998571e-01 -7.70529518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.30, Y:-50.74, Z:-0.77 [[ 9.74899622e-01 2.22638760e-01 1.64619898e-03 3.48298352e+02] [-2.22638427e-01 9.74901012e-01 -3.84792082e-04 -5.07397033e+01] [-1.69055069e-03 8.62650222e-06 9.99998571e-01 -7.69276188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.33, Y:-50.75, Z:-0.77 [[ 9.75359801e-01 2.20614027e-01 1.64620967e-03 3.48327057e+02] [-2.20613691e-01 9.75361190e-01 -3.84746347e-04 -5.07476309e+01] [-1.69052947e-03 1.20897278e-05 9.99998571e-01 -7.68310993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:348.36, Y:-50.76, Z:-0.77 [[ 9.75695423e-01 2.19124921e-01 1.64621880e-03 3.48355736e+02] [-2.19124584e-01 9.75696812e-01 -3.84707304e-04 -5.07556384e+01] [-1.69050939e-03 1.46301470e-05 9.99998571e-01 -7.67207385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5357692310001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.39, Y:-50.76, Z:-0.77 [[ 9.75919558e-01 2.18124522e-01 1.64622812e-03 3.48385672e+02] [-2.18124183e-01 9.75920946e-01 -3.84667416e-04 -5.07644686e+01] [-1.69049390e-03 1.63222908e-05 9.99998571e-01 -7.65892094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.41, Y:-50.78, Z:-0.77 [[ 9.76027433e-01 2.17641312e-01 1.64621842e-03 3.48413762e+02] [-2.17640973e-01 9.76028821e-01 -3.84708891e-04 -5.07770413e+01] [-1.69048518e-03 1.72018524e-05 9.99998571e-01 -7.69388137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.44, Y:-50.79, Z:-0.77 [[ 9.76131408e-01 2.17174502e-01 1.64621361e-03 3.48442809e+02] [-2.17174162e-01 9.76132796e-01 -3.84729481e-04 -5.07867449e+01] [-1.69047653e-03 1.80314686e-05 9.99998571e-01 -7.72244841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.47, Y:-50.80, Z:-0.77 [[ 9.76158388e-01 2.17053198e-01 1.64621361e-03 3.48473384e+02] [-2.17052858e-01 9.76159776e-01 -3.84729481e-04 -5.07972522e+01] [-1.69047428e-03 1.82415409e-05 9.99998571e-01 -7.73480588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.50, Y:-50.81, Z:-0.77 [[ 9.76221951e-01 2.16767138e-01 1.64614511e-03 3.48502711e+02] [-2.16766797e-01 9.76223339e-01 -3.85022363e-04 -5.08106702e+01] [-1.69046547e-03 1.90376792e-05 9.99998571e-01 -7.73697004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.53, Y:-50.82, Z:-0.77 [[ 9.76152748e-01 2.17078566e-01 1.64608181e-03 3.48532499e+02] [-2.17078225e-01 9.76154135e-01 -3.85292800e-04 -5.08213577e+01] [-1.69046837e-03 1.87761085e-05 9.99998571e-01 -7.70397844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.56, Y:-50.83, Z:-0.77 [[ 9.76007513e-01 2.17730624e-01 1.64607260e-03 3.48563293e+02] [-2.17730283e-01 9.76008901e-01 -3.85332127e-04 -5.08320328e+01] [-1.69048012e-03 1.76871965e-05 9.99998571e-01 -7.67720719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.59, Y:-50.85, Z:-0.77 [[ 9.75524364e-01 2.19885210e-01 1.64600734e-03 3.48593005e+02] [-2.19884872e-01 9.75525753e-01 -3.85610694e-04 -5.08450869e+01] [-1.69051264e-03 1.42405131e-05 9.99998571e-01 -7.65616514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.62, Y:-50.85, Z:-0.77 [[ 9.75272352e-01 2.21000295e-01 1.64594229e-03 3.48624300e+02] [-2.20999958e-01 9.75273741e-01 -3.85888183e-04 -5.08544143e+01] [-1.69052569e-03 1.25928998e-05 9.99998571e-01 -7.66217660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.65, Y:-50.86, Z:-0.77 [[ 9.74975650e-01 2.22305586e-01 1.64586682e-03 3.48654721e+02] [-2.22305251e-01 9.74977039e-01 -3.86209774e-04 -5.08634846e+01] [-1.69053895e-03 1.06602880e-05 9.99998571e-01 -7.68631075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.68, Y:-50.87, Z:-0.77 [[ 9.74649153e-01 2.23732698e-01 1.64581985e-03 3.48684963e+02] [-2.23732365e-01 9.74650542e-01 -3.86409851e-04 -5.08724836e+01] [-1.69055173e-03 8.39086692e-06 9.99998571e-01 -7.70722003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.72, Y:-50.88, Z:-0.77 [[ 9.74065455e-01 2.26260428e-01 1.64578311e-03 3.48715783e+02] [-2.26260098e-01 9.74066845e-01 -3.86566260e-04 -5.08826354e+01] [-1.69056741e-03 4.16579135e-06 9.99998571e-01 -7.72385444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.75, Y:-50.89, Z:-0.77 [[ 9.73697254e-01 2.27839743e-01 1.64571811e-03 3.48746423e+02] [-2.27839414e-01 9.73698645e-01 -3.86842778e-04 -5.08906027e+01] [-1.69057166e-03 1.70829968e-06 9.99998571e-01 -7.73797679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.78, Y:-50.90, Z:-0.77 [[ 9.73263018e-01 2.29687592e-01 1.64565333e-03 3.48777379e+02] [-2.29687266e-01 9.73264409e-01 -3.87118149e-04 -5.08988067e+01] [-1.69057206e-03 -1.21783734e-06 9.99998571e-01 -7.73377976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.81, Y:-50.91, Z:-0.77 [[ 9.72714324e-01 2.32000293e-01 1.64558884e-03 3.48807703e+02] [-2.31999970e-01 9.72715716e-01 -3.87392133e-04 -5.09082767e+01] [-1.69056521e-03 -4.95468310e-06 9.99998571e-01 -7.70627522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.84, Y:-50.92, Z:-0.77 [[ 9.72564167e-01 2.32628960e-01 1.64552786e-03 3.48838783e+02] [-2.32628637e-01 9.72565559e-01 -3.87650983e-04 -5.09163674e+01] [-1.69056256e-03 -5.78144608e-06 9.99998571e-01 -7.69629148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.87, Y:-50.92, Z:-0.77 [[ 9.72633779e-01 2.32337737e-01 1.64545798e-03 3.48870033e+02] [-2.32337413e-01 9.72635171e-01 -3.87947377e-04 -5.09242719e+01] [-1.69056512e-03 -4.97072586e-06 9.99998571e-01 -7.69361187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.90, Y:-50.93, Z:-0.77 [[ 9.72830448e-01 2.31512878e-01 1.64538924e-03 3.48902350e+02] [-2.31512553e-01 9.72831839e-01 -3.88238681e-04 -5.09323361e+01] [-1.69056930e-03 -3.23785331e-06 9.99998571e-01 -7.68689026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:348.93, Y:-50.94, Z:-0.77 [[ 9.73042238e-01 2.30621108e-01 1.64531590e-03 3.48933065e+02] [-2.30620781e-01 9.73043629e-01 -3.88549259e-04 -5.09401251e+01] [-1.69057181e-03 -1.36919550e-06 9.99998571e-01 -7.66918896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.96, Y:-50.95, Z:-0.77 [[ 9.73164938e-01 2.30102794e-01 1.64524725e-03 3.48963996e+02] [-2.30102466e-01 9.73166329e-01 -3.88839707e-04 -5.09481032e+01] [-1.69057233e-03 -1.70280389e-07 9.99998571e-01 -7.72843695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.99, Y:-50.96, Z:-0.77 [[ 9.73221350e-01 2.29864084e-01 1.64518290e-03 3.48994653e+02] [-2.29863755e-01 9.73222741e-01 -3.89111810e-04 -5.09556571e+01] [-1.69057224e-03 5.24003639e-07 9.99998571e-01 -7.74039067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.03, Y:-50.96, Z:-0.77 [[ 9.73311800e-01 2.29480793e-01 1.64514667e-03 3.49026774e+02] [-2.29480463e-01 9.73313190e-01 -3.89264919e-04 -5.09636172e+01] [-1.69057177e-03 1.34712000e-06 9.99998571e-01 -7.72259400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.06, Y:-50.97, Z:-0.77 [[ 9.73607262e-01 2.28223996e-01 1.64507343e-03 3.49057118e+02] [-2.28223663e-01 9.73608652e-01 -3.89574183e-04 -5.09710668e+01] [-1.69056790e-03 3.84756869e-06 9.99998571e-01 -7.66519632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.09, Y:-50.98, Z:-0.76 [[ 9.73785570e-01 2.27461991e-01 1.64501424e-03 3.49087785e+02] [-2.27461657e-01 9.73786960e-01 -3.89823947e-04 -5.09791083e+01] [-1.69056355e-03 5.42726895e-06 9.99998571e-01 -7.63475816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:349.12, Y:-50.99, Z:-0.76 [[ 9.73928343e-01 2.26849897e-01 1.64496913e-03 3.49119611e+02] [-2.26849562e-01 9.73929733e-01 -3.90014202e-04 -5.09870086e+01] [-1.69055903e-03 6.68535797e-06 9.99998571e-01 -7.62110547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.15, Y:-51.00, Z:-0.76 [[ 9.73840935e-01 2.27224839e-01 1.64489688e-03 3.49151160e+02] [-2.27224503e-01 9.73842324e-01 -3.90318713e-04 -5.09957999e+01] [-1.69056030e-03 6.34746472e-06 9.99998571e-01 -7.64639395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.18, Y:-51.00, Z:-0.77 [[ 9.73681823e-01 2.27905685e-01 1.64482490e-03 3.49181679e+02] [-2.27905350e-01 9.73683213e-01 -3.90621773e-04 -5.10038696e+01] [-1.69056332e-03 5.47692470e-06 9.99998571e-01 -7.67860343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.21, Y:-51.01, Z:-0.77 [[ 9.73512263e-01 2.28628889e-01 1.64478966e-03 3.49212904e+02] [-2.28628555e-01 9.73513652e-01 -3.90770103e-04 -5.10122186e+01] [-1.69056653e-03 4.37360324e-06 9.99998571e-01 -7.70085775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.24, Y:-51.02, Z:-0.77 [[ 9.73428497e-01 2.28985274e-01 1.64472732e-03 3.49244217e+02] [-2.28984940e-01 9.73429887e-01 -3.91032309e-04 -5.10203823e+01] [-1.69056737e-03 4.02420625e-06 9.99998571e-01 -7.72208534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.28, Y:-51.03, Z:-0.77 [[ 9.73343395e-01 2.29346748e-01 1.64466228e-03 3.49275407e+02] [-2.29346414e-01 9.73344784e-01 -3.91305684e-04 -5.10291356e+01] [-1.69056814e-03 3.67740511e-06 9.99998571e-01 -7.72611863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.31, Y:-51.04, Z:-0.77 [[ 9.73278459e-01 2.29622158e-01 1.64459291e-03 3.49306440e+02] [-2.29621824e-01 9.73279849e-01 -3.91597017e-04 -5.10371654e+01] [-1.69056849e-03 3.49851669e-06 9.99998571e-01 -7.67005930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.34, Y:-51.04, Z:-0.76 [[ 9.73071474e-01 2.30497725e-01 1.64452948e-03 3.49337733e+02] [-2.30497392e-01 9.73072864e-01 -3.91863207e-04 -5.10447270e+01] [-1.69057059e-03 2.25115064e-06 9.99998571e-01 -7.61876321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.37, Y:-51.05, Z:-0.76 [[ 9.72244611e-01 2.33960920e-01 1.64446180e-03 3.49370296e+02] [-2.33960592e-01 9.72246002e-01 -3.92147033e-04 -5.10515478e+01] [-1.69056849e-03 -3.47641681e-06 9.99998571e-01 -7.61339138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.525769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.40, Y:-51.06, Z:-0.76 [[ 9.71910509e-01 2.35344976e-01 1.64438710e-03 3.49401120e+02] [-2.35344649e-01 9.71911900e-01 -3.92460026e-04 -5.10591791e+01] [-1.69056289e-03 -5.56168111e-06 9.99998571e-01 -7.64804986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.43, Y:-51.07, Z:-0.77 [[ 9.71779045e-01 2.35887226e-01 1.64431739e-03 3.49432474e+02] [-2.35886899e-01 9.71780436e-01 -3.92751884e-04 -5.10676792e+01] [-1.69056062e-03 -6.20487923e-06 9.99998571e-01 -7.65730851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.46, Y:-51.08, Z:-0.76 [[ 9.71711711e-01 2.36164450e-01 1.64425503e-03 3.49464422e+02] [-2.36164123e-01 9.71713102e-01 -3.93012767e-04 -5.10772282e+01] [-1.69055980e-03 -6.41893900e-06 9.99998571e-01 -7.64993562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.49, Y:-51.09, Z:-0.77 [[ 9.71527626e-01 2.36920595e-01 1.64418046e-03 3.49494278e+02] [-2.36920269e-01 9.71529017e-01 -3.93324484e-04 -5.10882119e+01] [-1.69055570e-03 -7.41407463e-06 9.99998571e-01 -7.66416950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.53, Y:-51.10, Z:-0.77 [[ 9.71203542e-01 2.38245621e-01 1.64411097e-03 3.49526289e+02] [-2.38245296e-01 9.71204934e-01 -3.93614731e-04 -5.10978593e+01] [-1.69054568e-03 -9.42168549e-06 9.99998571e-01 -7.67734879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.56, Y:-51.11, Z:-0.77 [[ 9.70664831e-01 2.40431037e-01 1.64403758e-03 3.49557607e+02] [-2.40430715e-01 9.70666223e-01 -3.93921050e-04 -5.11072907e+01] [-1.69052259e-03 -1.29118204e-05 9.99998571e-01 -7.68597845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.59, Y:-51.12, Z:-0.77 [[ 9.68694054e-01 2.48252143e-01 1.64401442e-03 3.49587853e+02] [-2.48251832e-01 9.68695449e-01 -3.94017668e-04 -5.11168150e+01] [-1.69036502e-03 -2.64470204e-05 9.99998571e-01 -7.65948809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.62, Y:-51.12, Z:-0.77 [[ 9.67544720e-01 2.52694502e-01 1.64394536e-03 3.49618156e+02] [-2.52694197e-01 9.67546116e-01 -3.94305600e-04 -5.11235560e+01] [-1.69023181e-03 -3.39071504e-05 9.99998571e-01 -7.66939214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.65, Y:-51.13, Z:-0.77 [[ 9.66527611e-01 2.56557353e-01 1.64388674e-03 3.49647106e+02] [-2.56557053e-01 9.66529008e-01 -3.94549846e-04 -5.11288434e+01] [-1.69008888e-03 -4.04074173e-05 9.99998571e-01 -7.68451688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.68, Y:-51.13, Z:-0.77 [[ 9.65678647e-01 2.59734573e-01 1.64389529e-03 3.49678504e+02] [-2.59734278e-01 9.65680045e-01 -3.94514215e-04 -5.11341622e+01] [-1.68994586e-03 -4.60020023e-05 9.99998571e-01 -7.69642560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.71, Y:-51.14, Z:-0.77 [[ 9.64509887e-01 2.64041616e-01 1.64388641e-03 3.49706883e+02] [-2.64041327e-01 9.64511287e-01 -3.94551217e-04 -5.11371422e+01] [-1.68972494e-03 -5.35053997e-05 9.99998571e-01 -7.71710252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.74, Y:-51.14, Z:-0.77 [[ 9.64311908e-01 2.64763746e-01 1.64389966e-03 3.49735604e+02] [-2.64763458e-01 9.64313308e-01 -3.94495984e-04 -5.11423167e+01] [-1.68968256e-03 -5.48273841e-05 9.99998571e-01 -7.71010968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.76, Y:-51.15, Z:-0.77 [[ 9.64442844e-01 2.64286394e-01 1.64391657e-03 3.49764546e+02] [-2.64286105e-01 9.64444244e-01 -3.94425518e-04 -5.11469695e+01] [-1.68970717e-03 -5.40634384e-05 9.99998571e-01 -7.70175558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.79, Y:-51.15, Z:-0.77 [[ 9.64892724e-01 2.62639160e-01 1.64392540e-03 3.49792746e+02] [-2.62638869e-01 9.64894123e-01 -3.94388710e-04 -5.11511567e+01] [-1.68979588e-03 -5.12159111e-05 9.99998571e-01 -7.72129089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.82, Y:-51.15, Z:-0.77 [[ 9.66329088e-01 2.57304084e-01 1.64393860e-03 3.49822539e+02] [-2.57303786e-01 9.66330485e-01 -3.94333679e-04 -5.11539871e+01] [-1.69005165e-03 -4.19355216e-05 9.99998571e-01 -7.70652692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.85, Y:-51.16, Z:-0.77 [[ 9.67056532e-01 2.54556401e-01 1.64394733e-03 3.49853455e+02] [-2.54556098e-01 9.67057929e-01 -3.94297284e-04 -5.11592445e+01] [-1.69016320e-03 -3.71690534e-05 9.99998571e-01 -7.69025247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.88, Y:-51.17, Z:-0.77 [[ 9.67056532e-01 2.54556401e-01 1.64393806e-03 3.49883599e+02] [-2.54556098e-01 9.67057929e-01 -3.94335936e-04 -5.11664753e+01] [-1.69016407e-03 -3.71293153e-05 9.99998571e-01 -7.69077660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.91, Y:-51.17, Z:-0.77 [[ 9.67715572e-01 2.52039419e-01 1.64393806e-03 3.49913639e+02] [-2.52039113e-01 9.67716968e-01 -3.94335936e-04 -5.11716643e+01] [-1.69025495e-03 -3.27316640e-05 9.99998571e-01 -7.69777523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.94, Y:-51.18, Z:-0.77 [[ 9.68708081e-01 2.48197402e-01 1.64393344e-03 3.49942158e+02] [-2.48197090e-01 9.68709476e-01 -3.94355178e-04 -5.11762528e+01] [-1.69037184e-03 -2.60044492e-05 9.99998571e-01 -7.70228143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.97, Y:-51.18, Z:-0.77 [[ 9.69022809e-01 2.46965775e-01 1.64394645e-03 3.49971646e+02] [-2.46965461e-01 9.69024203e-01 -3.94300933e-04 -5.11822235e+01] [-1.69040274e-03 -2.39113969e-05 9.99998571e-01 -7.69048565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.00, Y:-51.19, Z:-0.77 [[ 9.69238534e-01 2.46117781e-01 1.64395534e-03 3.49999506e+02] [-2.46117466e-01 9.69239928e-01 -3.94263868e-04 -5.11878095e+01] [-1.69042251e-03 -2.24703903e-05 9.99998571e-01 -7.68916029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.03, Y:-51.19, Z:-0.77 [[ 9.69455639e-01 2.45261209e-01 1.64396859e-03 3.50029040e+02] [-2.45260893e-01 9.69457033e-01 -3.94208633e-04 -5.11932568e+01] [-1.69044100e-03 -2.10334223e-05 9.99998571e-01 -7.66065763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.06, Y:-51.20, Z:-0.77 [[ 9.70056371e-01 2.42874319e-01 1.64397764e-03 3.50058067e+02] [-2.42873999e-01 9.70057764e-01 -3.94170864e-04 -5.11984561e+01] [-1.69048726e-03 -1.69114672e-05 9.99998571e-01 -7.68141750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:-51.21, Z:-0.77 [[ 9.70276004e-01 2.41995400e-01 1.64398665e-03 3.50086591e+02] [-2.41995079e-01 9.70277397e-01 -3.94133283e-04 -5.12051375e+01] [-1.69050153e-03 -1.54186135e-05 9.99998571e-01 -7.68911858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.12, Y:-51.21, Z:-0.77 [[ 9.70358903e-01 2.41662776e-01 1.64399572e-03 3.50115807e+02] [-2.41662455e-01 9.70360295e-01 -3.94095471e-04 -5.12112224e+01] [-1.69050638e-03 -1.48779924e-05 9.99998571e-01 -7.68773548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.275769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.14, Y:-51.22, Z:-0.77 [[ 9.70419330e-01 2.41420008e-01 1.64400478e-03 3.50143820e+02] [-2.41419687e-01 9.70420723e-01 -3.94057655e-04 -5.12159375e+01] [-1.69050971e-03 -1.44939538e-05 9.99998571e-01 -7.67402810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.17, Y:-51.22, Z:-0.76 [[ 9.70794734e-01 2.39905983e-01 1.64401834e-03 3.50174135e+02] [-2.39905660e-01 9.70796126e-01 -3.94001078e-04 -5.12183702e+01] [-1.69052985e-03 -1.19151330e-05 9.99998571e-01 -7.63027842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.20, Y:-51.22, Z:-0.76 [[ 9.71015862e-01 2.39009398e-01 1.64402725e-03 3.50202164e+02] [-2.39009074e-01 9.71017254e-01 -3.93963918e-04 -5.12230408e+01] [-1.69053990e-03 -1.03922155e-05 9.99998571e-01 -7.61028727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.23, Y:-51.23, Z:-0.76 [[ 9.71143641e-01 2.38489676e-01 1.64404057e-03 3.50229732e+02] [-2.38489351e-01 9.71145033e-01 -3.93908315e-04 -5.12274211e+01] [-1.69054490e-03 -9.54461266e-06 9.99998571e-01 -7.60360574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.26, Y:-51.23, Z:-0.76 [[ 9.71152089e-01 2.38455272e-01 1.64406261e-03 3.50259543e+02] [-2.38454947e-01 9.71153481e-01 -3.93816304e-04 -5.12284973e+01] [-1.69054470e-03 -9.57933557e-06 9.99998571e-01 -7.63132013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.29, Y:-51.23, Z:-0.77 [[ 9.71160256e-01 2.38422007e-01 1.64408018e-03 3.50288315e+02] [-2.38421682e-01 9.71161648e-01 -3.93742929e-04 -5.12327014e+01] [-1.69054460e-03 -9.59687904e-06 9.99998571e-01 -7.65395418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.32, Y:-51.24, Z:-0.77 [[ 9.71298489e-01 2.37858238e-01 1.64409777e-03 3.50317172e+02] [-2.37857912e-01 9.71299881e-01 -3.93669486e-04 -5.12380198e+01] [-1.69054950e-03 -8.69108475e-06 9.99998571e-01 -7.66688717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.35, Y:-51.24, Z:-0.77 [[ 9.72438163e-01 2.33155133e-01 1.64411606e-03 3.50345327e+02] [-2.33154801e-01 9.72439553e-01 -3.93593069e-04 -5.12430374e+01] [-1.69057173e-03 -5.88632339e-07 9.99998571e-01 -7.69483500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.37, Y:-51.25, Z:-0.77 [[ 9.73276686e-01 2.29629678e-01 1.64413429e-03 3.50373028e+02] [-2.29629341e-01 9.73278075e-01 -3.93516895e-04 -5.12490548e+01] [-1.69056302e-03 5.45934574e-06 9.99998571e-01 -7.69924632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.40, Y:-51.26, Z:-0.77 [[ 9.74131550e-01 2.25975706e-01 1.64414793e-03 3.50400288e+02] [-2.25975364e-01 9.74132938e-01 -3.93459914e-04 -5.12551689e+01] [-1.69053103e-03 1.17447888e-05 9.99998571e-01 -7.69197644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.43, Y:-51.26, Z:-0.77 [[ 9.74838721e-01 2.22905280e-01 1.64417372e-03 3.50428894e+02] [-2.22904933e-01 9.74840108e-01 -3.93352117e-04 -5.12624401e+01] [-1.69048675e-03 1.69604420e-05 9.99998571e-01 -7.66236157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.46, Y:-51.27, Z:-0.76 [[ 9.75912110e-01 2.18157855e-01 1.64418283e-03 3.50456874e+02] [-2.18157502e-01 9.75913495e-01 -3.93314030e-04 -5.12702776e+01] [-1.69038476e-03 2.51491069e-05 9.99998571e-01 -7.62756393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.49, Y:-51.28, Z:-0.76 [[ 9.76317749e-01 2.16335271e-01 1.64419332e-03 3.50487350e+02] [-2.16334915e-01 9.76319133e-01 -3.93270178e-04 -5.12786660e+01] [-1.69033561e-03 2.82602333e-05 9.99998571e-01 -7.63127000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.52, Y:-51.29, Z:-0.77 [[ 9.76659182e-01 2.14788589e-01 1.64418376e-03 3.50517537e+02] [-2.14788232e-01 9.76660566e-01 -3.93310115e-04 -5.12871967e+01] [-1.69028797e-03 3.09786127e-05 9.99998571e-01 -7.65438983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.55, Y:-51.30, Z:-0.77 [[ 9.76912775e-01 2.13632224e-01 1.64417410e-03 3.50546845e+02] [-2.13631864e-01 9.76914158e-01 -3.93350528e-04 -5.12962707e+01] [-1.69024930e-03 3.30211791e-05 9.99998571e-01 -7.68478594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.58, Y:-51.31, Z:-0.77 [[ 9.77447131e-01 2.11173870e-01 1.64416929e-03 3.50575391e+02] [-2.11173507e-01 9.77448513e-01 -3.93370619e-04 -5.13076846e+01] [-1.69016042e-03 3.72939882e-05 9.99998571e-01 -7.71540212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.61, Y:-51.32, Z:-0.77 [[ 9.77641605e-01 2.10271704e-01 1.64414516e-03 3.50605001e+02] [-2.10271340e-01 9.77642986e-01 -3.93471461e-04 -5.13168555e+01] [-1.69012290e-03 3.89574658e-05 9.99998571e-01 -7.69304983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.63, Y:-51.33, Z:-0.76 [[ 9.77813285e-01 2.09471897e-01 1.64414516e-03 3.50634846e+02] [-2.09471531e-01 9.77814667e-01 -3.93471461e-04 -5.13289916e+01] [-1.69009046e-03 4.03400185e-05 9.99998571e-01 -7.63333525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.67, Y:-51.34, Z:-0.76 [[ 9.77889504e-01 2.09115794e-01 1.64408062e-03 3.50665869e+02] [-2.09115427e-01 9.77890885e-01 -3.93740950e-04 -5.13393220e+01] [-1.69006890e-03 4.12325216e-05 9.99998571e-01 -7.62453382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.70, Y:-51.35, Z:-0.76 [[ 9.77915786e-01 2.08992854e-01 1.64400439e-03 3.50696693e+02] [-2.08992487e-01 9.77917167e-01 -3.94058967e-04 -5.13490801e+01] [-1.69005562e-03 4.17719189e-05 9.99998571e-01 -7.63200048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.73, Y:-51.36, Z:-0.76 [[ 9.77819868e-01 2.09441167e-01 1.64393324e-03 3.50728535e+02] [-2.09440800e-01 9.77821249e-01 -3.94355583e-04 -5.13586738e+01] [-1.69006714e-03 4.13020321e-05 9.99998571e-01 -7.63506678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.76, Y:-51.37, Z:-0.77 [[ 9.77320766e-01 2.11757924e-01 1.64385676e-03 3.50759046e+02] [-2.11757560e-01 9.77322148e-01 -3.94674107e-04 -5.13683651e+01] [-1.69015299e-03 3.76241042e-05 9.99998571e-01 -7.65787326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.79, Y:-51.38, Z:-0.77 [[ 9.76980250e-01 2.13323439e-01 1.64378069e-03 3.50790876e+02] [-2.13323076e-01 9.76981632e-01 -3.94990672e-04 -5.13771746e+01] [-1.69020431e-03 3.52417324e-05 9.99998571e-01 -7.66564797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.82, Y:-51.38, Z:-0.77 [[ 9.76582952e-01 2.15134925e-01 1.64370445e-03 3.50821872e+02] [-2.15134565e-01 9.76584335e-01 -3.95307700e-04 -5.13849930e+01] [-1.69026051e-03 3.24331198e-05 9.99998571e-01 -7.67497434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.85, Y:-51.39, Z:-0.77 [[ 9.76079656e-01 2.17407002e-01 1.64363345e-03 3.50852848e+02] [-2.17406644e-01 9.76081039e-01 -3.95602683e-04 -5.13920898e+01] [-1.69032624e-03 2.88028983e-05 9.99998571e-01 -7.66948304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.025769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.89, Y:-51.40, Z:-0.77 [[ 9.74967704e-01 2.22340449e-01 1.64356788e-03 3.50885184e+02] [-2.22340097e-01 9.74969089e-01 -3.95874887e-04 -5.13995187e+01] [-1.69044688e-03 2.05341861e-05 9.99998571e-01 -7.65722719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.92, Y:-51.41, Z:-0.77 [[ 9.74531937e-01 2.24242730e-01 1.64348955e-03 3.50916416e+02] [-2.24242381e-01 9.74533323e-01 -3.96199818e-04 -5.14075553e+01] [-1.69048026e-03 1.75693667e-05 9.99998571e-01 -7.67592011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.95, Y:-51.42, Z:-0.77 [[ 9.74351309e-01 2.25026279e-01 1.64341663e-03 3.50947219e+02] [-2.25025930e-01 9.74352695e-01 -3.96502077e-04 -5.14154555e+01] [-1.69049081e-03 1.65209622e-05 9.99998571e-01 -7.69662036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.98, Y:-51.42, Z:-0.77 [[ 9.74328623e-01 2.25124483e-01 1.64340726e-03 3.50977203e+02] [-2.25124134e-01 9.74330009e-01 -3.96540893e-04 -5.14226279e+01] [-1.69049208e-03 1.63905055e-05 9.99998571e-01 -7.72334053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.01, Y:-51.43, Z:-0.77 [[ 9.74440278e-01 2.24640699e-01 1.64339798e-03 3.51007658e+02] [-2.24640349e-01 9.74441664e-01 -3.96579372e-04 -5.14298682e+01] [-1.69048333e-03 1.72694178e-05 9.99998571e-01 -7.70858912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.04, Y:-51.44, Z:-0.77 [[ 9.74505496e-01 2.24357611e-01 1.64338874e-03 3.51039502e+02] [-2.24357261e-01 9.74506881e-01 -3.96617645e-04 -5.14383743e+01] [-1.69047782e-03 1.77998785e-05 9.99998571e-01 -7.68618313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.07, Y:-51.45, Z:-0.77 [[ 9.74670585e-01 2.23639331e-01 1.64331061e-03 3.51070193e+02] [-2.23638980e-01 9.74671970e-01 -3.96941095e-04 -5.14472782e+01] [-1.69046043e-03 1.93785015e-05 9.99998571e-01 -7.69497273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.10, Y:-51.46, Z:-0.77 [[ 9.74903885e-01 2.22620112e-01 1.64326183e-03 3.51100019e+02] [-2.22619759e-01 9.74905270e-01 -3.97142923e-04 -5.14555912e+01] [-1.69043662e-03 2.13536262e-05 9.99998571e-01 -7.70212627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.13, Y:-51.46, Z:-0.77 [[ 9.75036033e-01 2.22040614e-01 1.64320208e-03 3.51131337e+02] [-2.22040259e-01 9.75037417e-01 -3.97389987e-04 -5.14642554e+01] [-1.69042023e-03 2.26125409e-05 9.99998571e-01 -7.66543894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.16, Y:-51.47, Z:-0.77 [[ 9.74976261e-01 2.22302927e-01 1.64313366e-03 3.51162384e+02] [-2.22302572e-01 9.74977645e-01 -3.97672681e-04 -5.14724125e+01] [-1.69042239e-03 2.24485838e-05 9.99998571e-01 -7.65978178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.19, Y:-51.48, Z:-0.77 [[ 9.74808056e-01 2.23039354e-01 1.64306046e-03 3.51193042e+02] [-2.23039000e-01 9.74809441e-01 -3.97974924e-04 -5.14804171e+01] [-1.69043492e-03 2.14826011e-05 9.99998571e-01 -7.65516645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.22, Y:-51.49, Z:-0.77 [[ 9.74218101e-01 2.25602289e-01 1.64299498e-03 3.51223079e+02] [-2.25601938e-01 9.74219486e-01 -3.98245040e-04 -5.14873262e+01] [-1.69048272e-03 1.73146740e-05 9.99998571e-01 -7.66656718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.25, Y:-51.49, Z:-0.77 [[ 9.73733011e-01 2.27686900e-01 1.64298567e-03 3.51252760e+02] [-2.27686552e-01 9.73734397e-01 -3.98283454e-04 -5.14936739e+01] [-1.69051559e-03 1.37360043e-05 9.99998571e-01 -7.67042049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.28, Y:-51.50, Z:-0.77 [[ 9.73223008e-01 2.29857079e-01 1.64298111e-03 3.51282143e+02] [-2.29856734e-01 9.73224395e-01 -3.98302265e-04 -5.15003998e+01] [-1.69054189e-03 9.98665627e-06 9.99998571e-01 -7.67728394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.31, Y:-51.51, Z:-0.77 [[ 9.72386803e-01 2.33369249e-01 1.64298111e-03 3.51312817e+02] [-2.33368909e-01 9.72388191e-01 -3.98302265e-04 -5.15078740e+01] [-1.69056693e-03 3.88315614e-06 9.99998571e-01 -7.67385187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.34, Y:-51.51, Z:-0.77 [[ 9.72101440e-01 2.34555091e-01 1.64297157e-03 3.51343024e+02] [-2.34554753e-01 9.72102828e-01 -3.98341625e-04 -5.15147993e+01] [-1.69057036e-03 1.86167702e-06 9.99998571e-01 -7.67751297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.37, Y:-51.52, Z:-0.77 [[ 9.71936870e-01 2.35236098e-01 1.64290999e-03 3.51373324e+02] [-2.35235761e-01 9.71938258e-01 -3.98595443e-04 -5.15215185e+01] [-1.69057111e-03 9.38426608e-07 9.99998571e-01 -7.66468703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.40, Y:-51.53, Z:-0.77 [[ 9.71841814e-01 2.35628497e-01 1.64290052e-03 3.51404218e+02] [-2.35628160e-01 9.71843203e-01 -3.98634458e-04 -5.15280487e+01] [-1.69057134e-03 2.96008897e-07 9.99998571e-01 -7.66539070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.44, Y:-51.53, Z:-0.77 [[ 9.71698508e-01 2.36218777e-01 1.64289108e-03 3.51435259e+02] [-2.36218440e-01 9.71699897e-01 -3.98673367e-04 -5.15347961e+01] [-1.69057123e-03 -6.90852536e-07 9.99998571e-01 -7.67253230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.46, Y:-51.54, Z:-0.77 [[ 9.71871634e-01 2.35505474e-01 1.64288161e-03 3.51464896e+02] [-2.35505137e-01 9.71873022e-01 -3.98712371e-04 -5.15403304e+01] [-1.69057127e-03 5.90183849e-07 9.99998571e-01 -7.67888777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.49, Y:-51.55, Z:-0.77 [[ 9.72078252e-01 2.34651173e-01 1.64285950e-03 3.51493369e+02] [-2.34650834e-01 9.72079640e-01 -3.98803457e-04 -5.15466442e+01] [-1.69056997e-03 2.16981469e-06 9.99998571e-01 -7.67465730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6557692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:351.52, Y:-51.55, Z:-0.77 [[ 9.72329312e-01 2.33608668e-01 1.64286406e-03 3.51523013e+02] [-2.33608327e-01 9.72330700e-01 -3.98784694e-04 -5.15532931e+01] [-1.69056672e-03 3.96332320e-06 9.99998571e-01 -7.66369901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.55, Y:-51.56, Z:-0.77 [[ 9.72649371e-01 2.32272473e-01 1.64286406e-03 3.51552082e+02] [-2.32272131e-01 9.72650759e-01 -3.98784694e-04 -5.15606555e+01] [-1.69055968e-03 6.28614755e-06 9.99998571e-01 -7.65779573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:-51.57, Z:-0.77 [[ 9.73774565e-01 2.27509117e-01 1.64285944e-03 3.51581871e+02] [-2.27508768e-01 9.73775950e-01 -3.98803732e-04 -5.15688646e+01] [-1.69050849e-03 1.45800044e-05 9.99998571e-01 -7.66816518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.61, Y:-51.58, Z:-0.77 [[ 9.74474704e-01 2.24491320e-01 1.64285017e-03 3.51611158e+02] [-2.24490967e-01 9.74476088e-01 -3.98841912e-04 -5.15773129e+01] [-1.69045475e-03 1.98563317e-05 9.99998571e-01 -7.69191859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.775769231 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.64, Y:-51.59, Z:-0.77 [[ 9.75058494e-01 2.21941963e-01 1.64284555e-03 3.51640880e+02] [-2.21941606e-01 9.75059877e-01 -3.98860939e-04 -5.15863950e+01] [-1.69039676e-03 2.42969668e-05 9.99998571e-01 -7.70559691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.67, Y:-51.60, Z:-0.77 [[ 9.75531125e-01 2.19855236e-01 1.64278573e-03 3.51670968e+02] [-2.19854876e-01 9.75532508e-01 -3.99107137e-04 -5.15956462e+01] [-1.69033668e-03 2.81669817e-05 9.99998571e-01 -7.70695226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.70, Y:-51.61, Z:-0.77 [[ 9.76308264e-01 2.16378082e-01 1.64277658e-03 3.51701742e+02] [-2.16377716e-01 9.76309646e-01 -3.99144793e-04 -5.16070811e+01] [-1.69022481e-03 3.42281146e-05 9.99998571e-01 -7.70209473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.73, Y:-51.62, Z:-0.77 [[ 9.76676972e-01 2.14707696e-01 1.64270349e-03 3.51733109e+02] [-2.14707327e-01 9.76678352e-01 -3.99445395e-04 -5.16174285e+01] [-1.69015694e-03 3.74286434e-05 9.99998571e-01 -7.68492067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.76, Y:-51.63, Z:-0.77 [[ 9.76993766e-01 2.13261537e-01 1.64262640e-03 3.51763489e+02] [-2.13261167e-01 9.76995146e-01 -3.99762161e-04 -5.16285203e+01] [-1.69009191e-03 4.02567172e-05 9.99998571e-01 -7.68716273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:351.80, Y:-51.64, Z:-0.77 [[ 9.76955075e-01 2.13438711e-01 1.64257836e-03 3.51795975e+02] [-2.13438340e-01 9.76956455e-01 -3.99959462e-04 -5.16366516e+01] [-1.69009436e-03 4.01532277e-05 9.99998571e-01 -7.68772920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.83, Y:-51.65, Z:-0.77 [[ 9.77264590e-01 2.12017035e-01 1.64250577e-03 3.51826820e+02] [-2.12016661e-01 9.77265969e-01 -4.00257330e-04 -5.16490247e+01] [-1.69002637e-03 4.29187255e-05 9.99998571e-01 -7.66783133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.86, Y:-51.67, Z:-0.77 [[ 9.77956980e-01 2.08800020e-01 1.64243050e-03 3.51856080e+02] [-2.08799642e-01 9.77958358e-01 -4.00565972e-04 -5.16655341e+01] [-1.68986681e-03 4.87973891e-05 9.99998571e-01 -7.66238698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:-51.68, Z:-0.77 [[ 9.78104241e-01 2.08109097e-01 1.64236030e-03 3.51887199e+02] [-2.08108717e-01 9.78105619e-01 -4.00853582e-04 -5.16772522e+01] [-1.68982311e-03 5.02870947e-05 9.99998571e-01 -7.67089466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.92, Y:-51.69, Z:-0.77 [[ 9.78153030e-01 2.07879661e-01 1.64228241e-03 3.51917641e+02] [-2.07879281e-01 9.78154407e-01 -4.01172445e-04 -5.16891821e+01] [-1.68980137e-03 5.10115565e-05 9.99998571e-01 -7.69916369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.95, Y:-51.70, Z:-0.77 [[ 9.78095254e-01 2.08151335e-01 1.64177080e-03 3.51947272e+02] [-2.08150951e-01 9.78096631e-01 -4.03264360e-04 -5.17013970e+01] [-1.68975051e-03 5.26948023e-05 9.99998571e-01 -7.71874792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:351.98, Y:-51.72, Z:-0.77 [[ 9.78075750e-01 2.08242959e-01 1.64211991e-03 3.51976201e+02] [-2.08242578e-01 9.78077128e-01 -4.01837733e-04 -5.17171991e+01] [-1.68979980e-03 5.10684596e-05 9.99998571e-01 -7.69875496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.01, Y:-51.73, Z:-0.77 [[ 9.78111724e-01 2.08073928e-01 1.64205055e-03 3.52007711e+02] [-2.08073546e-01 9.78113101e-01 -4.02120950e-04 -5.17290907e+01] [-1.68978204e-03 5.16519353e-05 9.99998571e-01 -7.68055966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.04, Y:-51.74, Z:-0.77 [[ 9.78219527e-01 2.07566521e-01 1.64197684e-03 3.52038823e+02] [-2.07566138e-01 9.78220904e-01 -4.02421730e-04 -5.17417870e+01] [-1.68974534e-03 5.28380043e-05 9.99998571e-01 -7.66756642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.07, Y:-51.76, Z:-0.76 [[ 9.78629164e-01 2.05626514e-01 1.64190211e-03 3.52068623e+02] [-2.05626127e-01 9.78630540e-01 -4.02726396e-04 -5.17606896e+01] [-1.68962677e-03 5.65018246e-05 9.99998571e-01 -7.63217673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.10, Y:-51.77, Z:-0.76 [[ 9.78606830e-01 2.05732778e-01 1.64182703e-03 3.52098670e+02] [-2.05732391e-01 9.78608206e-01 -4.03032254e-04 -5.17743198e+01] [-1.68962235e-03 5.66331169e-05 9.99998571e-01 -7.59807920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:352.13, Y:-51.79, Z:-0.76 [[ 9.78390903e-01 2.06757213e-01 1.64175695e-03 3.52129280e+02] [-2.06756827e-01 9.78392279e-01 -4.03317513e-04 -5.17873238e+01] [-1.68967113e-03 5.51577285e-05 9.99998571e-01 -7.57957344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:352.16, Y:-51.80, Z:-0.76 [[ 9.77150281e-01 2.12543250e-01 1.64168069e-03 3.52158423e+02] [-2.12542871e-01 9.77151659e-01 -4.03627685e-04 -5.18042765e+01] [-1.68995935e-03 4.54773783e-05 9.99998571e-01 -7.59991084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.19, Y:-51.82, Z:-0.76 [[ 9.76138197e-01 2.17144020e-01 1.64160932e-03 3.52189832e+02] [-2.17143648e-01 9.76139577e-01 -4.03917751e-04 -5.18157004e+01] [-1.69014815e-03 3.78145088e-05 9.99998571e-01 -7.63171745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.22, Y:-51.83, Z:-0.77 [[ 9.74951672e-01 2.22410752e-01 1.64153076e-03 3.52218934e+02] [-2.22410386e-01 9.74953054e-01 -4.04236763e-04 -5.18258956e+01] [-1.69032203e-03 2.90178176e-05 9.99998571e-01 -7.66554202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.25, Y:-51.84, Z:-0.77 [[ 9.73635748e-01 2.28102469e-01 1.64146746e-03 3.52250437e+02] [-2.28102111e-01 9.73637131e-01 -4.04493623e-04 -5.18356491e+01] [-1.69045967e-03 1.94072577e-05 9.99998571e-01 -7.66587429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:-51.84, Z:-0.77 [[ 9.70896175e-01 2.39495144e-01 1.64139187e-03 3.52282207e+02] [-2.39494802e-01 9.70897562e-01 -4.04800145e-04 -5.18439026e+01] [-1.69057103e-03 -8.59087624e-08 9.99998571e-01 -7.66133711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.31, Y:-51.85, Z:-0.77 [[ 9.69637629e-01 2.44540743e-01 1.64131375e-03 3.52313468e+02] [-2.44540408e-01 9.69639018e-01 -4.05116658e-04 -5.18509475e+01] [-1.69054938e-03 -8.55117728e-06 9.99998571e-01 -7.67387598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.35, Y:-51.86, Z:-0.77 [[ 9.68646081e-01 2.48439282e-01 1.64124113e-03 3.52345175e+02] [-2.48438952e-01 9.68647471e-01 -4.05410627e-04 -5.18583149e+01] [-1.69050400e-03 -1.50488112e-05 9.99998571e-01 -7.66780605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.38, Y:-51.87, Z:-0.77 [[ 9.67904300e-01 2.51313693e-01 1.64116355e-03 3.52376436e+02] [-2.51313366e-01 9.67905691e-01 -4.05724433e-04 -5.18655388e+01] [-1.69045565e-03 -1.97439135e-05 9.99998571e-01 -7.67815358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:352.41, Y:-51.87, Z:-0.77 [[ 9.66963305e-01 2.54910325e-01 1.64109090e-03 3.52408971e+02] [-2.54910003e-01 9.66964697e-01 -4.06018107e-04 -5.18704819e+01] [-1.69037517e-03 -2.57258742e-05 9.99998571e-01 -7.67599818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:352.44, Y:-51.88, Z:-0.77 [[ 9.66680361e-01 2.55981223e-01 1.64101371e-03 3.52440186e+02] [-2.55980902e-01 9.66681754e-01 -4.06329840e-04 -5.18756879e+01] [-1.69035082e-03 -2.72770926e-05 9.99998571e-01 -7.68729850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:352.47, Y:-51.88, Z:-0.77 [[ 9.66341930e-01 2.57255868e-01 1.64094198e-03 3.52472259e+02] [-2.57255548e-01 9.66343323e-01 -4.06619313e-04 -5.18813785e+01] [-1.69031853e-03 -2.92081371e-05 9.99998571e-01 -7.68293884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.50, Y:-51.89, Z:-0.77 [[ 9.66050733e-01 2.58347227e-01 1.64086586e-03 3.52503574e+02] [-2.58346908e-01 9.66052126e-01 -4.06926234e-04 -5.18866498e+01] [-1.69029022e-03 -3.08012361e-05 9.99998571e-01 -7.67445170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64576923100003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:352.54, Y:-51.89, Z:-0.77 [[ 9.65619894e-01 2.59952932e-01 1.64081844e-03 3.52536260e+02] [-2.59952616e-01 9.65621288e-01 -4.07117360e-04 -5.18880658e+01] [-1.69024057e-03 -3.34144238e-05 9.99998571e-01 -7.65476659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67576923100006 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:352.57, Y:-51.89, Z:-0.77 [[ 9.65484064e-01 2.60456965e-01 1.64074807e-03 3.52569614e+02] [-2.60456648e-01 9.65485457e-01 -4.07400774e-04 -5.18915923e+01] [-1.69022877e-03 -3.40047877e-05 9.99998571e-01 -7.65142441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:352.60, Y:-51.90, Z:-0.77 [[ 9.65450287e-01 2.60582139e-01 1.64067461e-03 3.52602354e+02] [-2.60581822e-01 9.65451681e-01 -4.07696402e-04 -5.18950331e+01] [-1.69023046e-03 -3.39193705e-05 9.99998571e-01 -7.65405587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:352.64, Y:-51.90, Z:-0.77 [[ 9.65452447e-01 2.60574137e-01 1.64060036e-03 3.52635680e+02] [-2.60573819e-01 9.65453841e-01 -4.07994959e-04 -5.18997298e+01] [-1.69023685e-03 -3.35977709e-05 9.99998571e-01 -7.66326301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.67, Y:-51.90, Z:-0.77 [[ 9.65696573e-01 2.59667936e-01 1.64052538e-03 3.52668754e+02] [-2.59667617e-01 9.65697966e-01 -4.08296215e-04 -5.19042829e+01] [-1.69027346e-03 -3.17010619e-05 9.99998571e-01 -7.66316406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.70, Y:-51.91, Z:-0.77 [[ 9.66077063e-01 2.58248750e-01 1.64044882e-03 3.52700366e+02] [-2.58248428e-01 9.66078456e-01 -4.08603607e-04 -5.19108248e+01] [-1.69032363e-03 -2.89007560e-05 9.99998571e-01 -7.66611119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.73, Y:-51.92, Z:-0.77 [[ 9.66558515e-01 2.56440922e-01 1.64042468e-03 3.52731758e+02] [-2.56440598e-01 9.66559907e-01 -4.08700475e-04 -5.19163397e+01] [-1.69037626e-03 -2.56385621e-05 9.99998571e-01 -7.66803544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:352.76, Y:-51.92, Z:-0.77 [[ 9.67030644e-01 2.54654754e-01 1.64035222e-03 3.52763940e+02] [-2.54654426e-01 9.67032035e-01 -4.08991103e-04 -5.19205073e+01] [-1.69042468e-03 -2.22160239e-05 9.99998571e-01 -7.67823661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:352.80, Y:-51.92, Z:-0.77 [[ 9.67469159e-01 2.52983668e-01 1.64028025e-03 3.52796501e+02] [-2.52983337e-01 9.67470549e-01 -4.09279545e-04 -5.19246221e+01] [-1.69046388e-03 -1.89982341e-05 9.99998571e-01 -7.67160981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.83, Y:-51.93, Z:-0.77 [[ 9.68230061e-01 2.50055712e-01 1.64020576e-03 3.52828199e+02] [-2.50055377e-01 9.68231450e-01 -4.09577866e-04 -5.19284389e+01] [-1.69051608e-03 -1.35766674e-05 9.99998571e-01 -7.65422897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.86, Y:-51.94, Z:-0.76 [[ 9.68721538e-01 2.48144901e-01 1.64015927e-03 3.52860486e+02] [-2.48144563e-01 9.68722926e-01 -4.09763947e-04 -5.19363481e+01] [-1.69054072e-03 -1.00494437e-05 9.99998571e-01 -7.64243092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:352.89, Y:-51.94, Z:-0.76 [[ 9.69373323e-01 2.45586381e-01 1.64008497e-03 3.52892366e+02] [-2.45586038e-01 9.69374711e-01 -4.10061118e-04 -5.19447765e+01] [-1.69056232e-03 -5.27966068e-06 9.99998571e-01 -7.63995221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:352.92, Y:-51.95, Z:-0.76 [[ 9.71056140e-01 2.38845732e-01 1.64000998e-03 3.52922887e+02] [-2.38845380e-01 9.71057525e-01 -4.10360821e-04 -5.19542132e+01] [-1.69055696e-03 6.77458907e-06 9.99998571e-01 -7.63954173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.95, Y:-51.96, Z:-0.76 [[ 9.71799583e-01 2.35802633e-01 1.63993983e-03 3.52954545e+02] [-2.35802276e-01 9.71800966e-01 -4.10640967e-04 -5.19640954e+01] [-1.69052533e-03 1.23591776e-05 9.99998571e-01 -7.64076243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:352.99, Y:-51.98, Z:-0.77 [[ 9.72478119e-01 2.32988451e-01 1.63986367e-03 3.52985970e+02] [-2.32988089e-01 9.72479502e-01 -4.10944887e-04 -5.19750492e+01] [-1.69047921e-03 1.75662092e-05 9.99998571e-01 -7.65522648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.02, Y:-51.99, Z:-0.77 [[ 9.73148818e-01 2.30170999e-01 1.63978749e-03 3.53015981e+02] [-2.30170633e-01 9.73150199e-01 -4.11248622e-04 -5.19862023e+01] [-1.69041703e-03 2.27751857e-05 9.99998571e-01 -7.68321329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.05, Y:-52.00, Z:-0.77 [[ 9.73802436e-01 2.27389814e-01 1.63971643e-03 3.53046070e+02] [-2.27389444e-01 9.73803816e-01 -4.11531773e-04 -5.19975205e+01] [-1.69034025e-03 2.78964362e-05 9.99998571e-01 -7.71444373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1557692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:353.08, Y:-52.01, Z:-0.77 [[ 9.74308260e-01 2.25212625e-01 1.63965273e-03 3.53075203e+02] [-2.25212250e-01 9.74309639e-01 -4.11785410e-04 -5.20122591e+01] [-1.69026873e-03 3.19360457e-05 9.99998571e-01 -7.73128425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18576923100005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:353.11, Y:-52.02, Z:-0.77 [[ 9.74096480e-01 2.26126867e-01 1.63958635e-03 3.53105490e+02] [-2.26126493e-01 9.74097859e-01 -4.12049516e-04 -5.20244846e+01] [-1.69029302e-03 3.06220702e-05 9.99998571e-01 -7.73514977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.14, Y:-52.04, Z:-0.77 [[ 9.73652906e-01 2.28029232e-01 1.63951524e-03 3.53136178e+02] [-2.28028860e-01 9.73654286e-01 -4.12332296e-04 -5.20377597e+01] [-1.69034485e-03 2.76117472e-05 9.99998571e-01 -7.71152701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.17, Y:-52.05, Z:-0.77 [[ 9.73173517e-01 2.30066551e-01 1.63943734e-03 3.53165726e+02] [-2.30066182e-01 9.73174898e-01 -4.12641765e-04 -5.20498947e+01] [-1.69039434e-03 2.43929471e-05 9.99998571e-01 -7.72076304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.20, Y:-52.06, Z:-0.77 [[ 9.72656783e-01 2.32241459e-01 1.63936483e-03 3.53196924e+02] [-2.32241093e-01 9.72658164e-01 -4.12929665e-04 -5.20609295e+01] [-1.69044097e-03 2.09109602e-05 9.99998571e-01 -7.70446135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.23, Y:-52.07, Z:-0.77 [[ 9.71630202e-01 2.36499607e-01 1.63928775e-03 3.53227460e+02] [-2.36499246e-01 9.71631584e-01 -4.13235422e-04 -5.20730957e+01] [-1.69051377e-03 1.38216989e-05 9.99998571e-01 -7.71293317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:353.26, Y:-52.08, Z:-0.77 [[ 9.71249664e-01 2.38057563e-01 1.63921059e-03 3.53257982e+02] [-2.38057204e-01 9.71251047e-01 -4.13541264e-04 -5.20837176e+01] [-1.69053163e-03 1.14259226e-05 9.99998571e-01 -7.71090090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.29, Y:-52.09, Z:-0.77 [[ 9.70936873e-01 2.39330111e-01 1.63913898e-03 3.53288436e+02] [-2.39329753e-01 9.70938257e-01 -4.13824932e-04 -5.20945166e+01] [-1.69054351e-03 9.50315914e-06 9.99998571e-01 -7.70295799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.32, Y:-52.11, Z:-0.77 [[ 9.69974737e-01 2.43200171e-01 1.63906927e-03 3.53319414e+02] [-2.43199818e-01 9.69976122e-01 -4.14100848e-04 -5.21064313e+01] [-1.69056745e-03 3.04601299e-06 9.99998571e-01 -7.70193341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.35, Y:-52.11, Z:-0.77 [[ 9.69247648e-01 2.46081919e-01 1.63899483e-03 3.53349145e+02] [-2.46081570e-01 9.69249034e-01 -4.14395275e-04 -5.21148348e+01] [-1.69056934e-03 -1.67477550e-06 9.99998571e-01 -7.73228671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.38, Y:-52.12, Z:-0.77 [[ 9.68418135e-01 2.49326351e-01 1.63893486e-03 3.53381095e+02] [-2.49326006e-01 9.68419522e-01 -4.14632304e-04 -5.21240455e+01] [-1.69055527e-03 -7.09164024e-06 9.99998571e-01 -7.74349952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.41, Y:-52.14, Z:-0.77 [[ 9.66771365e-01 2.55637327e-01 1.63886136e-03 3.53411812e+02] [-2.55636991e-01 9.66772753e-01 -4.14922611e-04 -5.21350236e+01] [-1.69047622e-03 -1.78182882e-05 9.99998571e-01 -7.70849706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.44, Y:-52.14, Z:-0.77 [[ 9.66014751e-01 2.58481750e-01 1.63879524e-03 3.53442895e+02] [-2.58481417e-01 9.66016141e-01 -4.15183607e-04 -5.21438711e+01] [-1.69042004e-03 -2.25246278e-05 9.99998571e-01 -7.66692024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.47, Y:-52.15, Z:-0.76 [[ 9.65136139e-01 2.61743285e-01 1.63872715e-03 3.53474842e+02] [-2.61742957e-01 9.65137530e-01 -4.15452178e-04 -5.21528778e+01] [-1.69033889e-03 -2.79573784e-05 9.99998571e-01 -7.64286442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:353.51, Y:-52.16, Z:-0.76 [[ 9.64319224e-01 2.64737131e-01 1.63864842e-03 3.53506106e+02] [-2.64736806e-01 9.64320616e-01 -4.15762463e-04 -5.21612750e+01] [-1.69025022e-03 -3.28828149e-05 9.99998571e-01 -7.64255988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.54, Y:-52.17, Z:-0.77 [[ 9.62966071e-01 2.69617622e-01 1.63857542e-03 3.53537016e+02] [-2.69617304e-01 9.62967464e-01 -4.16049968e-04 -5.21698099e+01] [-1.69006922e-03 -4.11462858e-05 9.99998571e-01 -7.65319812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.57, Y:-52.18, Z:-0.77 [[ 9.62055253e-01 2.72849784e-01 1.63850438e-03 3.53568859e+02] [-2.72849470e-01 9.62056648e-01 -4.16329583e-04 -5.21768203e+01] [-1.68992946e-03 -4.65329889e-05 9.99998571e-01 -7.65624671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.60, Y:-52.18, Z:-0.76 [[ 9.60991690e-01 2.76572392e-01 1.63842844e-03 3.53601521e+02] [-2.76572083e-01 9.60993085e-01 -4.16628215e-04 -5.21828355e+01] [-1.68974626e-03 -5.27673136e-05 9.99998571e-01 -7.64823052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.63, Y:-52.19, Z:-0.76 [[ 9.59806289e-01 2.80658519e-01 1.63835264e-03 3.53634239e+02] [-2.80658215e-01 9.59807685e-01 -4.16926056e-04 -5.21883228e+01] [-1.68951731e-03 -5.96488790e-05 9.99998571e-01 -7.63462132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.67, Y:-52.19, Z:-0.76 [[ 9.57589824e-01 2.88130257e-01 1.63827708e-03 3.53666187e+02] [-2.88129964e-01 9.57591223e-01 -4.17222784e-04 -5.21906101e+01] [-1.68901426e-03 -7.25084232e-05 9.99998571e-01 -7.62651048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.70, Y:-52.20, Z:-0.76 [[ 9.56705746e-01 2.91052285e-01 1.63820674e-03 3.53699274e+02] [-2.91051995e-01 9.56707145e-01 -4.17498792e-04 -5.21960433e+01] [-1.68879807e-03 -7.73798465e-05 9.99998571e-01 -7.63260046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.73, Y:-52.20, Z:-0.76 [[ 9.55981860e-01 2.93421198e-01 1.63812928e-03 3.53731135e+02] [-2.93420912e-01 9.55983260e-01 -4.17802488e-04 -5.22009773e+01] [-1.68861627e-03 -8.12497860e-05 9.99998571e-01 -7.64028345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:-52.21, Z:-0.76 [[ 9.55929478e-01 2.93591807e-01 1.63805709e-03 3.53763527e+02] [-2.93591521e-01 9.55930878e-01 -4.18085309e-04 -5.22094290e+01] [-1.68861578e-03 -8.12596022e-05 9.99998571e-01 -7.64085007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8457692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.80, Y:-52.21, Z:-0.77 [[ 9.55245465e-01 2.95809767e-01 1.63798243e-03 3.53796499e+02] [-2.95809483e-01 9.55246866e-01 -4.18377639e-04 -5.22142800e+01] [-1.68843777e-03 -8.48773921e-05 9.99998571e-01 -7.65123128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.83, Y:-52.21, Z:-0.77 [[ 9.53841860e-01 3.00304884e-01 1.63790693e-03 3.53829438e+02] [-3.00304606e-01 9.53843262e-01 -4.18672976e-04 -5.22139653e+01] [-1.68803603e-03 -9.25231857e-05 9.99998571e-01 -7.68657462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:353.86, Y:-52.22, Z:-0.77 [[ 9.53208903e-01 3.02307963e-01 1.63783954e-03 3.53860885e+02] [-3.02307688e-01 9.53210305e-01 -4.18936454e-04 -5.22181507e+01] [-1.68785335e-03 -9.57975260e-05 9.99998571e-01 -7.68706427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.89, Y:-52.22, Z:-0.77 [[ 9.52750070e-01 3.03750919e-01 1.63776730e-03 3.53892810e+02] [-3.03750646e-01 9.52751473e-01 -4.19218684e-04 -5.22223034e+01] [-1.68772326e-03 -9.80622428e-05 9.99998571e-01 -7.67453988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:-52.23, Z:-0.76 [[ 9.52529553e-01 3.04441734e-01 1.63769569e-03 3.53923935e+02] [-3.04441461e-01 9.52530955e-01 -4.19498246e-04 -5.22259377e+01] [-1.68766861e-03 -9.89979910e-05 9.99998571e-01 -7.64896188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.96, Y:-52.23, Z:-0.76 [[ 9.52431082e-01 3.04749656e-01 1.63765900e-03 3.53955336e+02] [-3.04749383e-01 9.52432485e-01 -4.19641420e-04 -5.22291091e+01] [-1.68764521e-03 -9.93960371e-05 9.99998571e-01 -7.62662279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:353.99, Y:-52.23, Z:-0.77 [[ 9.52689405e-01 3.03941138e-01 1.63764962e-03 3.53985923e+02] [-3.03940864e-01 9.52690808e-01 -4.19678017e-04 -5.22296621e+01] [-1.68773115e-03 -9.79258402e-05 9.99998571e-01 -7.65347208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:-52.23, Z:-0.77 [[ 9.53218774e-01 3.02276837e-01 1.63765428e-03 3.54013843e+02] [-3.02276561e-01 9.53220176e-01 -4.19659832e-04 -5.22346214e+01] [-1.68789855e-03 -9.49968730e-05 9.99998571e-01 -7.70058532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.04, Y:-52.24, Z:-0.77 [[ 9.53920849e-01 3.00053882e-01 1.63766818e-03 3.54043524e+02] [-3.00053603e-01 9.53922250e-01 -4.19605569e-04 -5.22402200e+01] [-1.68811240e-03 -9.11177379e-05 9.99998571e-01 -7.74175102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:354.07, Y:-52.24, Z:-0.78 [[ 9.55556298e-01 2.94804136e-01 1.63766818e-03 3.54074062e+02] [-2.94803849e-01 9.55557698e-01 -4.19605569e-04 -5.22425288e+01] [-1.68858790e-03 -8.18341388e-05 9.99998571e-01 -7.77914856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.10, Y:-52.25, Z:-0.78 [[ 9.56318341e-01 2.92322678e-01 1.63766818e-03 3.54104236e+02] [-2.92322387e-01 9.56319741e-01 -4.19605569e-04 -5.22475373e+01] [-1.68879464e-03 -7.74505700e-05 9.99998571e-01 -7.75132657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.13, Y:-52.25, Z:-0.77 [[ 9.57078880e-01 2.89822940e-01 1.63766818e-03 3.54133081e+02] [-2.89822645e-01 9.57080278e-01 -4.19605569e-04 -5.22527232e+01] [-1.68899124e-03 -7.30376963e-05 9.99998571e-01 -7.71916587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:354.16, Y:-52.26, Z:-0.77 [[ 9.57673823e-01 2.87850946e-01 1.63767295e-03 3.54162537e+02] [-2.87850649e-01 9.57675221e-01 -4.19586979e-04 -5.22578821e+01] [-1.68913731e-03 -6.95777541e-05 9.99998571e-01 -7.67532956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.19, Y:-52.26, Z:-0.76 [[ 9.58026920e-01 2.86673576e-01 1.63768247e-03 3.54190485e+02] [-2.86673277e-01 9.58028317e-01 -4.19549799e-04 -5.22623833e+01] [-1.68922002e-03 -6.75397990e-05 9.99998571e-01 -7.64794387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:-52.26, Z:-0.76 [[ 9.57995859e-01 2.86777356e-01 1.63770150e-03 3.54220603e+02] [-2.86777057e-01 9.57997257e-01 -4.19475522e-04 -5.22626857e+01] [-1.68920962e-03 -6.77994023e-05 9.99998571e-01 -7.63487300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.25, Y:-52.27, Z:-0.76 [[ 9.57747031e-01 2.87607273e-01 1.63772044e-03 3.54249691e+02] [-2.87606975e-01 9.57748428e-01 -4.19401563e-04 -5.22662278e+01] [-1.68914711e-03 -6.93392192e-05 9.99998571e-01 -7.64459031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.28, Y:-52.27, Z:-0.77 [[ 9.57608686e-01 2.88067565e-01 1.63773970e-03 3.54278108e+02] [-2.88067269e-01 9.57610084e-01 -4.19326331e-04 -5.22694265e+01] [-1.68911037e-03 -7.02286652e-05 9.99998571e-01 -7.66665073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.31, Y:-52.27, Z:-0.77 [[ 9.57498747e-01 2.88432779e-01 1.63776367e-03 3.54307162e+02] [-2.88432483e-01 9.57500145e-01 -4.19232695e-04 -5.22729853e+01] [-1.68907940e-03 -7.09694614e-05 9.99998571e-01 -7.68916793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.34, Y:-52.27, Z:-0.77 [[ 9.57842799e-01 2.87288164e-01 1.63778277e-03 3.54335932e+02] [-2.87287867e-01 9.57844197e-01 -4.19158075e-04 -5.22727473e+01] [-1.68915987e-03 -6.90275725e-05 9.99998571e-01 -7.72002027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.36, Y:-52.28, Z:-0.77 [[ 9.58109243e-01 2.86398318e-01 1.63780647e-03 3.54364683e+02] [-2.86398019e-01 9.58110640e-01 -4.19065433e-04 -5.22773647e+01] [-1.68921944e-03 -6.75540635e-05 9.99998571e-01 -7.71074989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:-52.28, Z:-0.77 [[ 9.58463257e-01 2.85211328e-01 1.63782545e-03 3.54393055e+02] [-2.85211028e-01 9.58464654e-01 -4.18991238e-04 -5.22819862e+01] [-1.68929885e-03 -6.55381734e-05 9.99998571e-01 -7.69204373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:-52.29, Z:-0.77 [[ 9.58842121e-01 2.83935037e-01 1.63784016e-03 3.54421369e+02] [-2.83934735e-01 9.58843517e-01 -4.18933740e-04 -5.22866706e+01] [-1.68938238e-03 -6.33483953e-05 9.99998571e-01 -7.68243293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.45, Y:-52.29, Z:-0.77 [[ 9.59307443e-01 2.82358899e-01 1.63785982e-03 3.54449635e+02] [-2.82358594e-01 9.59308839e-01 -4.18856858e-04 -5.22877446e+01] [-1.68948136e-03 -6.06512950e-05 9.99998571e-01 -7.68734941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:354.48, Y:-52.29, Z:-0.77 [[ 9.59367966e-01 2.82153189e-01 1.63787926e-03 3.54477248e+02] [-2.82152885e-01 9.59369363e-01 -4.18780839e-04 -5.22921824e+01] [-1.68949153e-03 -6.03674351e-05 9.99998571e-01 -7.68898295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:-52.30, Z:-0.77 [[ 9.59281286e-01 2.82447749e-01 1.63790787e-03 3.54504081e+02] [-2.82447445e-01 9.59282683e-01 -4.18668890e-04 -5.22970154e+01] [-1.68946874e-03 -6.10016615e-05 9.99998571e-01 -7.69040047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:-52.30, Z:-0.77 [[ 9.59111519e-01 2.83023693e-01 1.63794096e-03 3.54531573e+02] [-2.83023391e-01 9.59112916e-01 -4.18539410e-04 -5.23022087e+01] [-1.68942690e-03 -6.21496344e-05 9.99998571e-01 -7.68014795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.56, Y:-52.30, Z:-0.77 [[ 9.58875240e-01 2.83823168e-01 1.63796982e-03 3.54559691e+02] [-2.83822867e-01 9.58876637e-01 -4.18426413e-04 -5.23029802e+01] [-1.68937011e-03 -6.36745645e-05 9.99998571e-01 -7.68913672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.59, Y:-52.31, Z:-0.77 [[ 9.58777390e-01 2.84153538e-01 1.63800338e-03 3.54588583e+02] [-2.84153237e-01 9.58778787e-01 -4.18294991e-04 -5.23068632e+01] [-1.68934290e-03 -6.43921838e-05 9.99998571e-01 -7.68645233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.62, Y:-52.31, Z:-0.77 [[ 9.58702189e-01 2.84407156e-01 1.63802271e-03 3.54616347e+02] [-2.84406856e-01 9.58703586e-01 -4.18219301e-04 -5.23113434e+01] [-1.68932281e-03 -6.49171296e-05 9.99998571e-01 -7.67731312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:-52.31, Z:-0.77 [[ 9.58949239e-01 2.83573049e-01 1.63805705e-03 3.54644856e+02] [-2.83572748e-01 9.58950636e-01 -4.18084762e-04 -5.23145929e+01] [-1.68937342e-03 -6.35862747e-05 9.99998571e-01 -7.65344377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.67, Y:-52.32, Z:-0.77 [[ 9.59174642e-01 2.82809693e-01 1.63807603e-03 3.54671345e+02] [-2.82809391e-01 9.59176039e-01 -4.18010382e-04 -5.23186276e+01] [-1.68942066e-03 -6.23183252e-05 9.99998571e-01 -7.65351076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.70, Y:-52.32, Z:-0.77 [[ 9.59475386e-01 2.81787688e-01 1.63810918e-03 3.54698636e+02] [-2.81787384e-01 9.59476782e-01 -4.17880440e-04 -5.23222998e+01] [-1.68948128e-03 -6.06525037e-05 9.99998571e-01 -7.66249208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.73, Y:-52.33, Z:-0.77 [[ 9.59812368e-01 2.80637730e-01 1.63814210e-03 3.54726739e+02] [-2.80637425e-01 9.59813764e-01 -4.17751347e-04 -5.23267001e+01] [-1.68954812e-03 -5.87610705e-05 9.99998571e-01 -7.67190418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:354.75, Y:-52.33, Z:-0.77 [[ 9.60331251e-01 2.78856961e-01 1.63817137e-03 3.54753123e+02] [-2.78856654e-01 9.60332647e-01 -4.17636520e-04 -5.23311844e+01] [-1.68965030e-03 -5.57455848e-05 9.99998571e-01 -7.68018780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.78, Y:-52.34, Z:-0.77 [[ 9.60440995e-01 2.78478745e-01 1.63821728e-03 3.54780650e+02] [-2.78478437e-01 9.60442391e-01 -4.17456367e-04 -5.23365815e+01] [-1.68966604e-03 -5.52659791e-05 9.99998571e-01 -7.66969896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.81, Y:-52.34, Z:-0.76 [[ 9.60377853e-01 2.78696423e-01 1.63824513e-03 3.54808826e+02] [-2.78696116e-01 9.60379248e-01 -4.17347030e-04 -5.23412905e+01] [-1.68964975e-03 -5.57617115e-05 9.99998571e-01 -7.64934793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.84, Y:-52.35, Z:-0.76 [[ 9.60186329e-01 2.79355560e-01 1.63826450e-03 3.54836516e+02] [-2.79355254e-01 9.60187725e-01 -4.17270973e-04 -5.23456903e+01] [-1.68960843e-03 -5.69999135e-05 9.99998571e-01 -7.63430732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.86, Y:-52.35, Z:-0.76 [[ 9.59379881e-01 2.82112671e-01 1.63829379e-03 3.54864262e+02] [-2.82112369e-01 9.59381278e-01 -4.17155964e-04 -5.23479922e+01] [-1.68943337e-03 -6.19719033e-05 9.99998571e-01 -7.63486565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.89, Y:-52.35, Z:-0.76 [[ 9.59043683e-01 2.83253474e-01 1.63832775e-03 3.54891691e+02] [-2.83253175e-01 9.59045080e-01 -4.17022539e-04 -5.23521622e+01] [-1.68935325e-03 -6.41187052e-05 9.99998571e-01 -7.63813437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.92, Y:-52.36, Z:-0.77 [[ 9.58759312e-01 2.84214526e-01 1.63835641e-03 3.54920061e+02] [-2.84214228e-01 9.58760710e-01 -4.16909910e-04 -5.23560692e+01] [-1.68928361e-03 -6.59279434e-05 9.99998571e-01 -7.65044276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.95, Y:-52.36, Z:-0.77 [[ 9.58699615e-01 2.84415829e-01 1.63838499e-03 3.54948106e+02] [-2.84415531e-01 9.58701013e-01 -4.16797575e-04 -5.23571780e+01] [-1.68926518e-03 -6.63984622e-05 9.99998571e-01 -7.65332596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:-52.36, Z:-0.76 [[ 9.59053460e-01 2.83220366e-01 1.63841807e-03 3.54975967e+02] [-2.83220067e-01 9.59054858e-01 -4.16667496e-04 -5.23621765e+01] [-1.68934153e-03 -6.44264709e-05 9.99998571e-01 -7.63957016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:-52.37, Z:-0.76 [[ 9.59566788e-01 2.81476279e-01 1.63844646e-03 3.55003612e+02] [-2.81475977e-01 9.59568185e-01 -4.16555809e-04 -5.23668252e+01] [-1.68945168e-03 -6.14702001e-05 9.99998571e-01 -7.63024788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:-52.37, Z:-0.76 [[ 9.60109565e-01 2.79619275e-01 1.63847567e-03 3.55030055e+02] [-2.79618971e-01 9.60110961e-01 -4.16440890e-04 -5.23713305e+01] [-1.68956335e-03 -5.83199999e-05 9.99998571e-01 -7.63174791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:-52.38, Z:-0.76 [[ 9.60717745e-01 2.77522487e-01 1.63850956e-03 3.55058266e+02] [-2.77522180e-01 9.60719140e-01 -4.16307523e-04 -5.23758403e+01] [-1.68968219e-03 -5.47687190e-05 9.99998571e-01 -7.64465229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:-52.38, Z:-0.77 [[ 9.61579019e-01 2.74523414e-01 1.63853863e-03 3.55085299e+02] [-2.74523103e-01 9.61580414e-01 -4.16193079e-04 -5.23780247e+01] [-1.68984140e-03 -4.96141756e-05 9.99998571e-01 -7.65412580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:-52.38, Z:-0.76 [[ 9.61713274e-01 2.74052722e-01 1.63857249e-03 3.55113046e+02] [-2.74052410e-01 9.61714668e-01 -4.16059708e-04 -5.23829520e+01] [-1.68986150e-03 -4.89245976e-05 9.99998571e-01 -7.64981860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:-52.39, Z:-0.77 [[ 9.61745316e-01 2.73940252e-01 1.63860153e-03 3.55140280e+02] [-2.73939940e-01 9.61746711e-01 -4.15945322e-04 -5.23880362e+01] [-1.68986380e-03 -4.88449391e-05 9.99998571e-01 -7.65367170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.17, Y:-52.39, Z:-0.77 [[ 9.61952730e-01 2.73211018e-01 1.63863051e-03 3.55166665e+02] [-2.73210706e-01 9.61954124e-01 -4.15831106e-04 -5.23928669e+01] [-1.68989702e-03 -4.76815305e-05 9.99998571e-01 -7.66177832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.19, Y:-52.40, Z:-0.77 [[ 9.62557412e-01 2.71072948e-01 1.63866410e-03 3.55193987e+02] [-2.71072633e-01 9.62558806e-01 -4.15698704e-04 -5.23966153e+01] [-1.68999523e-03 -4.40631233e-05 9.99998571e-01 -7.67102686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.22, Y:-52.40, Z:-0.77 [[ 9.62659262e-01 2.70711027e-01 1.63871632e-03 3.55221491e+02] [-2.70710712e-01 9.62660656e-01 -4.15492750e-04 -5.24023598e+01] [-1.69000620e-03 -4.36401171e-05 9.99998571e-01 -7.68523036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.25, Y:-52.41, Z:-0.77 [[ 9.62552538e-01 2.71090256e-01 1.63874479e-03 3.55247384e+02] [-2.71089941e-01 9.62553932e-01 -4.15380421e-04 -5.24081995e+01] [-1.68998583e-03 -4.44217515e-05 9.99998571e-01 -7.70568630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:-52.41, Z:-0.77 [[ 9.62376692e-01 2.71713851e-01 1.63877795e-03 3.55273344e+02] [-2.71713537e-01 9.62378086e-01 -4.15249554e-04 -5.24141401e+01] [-1.68995305e-03 -4.56516620e-05 9.99998571e-01 -7.72324994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.30, Y:-52.42, Z:-0.77 [[ 9.62021433e-01 2.72969002e-01 1.63881085e-03 3.55301200e+02] [-2.72968691e-01 9.62022828e-01 -4.15119668e-04 -5.24190568e+01] [-1.68988825e-03 -4.79900347e-05 9.99998571e-01 -7.72503733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.33, Y:-52.42, Z:-0.77 [[ 9.61833246e-01 2.73631358e-01 1.63888561e-03 3.55329054e+02] [-2.73631048e-01 9.61834641e-01 -4.14824326e-04 -5.24248842e+01] [-1.68984589e-03 -4.94581588e-05 9.99998571e-01 -7.71419925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.36, Y:-52.43, Z:-0.77 [[ 9.61597449e-01 2.74458850e-01 1.63896021e-03 3.55355779e+02] [-2.74458541e-01 9.61598844e-01 -4.14529385e-04 -5.24307639e+01] [-1.68979350e-03 -5.12162280e-05 9.99998571e-01 -7.69906658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.38, Y:-52.44, Z:-0.77 [[ 9.60966326e-01 2.76660502e-01 1.63901103e-03 3.55383253e+02] [-2.76660197e-01 9.60967722e-01 -4.14328340e-04 -5.24372942e+01] [-1.68966498e-03 -5.52935318e-05 9.99998571e-01 -7.69190428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.41, Y:-52.44, Z:-0.77 [[ 9.60537425e-01 2.78145950e-01 1.63908591e-03 3.55409523e+02] [-2.78145648e-01 9.60538821e-01 -4.14031894e-04 -5.24430525e+01] [-1.68956694e-03 -5.82114831e-05 9.99998571e-01 -7.69622570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.44, Y:-52.45, Z:-0.77 [[ 9.60028820e-01 2.79896371e-01 1.63911832e-03 3.55437256e+02] [-2.79896072e-01 9.60030217e-01 -4.13903539e-04 -5.24483686e+01] [-1.68945322e-03 -6.14234536e-05 9.99998571e-01 -7.70105943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.46, Y:-52.45, Z:-0.77 [[ 9.59448369e-01 2.81879654e-01 1.63919220e-03 3.55464440e+02] [-2.81879359e-01 9.59449767e-01 -4.13610753e-04 -5.24526731e+01] [-1.68931103e-03 -6.52162828e-05 9.99998571e-01 -7.70651003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.49, Y:-52.46, Z:-0.77 [[ 9.58797406e-01 2.84085986e-01 1.63922421e-03 3.55492751e+02] [-2.84085693e-01 9.58798805e-01 -4.13483833e-04 -5.24568445e+01] [-1.68915118e-03 -6.92329207e-05 9.99998571e-01 -7.70206272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.52, Y:-52.46, Z:-0.77 [[ 9.57618005e-01 2.88036576e-01 1.63925437e-03 3.55519981e+02] [-2.88036289e-01 9.57619405e-01 -4.13364234e-04 -5.24573863e+01] [-1.68884582e-03 -7.63197134e-05 9.99998571e-01 -7.73452224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.55, Y:-52.46, Z:-0.77 [[ 9.57221560e-01 2.89351339e-01 1.63928923e-03 3.55548019e+02] [-2.89351055e-01 9.57222961e-01 -4.13225936e-04 -5.24603887e+01] [-1.68873277e-03 -7.87812932e-05 9.99998571e-01 -7.73216559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.58, Y:-52.47, Z:-0.77 [[ 9.57270673e-01 2.89188815e-01 1.63935933e-03 3.55575696e+02] [-2.89188531e-01 9.57272074e-01 -4.12947662e-04 -5.24671464e+01] [-1.68873275e-03 -7.87812303e-05 9.99998571e-01 -7.73264711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.60, Y:-52.47, Z:-0.77 [[ 9.57013563e-01 2.90038536e-01 1.63942939e-03 3.55604059e+02] [-2.90038253e-01 9.57014964e-01 -4.12669315e-04 -5.24701393e+01] [-1.68864847e-03 -8.05671068e-05 9.99998571e-01 -7.72642034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.63, Y:-52.47, Z:-0.77 [[ 9.56925276e-01 2.90329690e-01 1.63949989e-03 3.55632633e+02] [-2.90329408e-01 9.56926677e-01 -4.12389055e-04 -5.24690953e+01] [-1.68860997e-03 -8.13695221e-05 9.99998571e-01 -7.71508574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.66, Y:-52.47, Z:-0.77 [[ 9.57205651e-01 2.89403964e-01 1.63952177e-03 3.55661207e+02] [-2.89403681e-01 9.57207051e-01 -4.12302038e-04 -5.24722656e+01] [-1.68868365e-03 -7.98257959e-05 9.99998571e-01 -7.70238330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.69, Y:-52.48, Z:-0.77 [[ 9.57549980e-01 2.88262637e-01 1.63959733e-03 3.55688951e+02] [-2.88262353e-01 9.57551380e-01 -4.12001345e-04 -5.24751459e+01] [-1.68876328e-03 -7.81223050e-05 9.99998571e-01 -7.70405685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.72, Y:-52.47, Z:-0.77 [[ 9.58242323e-01 2.85952727e-01 1.63966796e-03 3.55718387e+02] [-2.85952440e-01 9.58243723e-01 -4.11720069e-04 -5.24734754e+01] [-1.68893401e-03 -7.43394576e-05 9.99998571e-01 -7.70292118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.75, Y:-52.48, Z:-0.77 [[ 9.58377720e-01 2.85498610e-01 1.63974520e-03 3.55746598e+02] [-2.85498323e-01 9.58379120e-01 -4.11412219e-04 -5.24756602e+01] [-1.68895518e-03 -7.38562005e-05 9.99998571e-01 -7.69916472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.77, Y:-52.48, Z:-0.77 [[ 9.58422805e-01 2.85347224e-01 1.63982241e-03 3.55773772e+02] [-2.85346938e-01 9.58424205e-01 -4.11104253e-04 -5.24772653e+01] [-1.68895294e-03 -7.39066107e-05 9.99998571e-01 -7.69377102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.80, Y:-52.48, Z:-0.77 [[ 9.58433243e-01 2.85312161e-01 1.63985593e-03 3.55802448e+02] [-2.85311875e-01 9.58434643e-01 -4.10970466e-04 -5.24789407e+01] [-1.68894961e-03 -7.39826146e-05 9.99998571e-01 -7.68973242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.83, Y:-52.47, Z:-0.77 [[ 9.58640128e-01 2.84616259e-01 1.63993240e-03 3.55831200e+02] [-2.84615972e-01 9.58641528e-01 -4.10665117e-04 -5.24743977e+01] [-1.68898927e-03 -7.30708942e-05 9.99998571e-01 -7.70432289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.86, Y:-52.48, Z:-0.77 [[ 9.58834759e-01 2.83959882e-01 1.63996554e-03 3.55859846e+02] [-2.83959595e-01 9.58836159e-01 -4.10532735e-04 -5.24758120e+01] [-1.68903308e-03 -7.20508937e-05 9.99998571e-01 -7.69674256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.89, Y:-52.48, Z:-0.77 [[ 9.59002298e-01 2.83393546e-01 1.64004164e-03 3.55887032e+02] [-2.83393258e-01 9.59003698e-01 -4.10228497e-04 -5.24774003e+01] [-1.68906210e-03 -7.13666719e-05 9.99998571e-01 -7.69178080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.92, Y:-52.48, Z:-0.77 [[ 9.59257615e-01 2.82528119e-01 1.64007468e-03 3.55915817e+02] [-2.82527830e-01 9.59259015e-01 -4.10096339e-04 -5.24795710e+01] [-1.68912017e-03 -6.99787054e-05 9.99998571e-01 -7.68607115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.94, Y:-52.48, Z:-0.77 [[ 9.59612171e-01 2.81321510e-01 1.64015033e-03 3.55944161e+02] [-2.81321219e-01 9.59613570e-01 -4.09793570e-04 -5.24819146e+01] [-1.68919426e-03 -6.81661938e-05 9.99998571e-01 -7.67511669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.97, Y:-52.48, Z:-0.77 [[ 9.60716875e-01 2.77525487e-01 1.64019809e-03 3.55972275e+02] [-2.77525191e-01 9.60718273e-01 -4.09602339e-04 -5.24816316e+01] [-1.68944336e-03 -6.16844088e-05 9.99998571e-01 -7.68488450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.00, Y:-52.49, Z:-0.77 [[ 9.61634520e-01 2.74328927e-01 1.64025050e-03 3.56000198e+02] [-2.74328627e-01 9.61635917e-01 -4.09392359e-04 -5.24861105e+01] [-1.68963196e-03 -5.62818424e-05 9.99998571e-01 -7.69268813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.03, Y:-52.49, Z:-0.77 [[ 9.62755038e-01 2.70370203e-01 1.64032958e-03 3.56027049e+02] [-2.70369898e-01 9.62756434e-01 -4.09075250e-04 -5.24911233e+01] [-1.68983961e-03 -4.96564835e-05 9.99998571e-01 -7.70147695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.05, Y:-52.50, Z:-0.77 [[ 9.64062173e-01 2.65671670e-01 1.64036404e-03 3.56054853e+02] [-2.65671359e-01 9.64063567e-01 -4.08937028e-04 -5.24969948e+01] [-1.69005819e-03 -4.15570221e-05 9.99998571e-01 -7.70130938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.08, Y:-52.50, Z:-0.77 [[ 9.66573274e-01 2.56385287e-01 1.64043795e-03 3.56082543e+02] [-2.56384962e-01 9.66574666e-01 -4.08640291e-04 -5.25029911e+01] [-1.69037513e-03 -2.56028388e-05 9.99998571e-01 -7.69763360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.11, Y:-52.51, Z:-0.77 [[ 9.67715031e-01 2.52041518e-01 1.64051693e-03 3.56109249e+02] [-2.52041188e-01 9.67716422e-01 -4.08322985e-04 -5.25092613e+01] [-1.69046952e-03 -1.83375464e-05 9.99998571e-01 -7.69954212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.14, Y:-52.52, Z:-0.77 [[ 9.68775741e-01 2.47933201e-01 1.64055127e-03 3.56136142e+02] [-2.47932865e-01 9.68777130e-01 -4.08184962e-04 -5.25161343e+01] [-1.69053116e-03 -1.13068879e-05 9.99998571e-01 -7.69456287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.16, Y:-52.52, Z:-0.77 [[ 9.70511197e-01 2.41050460e-01 1.64062814e-03 3.56161783e+02] [-2.41050115e-01 9.70512584e-01 -4.07875787e-04 -5.25236812e+01] [-1.69056890e-03 3.74417310e-07 9.99998571e-01 -7.70234712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.19, Y:-52.53, Z:-0.77 [[ 9.71268888e-01 2.37979108e-01 1.64066157e-03 3.56188954e+02] [-2.37978759e-01 9.71270274e-01 -4.07741252e-04 -5.25313335e+01] [-1.69055971e-03 5.58378792e-06 9.99998571e-01 -7.70227512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.21, Y:-52.54, Z:-0.77 [[ 9.71892415e-01 2.35419715e-01 1.64073823e-03 3.56214496e+02] [-2.35419362e-01 9.71893800e-01 -4.07432560e-04 -5.25388624e+01] [-1.69054097e-03 9.71906733e-06 9.99998571e-01 -7.69608687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.24, Y:-52.55, Z:-0.77 [[ 9.72409709e-01 2.33273801e-01 1.64077145e-03 3.56241487e+02] [-2.33273445e-01 9.72411093e-01 -4.07298735e-04 -5.25472875e+01] [-1.69051648e-03 1.33128355e-05 9.99998571e-01 -7.69318402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.27, Y:-52.56, Z:-0.77 [[ 9.73258430e-01 2.29707066e-01 1.64084731e-03 3.56267819e+02] [-2.29706706e-01 9.73259813e-01 -4.06992871e-04 -5.25584827e+01] [-1.69045989e-03 1.91956108e-05 9.99998571e-01 -7.69240871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.29, Y:-52.57, Z:-0.77 [[ 9.73457740e-01 2.28860953e-01 1.64092451e-03 3.56293428e+02] [-2.28860593e-01 9.73459123e-01 -4.06681398e-04 -5.25673453e+01] [-1.69044642e-03 2.03441986e-05 9.99998571e-01 -7.70569292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.32, Y:-52.58, Z:-0.77 [[ 9.73537751e-01 2.28520360e-01 1.64097684e-03 3.56319263e+02] [-2.28519999e-01 9.73539134e-01 -4.06470130e-04 -5.25762461e+01] [-1.69044187e-03 2.07179900e-05 9.99998571e-01 -7.72567086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.35, Y:-52.59, Z:-0.77 [[ 9.73580159e-01 2.28339616e-01 1.64102885e-03 3.56345492e+02] [-2.28339255e-01 9.73581542e-01 -4.06260050e-04 -5.25858916e+01] [-1.69044066e-03 2.08154199e-05 9.99998571e-01 -7.73490951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.37, Y:-52.60, Z:-0.77 [[ 9.73513461e-01 2.28623813e-01 1.64110490e-03 3.56370908e+02] [-2.28623453e-01 9.73514844e-01 -4.05952620e-04 -5.26007457e+01] [-1.69045041e-03 2.00052719e-05 9.99998571e-01 -7.70811908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.40, Y:-52.61, Z:-0.77 [[ 9.73400761e-01 2.29103174e-01 1.64118408e-03 3.56397087e+02] [-2.29102815e-01 9.73402145e-01 -4.05632225e-04 -5.26121272e+01] [-1.69046374e-03 1.88428229e-05 9.99998571e-01 -7.69139947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.42, Y:-52.62, Z:-0.77 [[ 9.73221993e-01 2.29861389e-01 1.64120870e-03 3.56422862e+02] [-2.29861032e-01 9.73223377e-01 -4.05532588e-04 -5.26233766e+01] [-1.69047896e-03 1.74233075e-05 9.99998571e-01 -7.68503833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.45, Y:-52.63, Z:-0.77 [[ 9.72955127e-01 2.30988372e-01 1.64123753e-03 3.56448014e+02] [-2.30988017e-01 9.72956511e-01 -4.05415872e-04 -5.26342624e+01] [-1.69049910e-03 1.53452476e-05 9.99998571e-01 -7.70164664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.47, Y:-52.65, Z:-0.78 [[ 9.72077840e-01 2.34652892e-01 1.64127088e-03 3.56473131e+02] [-2.34652542e-01 9.72079225e-01 -4.05280841e-04 -5.26495190e+01] [-1.69054564e-03 8.83614068e-06 9.99998571e-01 -7.75454518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.50, Y:-52.66, Z:-0.77 [[ 9.71500102e-01 2.37033455e-01 1.64129356e-03 3.56499525e+02] [-2.37033108e-01 9.71501488e-01 -4.05188954e-04 -5.26604772e+01] [-1.69056248e-03 4.60019593e-06 9.99998571e-01 -7.74502078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.53, Y:-52.67, Z:-0.77 [[ 9.70745765e-01 2.40104072e-01 1.64132147e-03 3.56526575e+02] [-2.40103730e-01 9.70747153e-01 -4.05075887e-04 -5.26711408e+01] [-1.69056851e-03 -8.61705236e-07 9.99998571e-01 -7.72181392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.55, Y:-52.68, Z:-0.77 [[ 9.68943635e-01 2.47276238e-01 1.64134060e-03 3.56552716e+02] [-2.47275906e-01 9.68945025e-01 -4.04998338e-04 -5.26822471e+01] [-1.69051528e-03 -1.34434235e-05 9.99998571e-01 -7.69963355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:-52.69, Z:-0.77 [[ 9.67818360e-01 2.51644448e-01 1.64136447e-03 3.56579615e+02] [-2.51644123e-01 9.67819751e-01 -4.04901596e-04 -5.26894875e+01] [-1.69043619e-03 -2.11685230e-05 9.99998571e-01 -7.70775323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.61, Y:-52.70, Z:-0.77 [[ 9.66522689e-01 2.56575911e-01 1.64144128e-03 3.56606352e+02] [-2.56575594e-01 9.66524082e-01 -4.04589973e-04 -5.26964574e+01] [-1.69030056e-03 -3.01083820e-05 9.99998571e-01 -7.72161153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.63, Y:-52.70, Z:-0.77 [[ 9.65302607e-01 2.61128671e-01 1.64151748e-03 3.56633467e+02] [-2.61128361e-01 9.65304002e-01 -4.04280579e-04 -5.27028771e+01] [-1.69013264e-03 -3.83936709e-05 9.99998571e-01 -7.72987252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:-52.71, Z:-0.77 [[ 9.63311460e-01 2.68380952e-01 1.64159377e-03 3.56661376e+02] [-2.68380653e-01 9.63312858e-01 -4.03970561e-04 -5.27074891e+01] [-1.68978639e-03 -5.14225358e-05 9.99998571e-01 -7.71299515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.69, Y:-52.71, Z:-0.77 [[ 9.62669678e-01 2.70673967e-01 1.64161734e-03 3.56688802e+02] [-2.70673671e-01 9.62671076e-01 -4.03874727e-04 -5.27122331e+01] [-1.68965591e-03 -5.55446396e-05 9.99998571e-01 -7.69618797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.72, Y:-52.72, Z:-0.77 [[ 9.62365754e-01 2.71752573e-01 1.64164058e-03 3.56717003e+02] [-2.71752279e-01 9.62367152e-01 -4.03780267e-04 -5.27168019e+01] [-1.68958929e-03 -5.75352670e-05 9.99998571e-01 -7.68487758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.74, Y:-52.72, Z:-0.77 [[ 9.62784946e-01 2.70263671e-01 1.64171691e-03 3.56744108e+02] [-2.70263375e-01 9.62786344e-01 -4.03469666e-04 -5.27193386e+01] [-1.68966582e-03 -5.52414335e-05 9.99998571e-01 -7.69028198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.77, Y:-52.72, Z:-0.77 [[ 9.63346858e-01 2.68253866e-01 1.64175009e-03 3.56770581e+02] [-2.68253567e-01 9.63348255e-01 -4.03334633e-04 -5.27233353e+01] [-1.68977315e-03 -5.18541660e-05 9.99998571e-01 -7.70048353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.80, Y:-52.73, Z:-0.77 [[ 9.64074081e-01 2.65628444e-01 1.64178250e-03 3.56798205e+02] [-2.65628142e-01 9.64075478e-01 -4.03202641e-04 -5.27273379e+01] [-1.68990434e-03 -4.73864191e-05 9.99998571e-01 -7.69993833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.83, Y:-52.73, Z:-0.77 [[ 9.64921023e-01 2.62535184e-01 1.64185751e-03 3.56825625e+02] [-2.62534878e-01 9.64922419e-01 -4.02896984e-04 -5.27312843e+01] [-1.69003975e-03 -4.22810904e-05 9.99998571e-01 -7.68673988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.85, Y:-52.74, Z:-0.77 [[ 9.66502897e-01 2.56650453e-01 1.64193575e-03 3.56852963e+02] [-2.56650139e-01 9.66504291e-01 -4.02577851e-04 -5.27359425e+01] [-1.69025974e-03 -3.23103812e-05 9.99998571e-01 -7.69381652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.88, Y:-52.74, Z:-0.77 [[ 9.67308309e-01 2.53597987e-01 1.64195998e-03 3.56880462e+02] [-2.53597669e-01 9.67309702e-01 -4.02479027e-04 -5.27424845e+01] [-1.69035169e-03 -2.70759149e-05 9.99998571e-01 -7.69315319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.91, Y:-52.75, Z:-0.77 [[ 9.68045160e-01 2.50770557e-01 1.64203733e-03 3.56906558e+02] [-2.50770236e-01 9.68046552e-01 -4.02163177e-04 -5.27485740e+01] [-1.69041926e-03 -2.24619722e-05 9.99998571e-01 -7.68660672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.93, Y:-52.76, Z:-0.77 [[ 9.69126738e-01 2.46557638e-01 1.64208994e-03 3.56933578e+02] [-2.46557311e-01 9.69128129e-01 -4.01948272e-04 -5.27554999e+01] [-1.69049897e-03 -1.53304608e-05 9.99998571e-01 -7.67841022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.96, Y:-52.76, Z:-0.77 [[ 9.69719846e-01 2.44214503e-01 1.64216800e-03 3.56961052e+02] [-2.44214173e-01 9.69721237e-01 -4.01629094e-04 -5.27624359e+01] [-1.69052883e-03 -1.15729958e-05 9.99998571e-01 -7.67720914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.99, Y:-52.77, Z:-0.77 [[ 9.70285824e-01 2.41956035e-01 1.64224571e-03 3.56986842e+02] [-2.41955702e-01 9.70287214e-01 -4.01311081e-04 -5.27693266e+01] [-1.69054965e-03 -7.96426041e-06 9.99998571e-01 -7.68759798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.01, Y:-52.78, Z:-0.77 [[ 9.70744525e-01 2.40109080e-01 1.64227940e-03 3.57012444e+02] [-2.40108745e-01 9.70745914e-01 -4.01173167e-04 -5.27767698e+01] [-1.69056134e-03 -4.88899062e-06 9.99998571e-01 -7.69014816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.04, Y:-52.79, Z:-0.77 [[ 9.71526691e-01 2.36924439e-01 1.64264164e-03 3.57039242e+02] [-2.36924102e-01 9.71528080e-01 -3.99689384e-04 -5.27850290e+01] [-1.69056866e-03 -8.72490494e-07 9.99998571e-01 -7.72483259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.07, Y:-52.79, Z:-0.77 [[ 9.71689484e-01 2.36255898e-01 1.64238652e-03 3.57066417e+02] [-2.36255558e-01 9.71690872e-01 -4.00734979e-04 -5.27925559e+01] [-1.69056799e-03 1.36702096e-06 9.99998571e-01 -7.72606846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.09, Y:-52.80, Z:-0.77 [[ 9.71824098e-01 2.35701558e-01 1.64241483e-03 3.57092907e+02] [-2.35701217e-01 9.71825486e-01 -4.00618890e-04 -5.27995088e+01] [-1.69056709e-03 2.21191610e-06 9.99998571e-01 -7.73214402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.12, Y:-52.81, Z:-0.77 [[ 9.71939069e-01 2.35227014e-01 1.64244780e-03 3.57119661e+02] [-2.35226673e-01 9.71940457e-01 -4.00483687e-04 -5.28060925e+01] [-1.69056605e-03 2.89820989e-06 9.99998571e-01 -7.73611495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.15, Y:-52.82, Z:-0.77 [[ 9.72281877e-01 2.33806018e-01 1.64247645e-03 3.57145163e+02] [-2.33805676e-01 9.72283264e-01 -4.00366146e-04 -5.28150516e+01] [-1.69056038e-03 5.24843100e-06 9.99998571e-01 -7.74828165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.17, Y:-52.82, Z:-0.77 [[ 9.72512028e-01 2.32846856e-01 1.64250963e-03 3.57172391e+02] [-2.32846512e-01 9.72513415e-01 -4.00229997e-04 -5.28232453e+01] [-1.69055494e-03 6.77584833e-06 9.99998571e-01 -7.73574143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.20, Y:-52.83, Z:-0.77 [[ 9.72733229e-01 2.31921038e-01 1.64252816e-03 3.57198731e+02] [-2.31920693e-01 9.72734615e-01 -4.00153919e-04 -5.28310381e+01] [-1.69054811e-03 8.30674375e-06 9.99998571e-01 -7.71671930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.22, Y:-52.84, Z:-0.77 [[ 9.72956626e-01 2.30982046e-01 1.64255125e-03 3.57224666e+02] [-2.30981699e-01 9.72958013e-01 -4.00059124e-04 -5.28382043e+01] [-1.69053988e-03 9.84089620e-06 9.99998571e-01 -7.69874024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.25, Y:-52.85, Z:-0.77 [[ 9.73085215e-01 2.30439722e-01 1.64260119e-03 3.57251791e+02] [-2.30439376e-01 9.73086602e-01 -3.99853984e-04 -5.28458037e+01] [-1.69053545e-03 1.05720081e-05 9.99998571e-01 -7.69353119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.28, Y:-52.85, Z:-0.77 [[ 9.73101414e-01 2.30371307e-01 1.64262927e-03 3.57279511e+02] [-2.30370961e-01 9.73102801e-01 -3.99738599e-04 -5.28524073e+01] [-1.69053544e-03 1.05721143e-05 9.99998571e-01 -7.69401290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.31, Y:-52.86, Z:-0.77 [[ 9.72729031e-01 2.31938642e-01 1.64265736e-03 3.57306218e+02] [-2.31938298e-01 9.72730418e-01 -3.99623110e-04 -5.28616506e+01] [-1.69055082e-03 7.72984698e-06 9.99998571e-01 -7.72373521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.33, Y:-52.87, Z:-0.77 [[ 9.72358130e-01 2.33488691e-01 1.64268065e-03 3.57333452e+02] [-2.33488349e-01 9.72359517e-01 -3.99527379e-04 -5.28690216e+01] [-1.69056129e-03 4.93690270e-06 9.99998571e-01 -7.72182389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.36, Y:-52.88, Z:-0.77 [[ 9.71920283e-01 2.35304621e-01 1.64270804e-03 3.57361617e+02] [-2.35304282e-01 9.71921671e-01 -3.99414710e-04 -5.28760316e+01] [-1.69056767e-03 1.66302108e-06 9.99998571e-01 -7.70344751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.39, Y:-52.88, Z:-0.77 [[ 9.71050022e-01 2.38870586e-01 1.64272622e-03 3.57390067e+02] [-2.38870252e-01 9.71051411e-01 -3.99339945e-04 -5.28817922e+01] [-1.69056218e-03 -4.61936395e-06 9.99998571e-01 -7.66764862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.42, Y:-52.89, Z:-0.77 [[ 9.70722295e-01 2.40198931e-01 1.64274463e-03 3.57417311e+02] [-2.40198600e-01 9.70723685e-01 -3.99264191e-04 -5.28882979e+01] [-1.69055395e-03 -7.01030709e-06 9.99998571e-01 -7.67266957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.44, Y:-52.90, Z:-0.77 [[ 9.70493356e-01 2.41122268e-01 1.64277220e-03 3.57444342e+02] [-2.41121938e-01 9.70494746e-01 -3.99150694e-04 -5.28954024e+01] [-1.69054591e-03 -8.73532117e-06 9.99998571e-01 -7.68803384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.47, Y:-52.90, Z:-0.77 [[ 9.70441602e-01 2.41330476e-01 1.64279969e-03 3.57472434e+02] [-2.41330147e-01 9.70442992e-01 -3.99037555e-04 -5.29032881e+01] [-1.69054337e-03 -9.21444521e-06 9.99998571e-01 -7.70190526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:-52.91, Z:-0.77 [[ 9.70946803e-01 2.39289798e-01 1.64281886e-03 3.57498019e+02] [-2.39289466e-01 9.70948192e-01 -3.98958599e-04 -5.29117042e+01] [-1.69055873e-03 -5.74167134e-06 9.99998571e-01 -7.70950124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.53, Y:-52.92, Z:-0.77 [[ 9.71202233e-01 2.38250966e-01 1.64287105e-03 3.57525047e+02] [-2.38250632e-01 9.71203623e-01 -3.98743592e-04 -5.29191413e+01] [-1.69056336e-03 -4.15439822e-06 9.99998571e-01 -7.70659076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.55, Y:-52.93, Z:-0.77 [[ 9.71462302e-01 2.37188314e-01 1.64289926e-03 3.57552177e+02] [-2.37187979e-01 9.71463691e-01 -3.98627324e-04 -5.29261985e+01] [-1.69056672e-03 -2.42453536e-06 9.99998571e-01 -7.70102637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.58, Y:-52.93, Z:-0.77 [[ 9.71891703e-01 2.35422637e-01 1.64292784e-03 3.57578268e+02] [-2.35422299e-01 9.71893092e-01 -3.98509462e-04 -5.29326125e+01] [-1.69056837e-03 5.26188329e-07 9.99998571e-01 -7.70990192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.61, Y:-52.94, Z:-0.77 [[ 9.72075842e-01 2.34661157e-01 1.64297980e-03 3.57605672e+02] [-2.34660819e-01 9.72077230e-01 -3.98295149e-04 -5.29401015e+01] [-1.69056765e-03 1.63010695e-06 9.99998571e-01 -7.71421130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.63, Y:-52.95, Z:-0.77 [[ 9.72204762e-01 2.34126465e-01 1.64300771e-03 3.57632572e+02] [-2.34126127e-01 9.72206150e-01 -3.98179983e-04 -5.29484596e+01] [-1.69056667e-03 2.44144404e-06 9.99998571e-01 -7.70921096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.66, Y:-52.96, Z:-0.77 [[ 9.72356718e-01 2.33494568e-01 1.64303592e-03 3.57658169e+02] [-2.33494229e-01 9.72358106e-01 -3.98063528e-04 -5.29563441e+01] [-1.69056497e-03 3.42033933e-06 9.99998571e-01 -7.70200559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.69, Y:-52.97, Z:-0.77 [[ 9.72532157e-01 2.32762761e-01 1.64306859e-03 3.57685241e+02] [-2.32762421e-01 9.72533545e-01 -3.97928638e-04 -5.29660690e+01] [-1.69056229e-03 4.55377317e-06 9.99998571e-01 -7.68320057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.71, Y:-52.97, Z:-0.77 [[ 9.72679821e-01 2.32144923e-01 1.64308773e-03 3.57711266e+02] [-2.32144582e-01 9.72681209e-01 -3.97849579e-04 -5.29740358e+01] [-1.69055932e-03 5.54634215e-06 9.99998571e-01 -7.69152799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.74, Y:-52.98, Z:-0.77 [[ 9.72835471e-01 2.31491784e-01 1.64313990e-03 3.57738127e+02] [-2.31491443e-01 9.72836859e-01 -3.97634002e-04 -5.29826557e+01] [-1.69055607e-03 6.45963543e-06 9.99998571e-01 -7.70934190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.76, Y:-52.99, Z:-0.77 [[ 9.72840645e-01 2.31470041e-01 1.64316805e-03 3.57763721e+02] [-2.31469700e-01 9.72842032e-01 -3.97517676e-04 -5.29938203e+01] [-1.69055637e-03 6.37773807e-06 9.99998571e-01 -7.73384134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.79, Y:-53.00, Z:-0.77 [[ 9.72553532e-01 2.32673436e-01 1.64319134e-03 3.57790198e+02] [-2.32673096e-01 9.72554920e-01 -3.97421347e-04 -5.30015022e+01] [-1.69056322e-03 4.18711728e-06 9.99998571e-01 -7.72273989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.82, Y:-53.01, Z:-0.77 [[ 9.72068082e-01 2.34693299e-01 1.64321989e-03 3.57816786e+02] [-2.34692962e-01 9.72069471e-01 -3.97303289e-04 -5.30091138e+01] [-1.69056831e-03 5.53702629e-07 9.99998571e-01 -7.71882416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.84, Y:-53.02, Z:-0.77 [[ 9.71496433e-01 2.37048478e-01 1.64324836e-03 3.57843097e+02] [-2.37048145e-01 9.71497822e-01 -3.97185511e-04 -5.30163822e+01] [-1.69056442e-03 -3.66466796e-06 9.99998571e-01 -7.72494349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.87, Y:-53.02, Z:-0.77 [[ 9.70092244e-01 2.42730997e-01 1.64328147e-03 3.57869488e+02] [-2.42730672e-01 9.70093636e-01 -3.97048469e-04 -5.30247566e+01] [-1.69051286e-03 -1.37011755e-05 9.99998571e-01 -7.72435392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.90, Y:-53.03, Z:-0.77 [[ 9.69473866e-01 2.45189156e-01 1.64330974e-03 3.57895483e+02] [-2.45188836e-01 9.69475259e-01 -3.96931434e-04 -5.30312107e+01] [-1.69047142e-03 -1.81065494e-05 9.99998571e-01 -7.72912518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.92, Y:-53.04, Z:-0.77 [[ 9.68980565e-01 2.47131472e-01 1.64334233e-03 3.57921635e+02] [-2.47131155e-01 9.68981958e-01 -3.96796438e-04 -5.30374647e+01] [-1.69042996e-03 -2.16330522e-05 9.99998571e-01 -7.73319135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.95, Y:-53.04, Z:-0.77 [[ 9.68531212e-01 2.48886704e-01 1.64337424e-03 3.57947887e+02] [-2.48886389e-01 9.68532606e-01 -3.96664238e-04 -5.30434014e+01] [-1.69038599e-03 -2.48317858e-05 9.99998571e-01 -7.72469464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.98, Y:-53.05, Z:-0.77 [[ 9.67854101e-01 2.51506935e-01 1.64342399e-03 3.57975854e+02] [-2.51506625e-01 9.67855496e-01 -3.96458019e-04 -5.30485636e+01] [-1.69030888e-03 -2.96185009e-05 9.99998571e-01 -7.71571780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.00, Y:-53.05, Z:-0.77 [[ 9.67778004e-01 2.51799590e-01 1.64344193e-03 3.58002359e+02] [-2.51799280e-01 9.67779399e-01 -3.96383634e-04 -5.30537085e+01] [-1.69029848e-03 -3.02061317e-05 9.99998571e-01 -7.72086791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.03, Y:-53.06, Z:-0.77 [[ 9.67742768e-01 2.51934981e-01 1.64347318e-03 3.58029896e+02] [-2.51934671e-01 9.67744163e-01 -3.96254044e-04 -5.30591441e+01] [-1.69029183e-03 -3.05758886e-05 9.99998571e-01 -7.71577560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.06, Y:-53.06, Z:-0.77 [[ 9.67832611e-01 2.51589617e-01 1.64349996e-03 3.58058925e+02] [-2.51589307e-01 9.67834006e-01 -3.96142903e-04 -5.30630104e+01] [-1.69030060e-03 -3.00869967e-05 9.99998571e-01 -7.69215027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:-53.07, Z:-0.77 [[ 9.67827822e-01 2.51608041e-01 1.64351771e-03 3.58087456e+02] [-2.51607731e-01 9.67829217e-01 -3.96069259e-04 -5.30671018e+01] [-1.69029867e-03 -3.01949136e-05 9.99998571e-01 -7.68078087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.12, Y:-53.07, Z:-0.77 [[ 9.67781727e-01 2.51785282e-01 1.64353537e-03 3.58115017e+02] [-2.51784972e-01 9.67783122e-01 -3.95995991e-04 -5.30709106e+01] [-1.69029175e-03 -3.05798226e-05 9.99998571e-01 -7.67562778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.14, Y:-53.07, Z:-0.77 [[ 9.67888428e-01 2.51374799e-01 1.64356275e-03 3.58141555e+02] [-2.51374489e-01 9.67889823e-01 -3.95882308e-04 -5.30744922e+01] [-1.69030249e-03 -2.99798416e-05 9.99998571e-01 -7.67999396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.17, Y:-53.08, Z:-0.77 [[ 9.68315681e-01 2.49723929e-01 1.64359444e-03 3.58169428e+02] [-2.49723617e-01 9.68317076e-01 -3.95750669e-04 -5.30771846e+01] [-1.69034898e-03 -2.72327707e-05 9.99998571e-01 -7.66118714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.20, Y:-53.08, Z:-0.77 [[ 9.68606685e-01 2.48592816e-01 1.64362264e-03 3.58196131e+02] [-2.48592503e-01 9.68608079e-01 -3.95633546e-04 -5.30816873e+01] [-1.69037782e-03 -2.53789675e-05 9.99998571e-01 -7.65482707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.22, Y:-53.09, Z:-0.77 [[ 9.69067587e-01 2.46790013e-01 1.64365536e-03 3.58222431e+02] [-2.46789697e-01 9.69068981e-01 -3.95497548e-04 -5.30861473e+01] [-1.69042027e-03 -2.23733535e-05 9.99998571e-01 -7.66030480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:-53.09, Z:-0.77 [[ 9.69704734e-01 2.44274490e-01 1.64368673e-03 3.58249797e+02] [-2.44274171e-01 9.69706127e-01 -3.95367155e-04 -5.30906321e+01] [-1.69047120e-03 -1.81208098e-05 9.99998571e-01 -7.66573647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.28, Y:-53.09, Z:-0.77 [[ 9.70883469e-01 2.39546629e-01 1.64375795e-03 3.58277147e+02] [-2.39546304e-01 9.70884860e-01 -3.95070801e-04 -5.30942415e+01] [-1.69053759e-03 -1.01884326e-05 9.99998571e-01 -7.68741730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.30, Y:-53.10, Z:-0.77 [[ 9.71332565e-01 2.37719047e-01 1.64379115e-03 3.58304799e+02] [-2.37718720e-01 9.71333956e-01 -3.94932632e-04 -5.31003698e+01] [-1.69055317e-03 -7.14900019e-06 9.99998571e-01 -7.67556140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.33, Y:-53.11, Z:-0.77 [[ 9.71544222e-01 2.36852535e-01 1.64381911e-03 3.58332133e+02] [-2.36852206e-01 9.71545612e-01 -3.94816235e-04 -5.31063092e+01] [-1.69055847e-03 -5.76075001e-06 9.99998571e-01 -7.66021828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.36, Y:-53.11, Z:-0.77 [[ 9.71499773e-01 2.37034784e-01 1.64384700e-03 3.58359542e+02] [-2.37034456e-01 9.71501164e-01 -3.94700077e-04 -5.31117697e+01] [-1.69055692e-03 -6.19734280e-06 9.99998571e-01 -7.65886463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.39, Y:-53.12, Z:-0.77 [[ 9.71272904e-01 2.37962692e-01 1.64387470e-03 3.58387719e+02] [-2.37962365e-01 9.71274295e-01 -3.94584645e-04 -5.31169041e+01] [-1.69054967e-03 -7.93093915e-06 9.99998571e-01 -7.68361979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.42, Y:-53.12, Z:-0.77 [[ 9.70850606e-01 2.39679783e-01 1.64389312e-03 3.58415701e+02] [-2.39679459e-01 9.70851998e-01 -3.94507892e-04 -5.31202065e+01] [-1.69053249e-03 -1.09991883e-05 9.99998571e-01 -7.71735403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.44, Y:-53.13, Z:-0.77 [[ 9.70810233e-01 2.39843258e-01 1.64391610e-03 3.58442946e+02] [-2.39842934e-01 9.70811625e-01 -3.94412121e-04 -5.31250611e+01] [-1.69052995e-03 -1.13823377e-05 9.99998571e-01 -7.71734397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.47, Y:-53.13, Z:-0.77 [[ 9.70927386e-01 2.39368562e-01 1.64394335e-03 3.58470452e+02] [-2.39368238e-01 9.70928778e-01 -3.94298512e-04 -5.31294294e+01] [-1.69053458e-03 -1.06725988e-05 9.99998571e-01 -7.70817782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.50, Y:-53.13, Z:-0.77 [[ 9.71110560e-01 2.38624343e-01 1.64401581e-03 3.58497340e+02] [-2.38624018e-01 9.71111952e-01 -3.93996166e-04 -5.31336793e+01] [-1.69054048e-03 -9.68781920e-06 9.99998571e-01 -7.69467645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.52, Y:-53.14, Z:-0.77 [[ 9.71832810e-01 2.35665624e-01 1.64406514e-03 3.58524481e+02] [-2.35665295e-01 9.71834201e-01 -3.93790194e-04 -5.31393949e+01] [-1.69056155e-03 -4.75086574e-06 9.99998571e-01 -7.65505759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.55, Y:-53.15, Z:-0.76 [[ 9.72501870e-01 2.32889264e-01 1.64408752e-03 3.58551350e+02] [-2.32888932e-01 9.72503260e-01 -3.93696768e-04 -5.31471661e+01] [-1.69056822e-03 -1.89414088e-08 9.99998571e-01 -7.63980416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.58, Y:-53.15, Z:-0.76 [[ 9.73181780e-01 2.30031561e-01 1.64411412e-03 3.58577492e+02] [-2.30031225e-01 9.73183169e-01 -3.93585623e-04 -5.31549790e+01] [-1.69056131e-03 4.83277220e-06 9.99998571e-01 -7.64675331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.61, Y:-53.16, Z:-0.77 [[ 9.74630290e-01 2.23814866e-01 1.64414504e-03 3.58605585e+02] [-2.23814520e-01 9.74631677e-01 -3.93456424e-04 -5.31632075e+01] [-1.69049723e-03 1.54910154e-05 9.99998571e-01 -7.69159466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.63, Y:-53.17, Z:-0.77 [[ 9.75233923e-01 2.21169828e-01 1.64416334e-03 3.58632183e+02] [-2.21169479e-01 9.75235308e-01 -3.93379957e-04 -5.31702156e+01] [-1.69044992e-03 1.99987298e-05 9.99998571e-01 -7.70337000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.66, Y:-53.18, Z:-0.77 [[ 9.75718946e-01 2.19020168e-01 1.64419084e-03 3.58658087e+02] [-2.19019817e-01 9.75720331e-01 -3.93264946e-04 -5.31776760e+01] [-1.69040339e-03 2.36056811e-05 9.99998571e-01 -7.71259162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.68, Y:-53.19, Z:-0.77 [[ 9.76089286e-01 2.17363753e-01 1.64422274e-03 3.58684825e+02] [-2.17363400e-01 9.76090671e-01 -3.93131551e-04 -5.31859513e+01] [-1.69036303e-03 2.63376512e-05 9.99998571e-01 -7.69196785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.71, Y:-53.19, Z:-0.77 [[ 9.76508117e-01 2.15474344e-01 1.64425184e-03 3.58710128e+02] [-2.15473988e-01 9.76509501e-01 -3.93009813e-04 -5.31949678e+01] [-1.69031107e-03 2.94837719e-05 9.99998571e-01 -7.67640151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.74, Y:-53.20, Z:-0.77 [[ 9.76588433e-01 2.15110038e-01 1.64430383e-03 3.58736837e+02] [-2.15109681e-01 9.76589817e-01 -3.92792182e-04 -5.32020019e+01] [-1.69030391e-03 2.98906297e-05 9.99998571e-01 -7.67414725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.76, Y:-53.21, Z:-0.77 [[ 9.76613583e-01 2.14995829e-01 1.64433266e-03 3.58762724e+02] [-2.14995473e-01 9.76614966e-01 -3.92671426e-04 -5.32094660e+01] [-1.69030261e-03 2.99641704e-05 9.99998571e-01 -7.68907809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.79, Y:-53.22, Z:-0.77 [[ 9.76543245e-01 2.15315087e-01 1.64436614e-03 3.58790052e+02] [-2.15314731e-01 9.76544629e-01 -3.92531191e-04 -5.32176723e+01] [-1.69031481e-03 2.92674298e-05 9.99998571e-01 -7.70947243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.82, Y:-53.23, Z:-0.77 [[ 9.76340244e-01 2.16233725e-01 1.64438451e-03 3.58816399e+02] [-2.16233370e-01 9.76341628e-01 -3.92454193e-04 -5.32275584e+01] [-1.69034289e-03 2.75980165e-05 9.99998571e-01 -7.71498600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.84, Y:-53.23, Z:-0.77 [[ 9.76311082e-01 2.16365356e-01 1.64440739e-03 3.58844338e+02] [-2.16365002e-01 9.76312466e-01 -3.92358335e-04 -5.32345581e+01] [-1.69034818e-03 2.72715829e-05 9.99998571e-01 -7.68258330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:358.87, Y:-53.24, Z:-0.77 [[ 9.76336792e-01 2.16249312e-01 1.64442550e-03 3.58871482e+02] [-2.16248958e-01 9.76338176e-01 -3.92282421e-04 -5.32410781e+01] [-1.69034619e-03 2.73944602e-05 9.99998571e-01 -7.65136851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.90, Y:-53.25, Z:-0.76 [[ 9.76689542e-01 2.14650492e-01 1.64444803e-03 3.58898121e+02] [-2.14650135e-01 9.76690926e-01 -3.92187940e-04 -5.32507465e+01] [-1.69030080e-03 3.00648674e-05 9.99998571e-01 -7.62915210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.92, Y:-53.26, Z:-0.76 [[ 9.76966700e-01 2.13385480e-01 1.64447544e-03 3.58923169e+02] [-2.13385122e-01 9.76968083e-01 -3.92072979e-04 -5.32600186e+01] [-1.69026270e-03 3.21356523e-05 9.99998571e-01 -7.64020308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.95, Y:-53.27, Z:-0.77 [[ 9.77251556e-01 2.12077088e-01 1.64450718e-03 3.58949976e+02] [-2.12076728e-01 9.77252939e-01 -3.91939797e-04 -5.32701011e+01] [-1.69022093e-03 3.42620750e-05 9.99998571e-01 -7.66235200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.97, Y:-53.28, Z:-0.77 [[ 9.77857066e-01 2.09267424e-01 1.64453465e-03 3.58974261e+02] [-2.09267060e-01 9.77858448e-01 -3.91824493e-04 -5.32834566e+01] [-1.69011820e-03 3.90014165e-05 9.99998571e-01 -7.67344811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.00, Y:-53.29, Z:-0.77 [[ 9.77871215e-01 2.09201296e-01 1.64456655e-03 3.59002014e+02] [-2.09200933e-01 9.77872597e-01 -3.91690560e-04 -5.32899233e+01] [-1.69011874e-03 3.89780666e-05 9.99998571e-01 -7.67392981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.03, Y:-53.30, Z:-0.77 [[ 9.78070045e-01 2.08269736e-01 1.64459303e-03 3.59027984e+02] [-2.08269372e-01 9.78071427e-01 -3.91579345e-04 -5.33000776e+01] [-1.69008358e-03 4.04736702e-05 9.99998571e-01 -7.66211704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.05, Y:-53.31, Z:-0.76 [[ 9.78090616e-01 2.08173105e-01 1.64461969e-03 3.59054131e+02] [-2.08172741e-01 9.78091998e-01 -3.91467335e-04 -5.33103646e+01] [-1.69008233e-03 4.05255373e-05 9.99998571e-01 -7.64883557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.08, Y:-53.32, Z:-0.77 [[ 9.77869639e-01 2.09208662e-01 1.64464677e-03 3.59079722e+02] [-2.09208299e-01 9.77871021e-01 -3.91353539e-04 -5.33200115e+01] [-1.69012697e-03 3.86189894e-05 9.99998571e-01 -7.65284820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66576923100007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:359.11, Y:-53.33, Z:-0.76 [[ 9.77513572e-01 2.10866100e-01 1.64467828e-03 3.59106587e+02] [-2.10865740e-01 9.77514955e-01 -3.91221082e-04 -5.33291454e+01] [-1.69019288e-03 3.56176150e-05 9.99998571e-01 -7.63021821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.13, Y:-53.34, Z:-0.77 [[ 9.76136274e-01 2.17152642e-01 1.64470666e-03 3.59133367e+02] [-2.17152291e-01 9.76137659e-01 -3.91101742e-04 -5.33370896e+01] [-1.69038888e-03 2.46167777e-05 9.99998571e-01 -7.69365746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.16, Y:-53.34, Z:-0.77 [[ 9.75340382e-01 2.20699874e-01 1.64473451e-03 3.59158975e+02] [-2.20699528e-01 9.75341769e-01 -3.90984564e-04 -5.33440112e+01] [-1.69046851e-03 1.83509032e-05 9.99998571e-01 -7.69474539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.19, Y:-53.35, Z:-0.77 [[ 9.74641294e-01 2.23766938e-01 1.64476735e-03 3.59186991e+02] [-2.23766597e-01 9.74642682e-01 -3.90846392e-04 -5.33518777e+01] [-1.69051896e-03 1.28910405e-05 9.99998571e-01 -7.68312913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.21, Y:-53.36, Z:-0.77 [[ 9.74076973e-01 2.26210841e-01 1.64478576e-03 3.59213021e+02] [-2.26210503e-01 9.74078362e-01 -3.90768890e-04 -5.33584938e+01] [-1.69054638e-03 8.57116270e-06 9.99998571e-01 -7.66752104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.24, Y:-53.36, Z:-0.77 [[ 9.73616865e-01 2.28183027e-01 1.64481785e-03 3.59240476e+02] [-2.28182693e-01 9.73618255e-01 -3.90633772e-04 -5.33646226e+01] [-1.69056068e-03 5.00866282e-06 9.99998571e-01 -7.66202928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.27, Y:-53.37, Z:-0.77 [[ 9.73022179e-01 2.30705730e-01 1.64484567e-03 3.59267124e+02] [-2.30705400e-01 9.73023569e-01 -3.90516587e-04 -5.33691707e+01] [-1.69056802e-03 5.06522057e-07 9.99998571e-01 -7.66084726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.29, Y:-53.37, Z:-0.77 [[ 9.72823595e-01 2.31541673e-01 1.64487805e-03 3.59294761e+02] [-2.31541344e-01 9.72824986e-01 -3.90380157e-04 -5.33744516e+01] [-1.69056774e-03 -1.08624701e-06 9.99998571e-01 -7.65074454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.32, Y:-53.38, Z:-0.76 [[ 9.72743452e-01 2.31878137e-01 1.64490570e-03 3.59321583e+02] [-2.31877809e-01 9.72744843e-01 -3.90263602e-04 -5.33792376e+01] [-1.69056714e-03 -1.79076671e-06 9.99998571e-01 -7.64442379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.35, Y:-53.38, Z:-0.77 [[ 9.73171672e-01 2.30074318e-01 1.64493783e-03 3.59350202e+02] [-2.30073987e-01 9.73173062e-01 -3.90128148e-04 -5.33813925e+01] [-1.69056765e-03 1.20425728e-06 9.99998571e-01 -7.66083343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.38, Y:-53.39, Z:-0.77 [[ 9.73530971e-01 2.28549213e-01 1.64496522e-03 3.59377121e+02] [-2.28548880e-01 9.73532361e-01 -3.90012639e-04 -5.33855891e+01] [-1.69056395e-03 3.73442461e-06 9.99998571e-01 -7.67058653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.40, Y:-53.39, Z:-0.77 [[ 9.73742998e-01 2.27644167e-01 1.64499707e-03 3.59403264e+02] [-2.27643834e-01 9.73744388e-01 -3.89878229e-04 -5.33903762e+01] [-1.69056017e-03 5.16775664e-06 9.99998571e-01 -7.68118798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.43, Y:-53.40, Z:-0.77 [[ 9.73834983e-01 2.27250346e-01 1.64502869e-03 3.59431001e+02] [-2.27250012e-01 9.73836372e-01 -3.89744770e-04 -5.33954235e+01] [-1.69055841e-03 5.71430214e-06 9.99998571e-01 -7.69215000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.46, Y:-53.40, Z:-0.77 [[ 9.73779287e-01 2.27488887e-01 1.64505588e-03 3.59458098e+02] [-2.27488553e-01 9.73780677e-01 -3.89629965e-04 -5.33992895e+01] [-1.69056012e-03 5.18220724e-06 9.99998571e-01 -7.69880037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.49, Y:-53.40, Z:-0.77 [[ 9.73589394e-01 2.28300209e-01 1.64508744e-03 3.59487380e+02] [-2.28299876e-01 9.73590784e-01 -3.89496692e-04 -5.33995791e+01] [-1.69056414e-03 3.63658946e-06 9.99998571e-01 -7.74589222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.52, Y:-53.40, Z:-0.78 [[ 9.73559770e-01 2.28426504e-01 1.64510509e-03 3.59515034e+02] [-2.28426172e-01 9.73561160e-01 -3.89422103e-04 -5.34028670e+01] [-1.69056475e-03 3.34063430e-06 9.99998571e-01 -7.77333051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.54, Y:-53.41, Z:-0.78 [[ 9.73654360e-01 2.28022983e-01 1.64512706e-03 3.59543208e+02] [-2.28022651e-01 9.73655750e-01 -3.89329293e-04 -5.34063183e+01] [-1.69056345e-03 3.94593103e-06 9.99998571e-01 -7.77611010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.57, Y:-53.41, Z:-0.78 [[ 9.73760231e-01 2.27570443e-01 1.64515375e-03 3.59571734e+02] [-2.27570110e-01 9.73761621e-01 -3.89216463e-04 -5.34102349e+01] [-1.69056175e-03 4.61569334e-06 9.99998571e-01 -7.76688691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.60, Y:-53.41, Z:-0.77 [[ 9.73798975e-01 2.27404594e-01 1.64517150e-03 3.59600377e+02] [-2.27404261e-01 9.73800365e-01 -3.89141416e-04 -5.34138074e+01] [-1.69056115e-03 4.82650286e-06 9.99998571e-01 -7.74199382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.63, Y:-53.41, Z:-0.77 [[ 9.73439339e-01 2.28939176e-01 1.64518995e-03 3.59628439e+02] [-2.28938845e-01 9.73440729e-01 -3.89063399e-04 -5.34143727e+01] [-1.69056676e-03 2.08172950e-06 9.99998571e-01 -7.73230638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.66, Y:-53.42, Z:-0.77 [[ 9.73193502e-01 2.29981956e-01 1.64521284e-03 3.59655985e+02] [-2.29981627e-01 9.73194893e-01 -3.88966578e-04 -5.34179135e+01] [-1.69056803e-03 1.71020539e-07 9.99998571e-01 -7.72568983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.68, Y:-53.42, Z:-0.77 [[ 9.72994238e-01 2.30823538e-01 1.64524023e-03 3.59683191e+02] [-2.30823210e-01 9.72995629e-01 -3.88850707e-04 -5.34211265e+01] [-1.69056745e-03 -1.41013378e-06 9.99998571e-01 -7.72792289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.71, Y:-53.42, Z:-0.77 [[ 9.73094953e-01 2.30398581e-01 1.64527197e-03 3.59712049e+02] [-2.30398254e-01 9.73096343e-01 -3.88716358e-04 -5.34205297e+01] [-1.69056784e-03 -8.09862523e-07 9.99998571e-01 -7.70802673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.74, Y:-53.42, Z:-0.77 [[ 9.73536414e-01 2.28526023e-01 1.64529419e-03 3.59738376e+02] [-2.28525693e-01 9.73537804e-01 -3.88622292e-04 -5.34249165e+01] [-1.69056640e-03 2.34595811e-06 9.99998571e-01 -7.69261181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.77, Y:-53.43, Z:-0.77 [[ 9.74148045e-01 2.25904581e-01 1.64532495e-03 3.59765390e+02] [-2.25904247e-01 9.74149434e-01 -3.88491995e-04 -5.34314655e+01] [-1.69055450e-03 6.76282175e-06 9.99998571e-01 -7.68281130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.79, Y:-53.44, Z:-0.77 [[ 9.74863020e-01 2.22798979e-01 1.64535124e-03 3.59792488e+02] [-2.22798641e-01 9.74864408e-01 -3.88380633e-04 -5.34394813e+01] [-1.69052517e-03 1.20358968e-05 9.99998571e-01 -7.67516829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.82, Y:-53.45, Z:-0.76 [[ 9.76849338e-01 2.13922095e-01 1.64537759e-03 3.59819604e+02] [-2.13921744e-01 9.76850724e-01 -3.88268958e-04 -5.34499096e+01] [-1.69034760e-03 2.72982298e-05 9.99998571e-01 -7.63362729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.85, Y:-53.46, Z:-0.76 [[ 9.77998078e-01 2.08607411e-01 1.64539606e-03 3.59846035e+02] [-2.08607053e-01 9.77999462e-01 -3.88190696e-04 -5.34584258e+01] [-1.69017591e-03 3.64085327e-05 9.99998571e-01 -7.61653276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.87, Y:-53.47, Z:-0.76 [[ 9.79137898e-01 2.03190229e-01 1.64541898e-03 3.59872612e+02] [-2.03189863e-01 9.79139280e-01 -3.88093514e-04 -5.34680904e+01] [-1.68995116e-03 4.56646106e-05 9.99998571e-01 -7.62381309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.90, Y:-53.48, Z:-0.76 [[ 9.80172723e-01 1.98138150e-01 1.64544665e-03 3.59898634e+02] [-1.98137777e-01 9.80174102e-01 -3.87976180e-04 -5.34794486e+01] [-1.68969707e-03 5.42585272e-05 9.99998571e-01 -7.62906113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.92, Y:-53.50, Z:-0.77 [[ 9.81600456e-01 1.90939356e-01 1.64547766e-03 3.59923802e+02] [-1.90938974e-01 9.81601833e-01 -3.87844582e-04 -5.34970316e+01] [-1.68925868e-03 6.65226015e-05 9.99998571e-01 -7.65295091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:359.95, Y:-53.51, Z:-0.77 [[ 9.81898979e-01 1.89398224e-01 1.64549571e-03 3.59949272e+02] [-1.89397840e-01 9.81900355e-01 -3.87768006e-04 -5.35074198e+01] [-1.68915539e-03 6.90956762e-05 9.99998571e-01 -7.65590647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.97, Y:-53.52, Z:-0.77 [[ 9.81920692e-01 1.89285621e-01 1.64552706e-03 3.59974489e+02] [-1.89285236e-01 9.81922069e-01 -3.87634941e-04 -5.35184337e+01] [-1.68915305e-03 6.91527917e-05 9.99998571e-01 -7.67082446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.00, Y:-53.54, Z:-0.77 [[ 9.81493367e-01 1.91489069e-01 1.64555737e-03 3.59998688e+02] [-1.91488688e-01 9.81494744e-01 -3.87506191e-04 -5.35365002e+01] [-1.68930911e-03 6.52291331e-05 9.99998571e-01 -7.72607482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.03, Y:-53.55, Z:-0.77 [[ 9.81258591e-01 1.92688530e-01 1.64557888e-03 3.60025739e+02] [-1.92688151e-01 9.81259969e-01 -3.87414852e-04 -5.35492373e+01] [-1.68939108e-03 6.30706009e-05 9.99998571e-01 -7.74460114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.05, Y:-53.56, Z:-0.77 [[ 9.81147395e-01 1.93253931e-01 1.64559607e-03 3.60052557e+02] [-1.93253553e-01 9.81148773e-01 -3.87341822e-04 -5.35612529e+01] [-1.68942989e-03 6.20221333e-05 9.99998571e-01 -7.74869776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:360.08, Y:-53.58, Z:-0.77 [[ 9.81004329e-01 1.93978860e-01 1.64561405e-03 3.60077870e+02] [-1.93978483e-01 9.81005708e-01 -3.87265403e-04 -5.35773320e+01] [-1.68947808e-03 6.06953199e-05 9.99998571e-01 -7.72714157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:360.10, Y:-53.59, Z:-0.77 [[ 9.80930178e-01 1.94353486e-01 1.64563641e-03 3.60104711e+02] [-1.94353110e-01 9.80931557e-01 -3.87170352e-04 -5.35889679e+01] [-1.68950460e-03 5.99525278e-05 9.99998571e-01 -7.69789526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.13, Y:-53.60, Z:-0.77 [[ 9.80799729e-01 1.95010726e-01 1.64565388e-03 3.60131787e+02] [-1.95010350e-01 9.80801108e-01 -3.87096099e-04 -5.36007170e+01] [-1.68954704e-03 5.87442099e-05 9.99998571e-01 -7.67546851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.16, Y:-53.61, Z:-0.77 [[ 9.80609976e-01 1.95962665e-01 1.64567170e-03 3.60159392e+02] [-1.95962291e-01 9.80611356e-01 -3.87020329e-04 -5.36120706e+01] [-1.68960589e-03 5.70263986e-05 9.99998571e-01 -7.67888508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.19, Y:-53.62, Z:-0.77 [[ 9.80356436e-01 1.97227155e-01 1.64568056e-03 3.60186966e+02] [-1.97226783e-01 9.80357815e-01 -3.86982653e-04 -5.36229223e+01] [-1.68967929e-03 5.48086513e-05 9.99998571e-01 -7.71132361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89576923100003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:360.21, Y:-53.64, Z:-0.78 [[ 9.79734039e-01 2.00296042e-01 1.64568979e-03 3.60214310e+02] [-2.00295675e-01 9.79735420e-01 -3.86943384e-04 -5.36364921e+01] [-1.68984381e-03 4.94770580e-05 9.99998571e-01 -7.80311849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.24, Y:-53.65, Z:-0.78 [[ 9.79238453e-01 2.02705065e-01 1.64569437e-03 3.60242988e+02] [-2.02704700e-01 9.79239835e-01 -3.86923891e-04 -5.36462803e+01] [-1.68996092e-03 4.53007677e-05 9.99998571e-01 -7.80462353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.27, Y:-53.65, Z:-0.78 [[ 9.78593670e-01 2.05795338e-01 1.64569877e-03 3.60270181e+02] [-2.05794978e-01 9.78595053e-01 -3.86905187e-04 -5.36549175e+01] [-1.69009596e-03 3.99464243e-05 9.99998571e-01 -7.77738497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:360.30, Y:-53.66, Z:-0.77 [[ 9.77799687e-01 2.09535352e-01 1.64571192e-03 3.60297762e+02] [-2.09534998e-01 9.77801071e-01 -3.86849257e-04 -5.36626871e+01] [-1.69023747e-03 3.34268383e-05 9.99998571e-01 -7.72410754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.32, Y:-53.67, Z:-0.77 [[ 9.76997906e-01 2.13242547e-01 1.64572937e-03 3.60324852e+02] [-2.13242198e-01 9.76999291e-01 -3.86774986e-04 -5.36696388e+01] [-1.69035332e-03 2.69394021e-05 9.99998571e-01 -7.69645344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.35, Y:-53.68, Z:-0.77 [[ 9.75610122e-01 2.19504398e-01 1.64575247e-03 3.60352406e+02] [-2.19504058e-01 9.75611510e-01 -3.86676682e-04 -5.36772649e+01] [-1.69049229e-03 1.59963398e-05 9.99998571e-01 -7.67507382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.38, Y:-53.68, Z:-0.77 [[ 9.75074405e-01 2.21872025e-01 1.64577058e-03 3.60379401e+02] [-2.21871688e-01 9.75075794e-01 -3.86599593e-04 -5.36846869e+01] [-1.69052669e-03 1.18134709e-05 9.99998571e-01 -7.67177430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.41, Y:-53.69, Z:-0.77 [[ 9.74690970e-01 2.23550453e-01 1.64579306e-03 3.60406769e+02] [-2.23550119e-01 9.74692359e-01 -3.86503883e-04 -5.36922647e+01] [-1.69054504e-03 8.80461175e-06 9.99998571e-01 -7.66783404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:360.44, Y:-53.70, Z:-0.77 [[ 9.74438540e-01 2.24648221e-01 1.64581138e-03 3.60435210e+02] [-2.24647888e-01 9.74439930e-01 -3.86425863e-04 -5.37001001e+01] [-1.69055420e-03 6.82020404e-06 9.99998571e-01 -7.66361713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.46, Y:-53.71, Z:-0.77 [[ 9.74374470e-01 2.24925950e-01 1.64582053e-03 3.60462882e+02] [-2.24925618e-01 9.74375860e-01 -3.86386878e-04 -5.37094726e+01] [-1.69055623e-03 6.29831053e-06 9.99998571e-01 -7.66526806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.49, Y:-53.72, Z:-0.77 [[ 9.74398076e-01 2.24823664e-01 1.64583419e-03 3.60491223e+02] [-2.24823333e-01 9.74399466e-01 -3.86328661e-04 -5.37175039e+01] [-1.69055578e-03 6.41597582e-06 9.99998571e-01 -7.67017264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2257692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.52, Y:-53.73, Z:-0.77 [[ 9.74591237e-01 2.23984849e-01 1.64584334e-03 3.60518830e+02] [-2.23984516e-01 9.74592626e-01 -3.86289708e-04 -5.37250566e+01] [-1.69054982e-03 7.83114158e-06 9.99998571e-01 -7.67563937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:360.55, Y:-53.73, Z:-0.77 [[ 9.75079618e-01 2.21849114e-01 1.64585697e-03 3.60547329e+02] [-2.21848778e-01 9.75081007e-01 -3.86231594e-04 -5.37346981e+01] [-1.69052901e-03 1.14751970e-05 9.99998571e-01 -7.71599285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2857692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:360.58, Y:-53.74, Z:-0.77 [[ 9.75339859e-01 2.20702176e-01 1.64586149e-03 3.60576137e+02] [-2.20701839e-01 9.75341248e-01 -3.86212332e-04 -5.37432189e+01] [-1.69051450e-03 1.34436241e-05 9.99998571e-01 -7.73834371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.60, Y:-53.75, Z:-0.78 [[ 9.75575564e-01 2.19657937e-01 1.64587053e-03 3.60603832e+02] [-2.19657598e-01 9.75576953e-01 -3.86173800e-04 -5.37525465e+01] [-1.69049950e-03 1.52137542e-05 9.99998571e-01 -7.75657674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3457692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:360.63, Y:-53.76, Z:-0.77 [[ 9.75707726e-01 2.19070138e-01 1.64587502e-03 3.60633701e+02] [-2.19069798e-01 9.75709114e-01 -3.86154668e-04 -5.37634832e+01] [-1.69049022e-03 1.62125829e-05 9.99998571e-01 -7.73882080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:360.66, Y:-53.78, Z:-0.77 [[ 9.75503842e-01 2.19976237e-01 1.64586584e-03 3.60662026e+02] [-2.19975899e-01 9.75505231e-01 -3.86193810e-04 -5.37770828e+01] [-1.69050420e-03 1.46827286e-05 9.99998571e-01 -7.68485490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.69, Y:-53.79, Z:-0.77 [[ 9.75217497e-01 2.21242231e-01 1.64586127e-03 3.60691508e+02] [-2.21241894e-01 9.75218886e-01 -3.86213279e-04 -5.37868338e+01] [-1.69052168e-03 1.25084820e-05 9.99998571e-01 -7.68552490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.72, Y:-53.79, Z:-0.77 [[ 9.75212282e-01 2.21265217e-01 1.64585214e-03 3.60722487e+02] [-2.21264880e-01 9.75213671e-01 -3.86252177e-04 -5.37941512e+01] [-1.69052168e-03 1.25085899e-05 9.99998571e-01 -7.68606310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.75, Y:-53.80, Z:-0.77 [[ 9.74781058e-01 2.23157298e-01 1.64584304e-03 3.60753599e+02] [-2.23156964e-01 9.74782448e-01 -3.86290969e-04 -5.38040178e+01] [-1.69054255e-03 9.26778467e-06 9.99998571e-01 -7.70594917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:360.78, Y:-53.81, Z:-0.77 [[ 9.74305440e-01 2.25224780e-01 1.64576698e-03 3.60783775e+02] [-2.25224448e-01 9.74306830e-01 -3.86614710e-04 -5.38133681e+01] [-1.69055723e-03 6.01385399e-06 9.99998571e-01 -7.74315808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5257692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:360.81, Y:-53.82, Z:-0.77 [[ 9.73085837e-01 2.30437075e-01 1.64572976e-03 3.60812311e+02] [-2.30436750e-01 9.73087229e-01 -3.86773121e-04 -5.38246888e+01] [-1.69056547e-03 -2.87316977e-06 9.99998571e-01 -7.73337618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.84, Y:-53.83, Z:-0.77 [[ 9.72367263e-01 2.33450632e-01 1.64570891e-03 3.60840783e+02] [-2.33450312e-01 9.72368656e-01 -3.86861781e-04 -5.38328856e+01] [-1.69054889e-03 -8.01952727e-06 9.99998571e-01 -7.71160105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:360.87, Y:-53.84, Z:-0.77 [[ 9.71574566e-01 2.36728017e-01 1.64571332e-03 3.60870823e+02] [-2.36727701e-01 9.71575960e-01 -3.86843052e-04 -5.38403822e+01] [-1.69051208e-03 -1.37390599e-05 9.99998571e-01 -7.69355723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.90, Y:-53.85, Z:-0.77 [[ 9.70799872e-01 2.39885181e-01 1.64571332e-03 3.60901426e+02] [-2.39884870e-01 9.70801267e-01 -3.86843052e-04 -5.38471476e+01] [-1.69045849e-03 -1.92345401e-05 9.99998571e-01 -7.70039426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:360.93, Y:-53.85, Z:-0.77 [[ 9.69418732e-01 2.45407037e-01 1.64570434e-03 3.60931096e+02] [-2.45406734e-01 9.69420128e-01 -3.86881233e-04 -5.38530932e+01] [-1.69032229e-03 -2.88170128e-05 9.99998571e-01 -7.72169150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:360.96, Y:-53.86, Z:-0.77 [[ 9.68865637e-01 2.47581640e-01 1.64570434e-03 3.60960113e+02] [-2.47581339e-01 9.68867035e-01 -3.86881233e-04 -5.38595667e+01] [-1.69025337e-03 -3.26097527e-05 9.99998571e-01 -7.70610361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.99, Y:-53.87, Z:-0.77 [[ 9.68310137e-01 2.49745411e-01 1.64569959e-03 3.60988508e+02] [-2.49745114e-01 9.68311535e-01 -3.86901427e-04 -5.38655002e+01] [-1.69017675e-03 -3.63648592e-05 9.99998571e-01 -7.67304890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.02, Y:-53.87, Z:-0.76 [[ 9.67684822e-01 2.52157445e-01 1.64571243e-03 3.61017584e+02] [-2.52157152e-01 9.67686220e-01 -3.86846802e-04 -5.38709220e+01] [-1.69007955e-03 -4.06323814e-05 9.99998571e-01 -7.64294931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:361.05, Y:-53.87, Z:-0.76 [[ 9.66512898e-01 2.56612763e-01 1.64572135e-03 3.61047197e+02] [-2.56612476e-01 9.66514298e-01 -3.86808850e-04 -5.38736885e+01] [-1.68987331e-03 -4.84568883e-05 9.99998571e-01 -7.64198859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.08, Y:-53.88, Z:-0.77 [[ 9.65919039e-01 2.58839143e-01 1.64573051e-03 3.61075647e+02] [-2.58838859e-01 9.65920440e-01 -3.86769878e-04 -5.38779891e+01] [-1.68975592e-03 -5.23906188e-05 9.99998571e-01 -7.65054608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.10, Y:-53.88, Z:-0.77 [[ 9.65431110e-01 2.60653147e-01 1.64574413e-03 3.61104723e+02] [-2.60652866e-01 9.65432511e-01 -3.86711941e-04 -5.38823401e+01] [-1.68965257e-03 -5.56241855e-05 9.99998571e-01 -7.65375921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:361.13, Y:-53.89, Z:-0.77 [[ 9.64980352e-01 2.62317005e-01 1.64576217e-03 3.61134476e+02] [-2.62316726e-01 9.64981754e-01 -3.86635148e-04 -5.38864312e+01] [-1.68955144e-03 -5.86156226e-05 9.99998571e-01 -7.65489352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:361.16, Y:-53.89, Z:-0.76 [[ 9.64184861e-01 2.65226026e-01 1.64577129e-03 3.61162648e+02] [-2.65225752e-01 9.64186264e-01 -3.86596305e-04 -5.38862819e+01] [-1.68936547e-03 -6.37506233e-05 9.99998571e-01 -7.64576031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:361.19, Y:-53.89, Z:-0.76 [[ 9.63837635e-01 2.66485093e-01 1.64579398e-03 3.61191226e+02] [-2.66484821e-01 9.63839038e-01 -3.86499711e-04 -5.38901550e+01] [-1.68927689e-03 -6.60561464e-05 9.99998571e-01 -7.64619101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.22, Y:-53.90, Z:-0.77 [[ 9.63663589e-01 2.67113795e-01 1.64581170e-03 3.61219915e+02] [-2.67113524e-01 9.63664992e-01 -3.86424220e-04 -5.38952695e+01] [-1.68923036e-03 -6.72356122e-05 9.99998571e-01 -7.65766810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9757692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:361.25, Y:-53.90, Z:-0.77 [[ 9.63705770e-01 2.66961571e-01 1.64582955e-03 3.61247800e+02] [-2.66961299e-01 9.63707173e-01 -3.86348169e-04 -5.38988887e+01] [-1.68923786e-03 -6.70468364e-05 9.99998571e-01 -7.71082388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:361.28, Y:-53.90, Z:-0.77 [[ 9.63981024e-01 2.65965932e-01 1.64585176e-03 3.61276154e+02] [-2.65965660e-01 9.63982426e-01 -3.86253550e-04 -5.39028375e+01] [-1.68930246e-03 -6.53989570e-05 9.99998571e-01 -7.74382694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.30, Y:-53.91, Z:-0.78 [[ 9.64149957e-01 2.65352880e-01 1.64586928e-03 3.61304725e+02] [-2.65352607e-01 9.64151360e-01 -3.86178861e-04 -5.39064026e+01] [-1.68934078e-03 -6.44013729e-05 9.99998571e-01 -7.76183312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:361.33, Y:-53.91, Z:-0.77 [[ 9.64260724e-01 2.64950086e-01 1.64588677e-03 3.61333336e+02] [-2.64949813e-01 9.64262126e-01 -3.86104321e-04 -5.39097335e+01] [-1.68936465e-03 -6.37721589e-05 9.99998571e-01 -7.74829373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0957692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:361.36, Y:-53.91, Z:-0.77 [[ 9.64354073e-01 2.64610115e-01 1.64590550e-03 3.61361240e+02] [-2.64609841e-01 9.64355476e-01 -3.86024438e-04 -5.39115692e+01] [-1.68938396e-03 -6.32585539e-05 9.99998571e-01 -7.70395453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:361.39, Y:-53.92, Z:-0.77 [[ 9.64498704e-01 2.64082452e-01 1.64593045e-03 3.61388906e+02] [-2.64082178e-01 9.64500106e-01 -3.85918032e-04 -5.39163121e+01] [-1.68941428e-03 -6.24434566e-05 9.99998571e-01 -7.68855886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1557692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.42, Y:-53.92, Z:-0.77 [[ 9.65396230e-01 2.60782302e-01 1.64595247e-03 3.61416448e+02] [-2.60782023e-01 9.65397632e-01 -3.85824092e-04 -5.39188462e+01] [-1.68961472e-03 -5.67616909e-05 9.99998571e-01 -7.70422346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.44, Y:-53.93, Z:-0.77 [[ 9.65413583e-01 2.60718055e-01 1.64598241e-03 3.61444230e+02] [-2.60717776e-01 9.65414985e-01 -3.85696325e-04 -5.39252157e+01] [-1.68961408e-03 -5.67804026e-05 9.99998571e-01 -7.70470515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.47, Y:-53.93, Z:-0.78 [[ 9.66405168e-01 2.57018173e-01 1.64600807e-03 3.61472510e+02] [-2.57017889e-01 9.66406569e-01 -3.85586785e-04 -5.39284043e+01] [-1.68981583e-03 -5.04204584e-05 9.99998571e-01 -7.76894466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:361.50, Y:-53.93, Z:-0.78 [[ 9.66855449e-01 2.55319076e-01 1.64602934e-03 3.61501196e+02] [-2.55318790e-01 9.66856849e-01 -3.85495960e-04 -5.39337753e+01] [-1.68989922e-03 -4.75433504e-05 9.99998571e-01 -7.77782029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.53, Y:-53.94, Z:-0.78 [[ 9.67183201e-01 2.54074687e-01 1.64604706e-03 3.61528394e+02] [-2.54074399e-01 9.67184600e-01 -3.85420305e-04 -5.39395406e+01] [-1.68995691e-03 -4.54463728e-05 9.99998571e-01 -7.77411970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:361.56, Y:-53.95, Z:-0.77 [[ 9.67889625e-01 2.51370174e-01 1.64606913e-03 3.61556943e+02] [-2.51369882e-01 9.67891024e-01 -3.85326005e-04 -5.39460665e+01] [-1.69007500e-03 -4.08191616e-05 9.99998571e-01 -7.73203078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.58, Y:-53.95, Z:-0.77 [[ 9.68331658e-01 2.49661954e-01 1.64608749e-03 3.61583795e+02] [-2.49661660e-01 9.68333056e-01 -3.85247589e-04 -5.39521652e+01] [-1.69014259e-03 -3.79174968e-05 9.99998571e-01 -7.72944223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36576923100006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.61, Y:-53.96, Z:-0.77 [[ 9.68676038e-01 2.48322417e-01 1.64611153e-03 3.61611358e+02] [-2.48322121e-01 9.68677436e-01 -3.85144836e-04 -5.39581587e+01] [-1.69019119e-03 -3.56853326e-05 9.99998571e-01 -7.72436462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.64, Y:-53.96, Z:-0.77 [[ 9.68806349e-01 2.47813536e-01 1.64613879e-03 3.61638500e+02] [-2.47813239e-01 9.68807747e-01 -3.85028266e-04 -5.39643773e+01] [-1.69020723e-03 -3.49171578e-05 9.99998571e-01 -7.72992897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.67, Y:-53.97, Z:-0.77 [[ 9.68850951e-01 2.47639100e-01 1.64616143e-03 3.61665424e+02] [-2.47638804e-01 9.68852349e-01 -3.84931477e-04 -5.39699748e+01] [-1.69021145e-03 -3.47122183e-05 9.99998571e-01 -7.73873160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.69, Y:-53.98, Z:-0.77 [[ 9.68877893e-01 2.47533671e-01 1.64618778e-03 3.61693339e+02] [-2.47533374e-01 9.68879291e-01 -3.84818725e-04 -5.39763301e+01] [-1.69021284e-03 -3.46440607e-05 9.99998571e-01 -7.71928258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:361.72, Y:-53.98, Z:-0.77 [[ 9.68976203e-01 2.47148554e-01 1.64620565e-03 3.61721473e+02] [-2.47148257e-01 9.68977601e-01 -3.84742278e-04 -5.39825751e+01] [-1.69022490e-03 -3.40507446e-05 9.99998571e-01 -7.69885097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.75, Y:-53.99, Z:-0.77 [[ 9.69228137e-01 2.46158704e-01 1.64622343e-03 3.61749103e+02] [-2.46158406e-01 9.69229535e-01 -3.84666188e-04 -5.39884329e+01] [-1.69025730e-03 -3.24024412e-05 9.99998571e-01 -7.68377810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:361.78, Y:-53.99, Z:-0.77 [[ 9.69487789e-01 2.45134079e-01 1.64625022e-03 3.61776032e+02] [-2.45133779e-01 9.69489186e-01 -3.84551504e-04 -5.39948285e+01] [-1.69028846e-03 -3.07335501e-05 9.99998571e-01 -7.67398477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.80, Y:-54.00, Z:-0.77 [[ 9.69651391e-01 2.44486134e-01 1.64627245e-03 3.61801933e+02] [-2.44485833e-01 9.69652788e-01 -3.84456301e-04 -5.40005454e+01] [-1.69030691e-03 -2.97017053e-05 9.99998571e-01 -7.67799670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.83, Y:-54.01, Z:-0.77 [[ 9.69464548e-01 2.45225977e-01 1.64631050e-03 3.61829721e+02] [-2.45225678e-01 9.69465945e-01 -3.84293310e-04 -5.40060798e+01] [-1.69028067e-03 -3.11588682e-05 9.99998571e-01 -7.66829708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:361.86, Y:-54.01, Z:-0.77 [[ 9.69220726e-01 2.46187883e-01 1.64633229e-03 3.61857767e+02] [-2.46187585e-01 9.69222124e-01 -3.84199944e-04 -5.40109390e+01] [-1.69024705e-03 -3.29320223e-05 9.99998571e-01 -7.65658491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.89, Y:-54.02, Z:-0.76 [[ 9.68921780e-01 2.47361827e-01 1.64635882e-03 3.61885711e+02] [-2.47361532e-01 9.68923178e-01 -3.84086199e-04 -5.40158663e+01] [-1.69020349e-03 -3.50963569e-05 9.99998571e-01 -7.64831788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:361.91, Y:-54.02, Z:-0.77 [[ 9.68623301e-01 2.48528045e-01 1.64638082e-03 3.61912388e+02] [-2.48527752e-01 9.68624700e-01 -3.83991905e-04 -5.40188963e+01] [-1.69015788e-03 -3.72278151e-05 9.99998571e-01 -7.66363372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7257692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:361.94, Y:-54.02, Z:-0.77 [[ 9.68635907e-01 2.48478910e-01 1.64641092e-03 3.61940078e+02] [-2.48478616e-01 9.68637306e-01 -3.83862792e-04 -5.40236205e+01] [-1.69015684e-03 -3.72746228e-05 9.99998571e-01 -7.68627760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.97, Y:-54.03, Z:-0.77 [[ 9.68731691e-01 2.48105219e-01 1.64643656e-03 3.61967539e+02] [-2.48104924e-01 9.68733090e-01 -3.83752779e-04 -5.40282379e+01] [-1.69016864e-03 -3.67355391e-05 9.99998571e-01 -7.71150816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.00, Y:-54.03, Z:-0.78 [[ 9.68763146e-01 2.47982371e-01 1.64646321e-03 3.61996079e+02] [-2.47982077e-01 9.68764544e-01 -3.83638424e-04 -5.40327246e+01] [-1.69017074e-03 -3.66386000e-05 9.99998571e-01 -7.76219999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.02, Y:-54.04, Z:-0.78 [[ 9.68757010e-01 2.48006341e-01 1.64648116e-03 3.62022308e+02] [-2.48006047e-01 9.68758408e-01 -3.83561370e-04 -5.40383807e+01] [-1.69016812e-03 -3.67595167e-05 9.99998571e-01 -7.76600817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.05, Y:-54.04, Z:-0.78 [[ 9.68697881e-01 2.48237194e-01 1.64651232e-03 3.62049333e+02] [-2.48236901e-01 9.68699279e-01 -3.83427553e-04 -5.40439216e+01] [-1.69015628e-03 -3.72996573e-05 9.99998571e-01 -7.75831917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.08, Y:-54.05, Z:-0.77 [[ 9.68044108e-01 2.50774588e-01 1.64653430e-03 3.62076964e+02] [-2.50774299e-01 9.68045507e-01 -3.83333117e-04 -5.40472177e+01] [-1.69005034e-03 -4.18251201e-05 9.99998571e-01 -7.70363467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9057692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:362.10, Y:-54.05, Z:-0.77 [[ 9.67366387e-01 2.53376326e-01 1.64655535e-03 3.62104802e+02] [-2.53376041e-01 9.67367787e-01 -3.83242715e-04 -5.40512238e+01] [-1.68992923e-03 -4.64615534e-05 9.99998571e-01 -7.68581675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.13, Y:-54.05, Z:-0.77 [[ 9.66556138e-01 2.56449840e-01 1.64658221e-03 3.62131286e+02] [-2.56449559e-01 9.66557539e-01 -3.83127267e-04 -5.40549673e+01] [-1.68976937e-03 -5.19512695e-05 9.99998571e-01 -7.68725341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.16, Y:-54.06, Z:-0.77 [[ 9.65794681e-01 2.59302764e-01 1.64661337e-03 3.62158914e+02] [-2.59302487e-01 9.65796083e-01 -3.82993278e-04 -5.40583865e+01] [-1.68960396e-03 -5.70780726e-05 9.99998571e-01 -7.69687733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.19, Y:-54.06, Z:-0.77 [[ 9.64506533e-01 2.64053852e-01 1.64664029e-03 3.62187439e+02] [-2.64053582e-01 9.64507936e-01 -3.82877508e-04 -5.40585616e+01] [-1.68929791e-03 -6.55134106e-05 9.99998571e-01 -7.74729056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.22, Y:-54.06, Z:-0.78 [[ 9.64109527e-01 2.65499735e-01 1.64666257e-03 3.62215966e+02] [-2.65499468e-01 9.64110930e-01 -3.82781663e-04 -5.40619038e+01] [-1.68919381e-03 -6.81445891e-05 9.99998571e-01 -7.76404710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.24, Y:-54.07, Z:-0.78 [[ 9.63920330e-01 2.66185812e-01 1.64668063e-03 3.62242517e+02] [-2.66185545e-01 9.63921734e-01 -3.82703948e-04 -5.40654455e+01] [-1.68914161e-03 -6.94264669e-05 9.99998571e-01 -7.77941646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.27, Y:-54.07, Z:-0.77 [[ 9.63721146e-01 2.66906054e-01 1.64672824e-03 3.62271919e+02] [-2.66905789e-01 9.63722550e-01 -3.82498990e-04 -5.40677612e+01] [-1.68908044e-03 -7.08989363e-05 9.99998571e-01 -7.72008465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.30, Y:-54.07, Z:-0.77 [[ 9.63836885e-01 2.66487799e-01 1.64674602e-03 3.62300901e+02] [-2.66487534e-01 9.63838289e-01 -3.82422450e-04 -5.40716163e+01] [-1.68910778e-03 -7.02444215e-05 9.99998571e-01 -7.68383186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14576923100003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:362.33, Y:-54.08, Z:-0.77 [[ 9.63911241e-01 2.66218720e-01 1.64676371e-03 3.62327672e+02] [-2.66218455e-01 9.63912646e-01 -3.82346247e-04 -5.40750504e+01] [-1.68912409e-03 -6.98510435e-05 9.99998571e-01 -7.65755464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.36, Y:-54.08, Z:-0.77 [[ 9.63969537e-01 2.66007555e-01 1.64679445e-03 3.62355452e+02] [-2.66007289e-01 9.63970942e-01 -3.82213781e-04 -5.40788328e+01] [-1.68913375e-03 -6.96168862e-05 9.99998571e-01 -7.65140531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.38, Y:-54.08, Z:-0.77 [[ 9.63936179e-01 2.66128410e-01 1.64682081e-03 3.62384121e+02] [-2.66128145e-01 9.63937583e-01 -3.82100204e-04 -5.40810106e+01] [-1.68912019e-03 -6.99451553e-05 9.99998571e-01 -7.68074680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.41, Y:-54.09, Z:-0.77 [[ 9.64129008e-01 2.65428979e-01 1.64684744e-03 3.62410572e+02] [-2.65428713e-01 9.64130412e-01 -3.81985384e-04 -5.40851377e+01] [-1.68916569e-03 -6.88374069e-05 9.99998571e-01 -7.67781764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:362.44, Y:-54.09, Z:-0.77 [[ 9.64475881e-01 2.64165787e-01 1.64689592e-03 3.62436808e+02] [-2.64165519e-01 9.64477285e-01 -3.81776245e-04 -5.40895612e+01] [-1.68924593e-03 -6.68391361e-05 9.99998571e-01 -7.66481907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.46, Y:-54.09, Z:-0.76 [[ 9.65015833e-01 2.62186440e-01 1.64692538e-03 3.62464033e+02] [-2.62186170e-01 9.65017236e-01 -3.81649117e-04 -5.40943673e+01] [-1.68937460e-03 -6.35036168e-05 9.99998571e-01 -7.64854925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.49, Y:-54.10, Z:-0.77 [[ 9.66244479e-01 2.57621611e-01 1.64695051e-03 3.62491574e+02] [-2.57621335e-01 9.66245881e-01 -3.81540645e-04 -5.40982090e+01] [-1.68965226e-03 -5.56280459e-05 9.99998571e-01 -7.66152585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.52, Y:-54.10, Z:-0.77 [[ 9.66262275e-01 2.57554854e-01 1.64697680e-03 3.62519367e+02] [-2.57554577e-01 9.66263677e-01 -3.81427127e-04 -5.41045069e+01] [-1.68965227e-03 -5.56277700e-05 9.99998571e-01 -7.66200756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:362.55, Y:-54.11, Z:-0.77 [[ 9.66796919e-01 2.55540614e-01 1.64700314e-03 3.62546954e+02] [-2.55540335e-01 9.66798320e-01 -3.81313337e-04 -5.41098344e+01] [-1.68976092e-03 -5.22231754e-05 9.99998571e-01 -7.68739156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.57, Y:-54.11, Z:-0.77 [[ 9.67249284e-01 2.53822990e-01 1.64702958e-03 3.62573404e+02] [-2.53822709e-01 9.67250685e-01 -3.81199113e-04 -5.41148051e+01] [-1.68984759e-03 -4.93389405e-05 9.99998571e-01 -7.71702971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.60, Y:-54.12, Z:-0.77 [[ 9.67705163e-01 2.52079363e-01 1.64706023e-03 3.62600690e+02] [-2.52079079e-01 9.67706563e-01 -3.81066617e-04 -5.41198061e+01] [-1.68993003e-03 -4.64292946e-05 9.99998571e-01 -7.73069312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.63, Y:-54.12, Z:-0.77 [[ 9.68351522e-01 2.49584889e-01 1.64708599e-03 3.62628187e+02] [-2.49584602e-01 9.68352922e-01 -3.80955270e-04 -5.41246906e+01] [-1.69004121e-03 -4.21886849e-05 9.99998571e-01 -7.69868182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.66, Y:-54.13, Z:-0.77 [[ 9.68487502e-01 2.49056712e-01 1.64711165e-03 3.62655521e+02] [-2.49056424e-01 9.68488902e-01 -3.80844275e-04 -5.41301628e+01] [-1.69006118e-03 -4.13808184e-05 9.99998571e-01 -7.67624917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.68, Y:-54.14, Z:-0.77 [[ 9.68496745e-01 2.49020767e-01 1.64713844e-03 3.62683285e+02] [-2.49020480e-01 9.68498144e-01 -3.80728374e-04 -5.41350438e+01] [-1.69005980e-03 -4.14370144e-05 9.99998571e-01 -7.66996295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:-54.14, Z:-0.77 [[ 9.68447480e-01 2.49212288e-01 1.64716511e-03 3.62710464e+02] [-2.49212001e-01 9.68448880e-01 -3.80612980e-04 -5.41393762e+01] [-1.69004863e-03 -4.18896308e-05 9.99998571e-01 -7.66969979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:-54.14, Z:-0.77 [[ 9.68334425e-01 2.49651213e-01 1.64719597e-03 3.62738253e+02] [-2.49650927e-01 9.68335825e-01 -3.80479345e-04 -5.41429259e+01] [-1.69002600e-03 -4.27927548e-05 9.99998571e-01 -7.68732669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.76, Y:-54.15, Z:-0.77 [[ 9.68413553e-01 2.49344095e-01 1.64722262e-03 3.62764739e+02] [-2.49343808e-01 9.68414953e-01 -3.80363955e-04 -5.41481061e+01] [-1.69003652e-03 -4.23751522e-05 9.99998571e-01 -7.69748874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.79, Y:-54.15, Z:-0.77 [[ 9.68587165e-01 2.48668836e-01 1.64725342e-03 3.62792051e+02] [-2.48668548e-01 9.68588565e-01 -3.80230514e-04 -5.41529822e+01] [-1.69006231e-03 -4.13337207e-05 9.99998571e-01 -7.71287503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.82, Y:-54.16, Z:-0.77 [[ 9.69318234e-01 2.45803677e-01 1.64727968e-03 3.62818814e+02] [-2.45803386e-01 9.69319633e-01 -3.80116706e-04 -5.41551566e+01] [-1.69017462e-03 -3.64528694e-05 9.99998571e-01 -7.74071740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.85, Y:-54.16, Z:-0.77 [[ 9.69840171e-01 2.43736188e-01 1.64731011e-03 3.62846694e+02] [-2.43735894e-01 9.69841569e-01 -3.79984813e-04 -5.41599353e+01] [-1.69024587e-03 -3.29840662e-05 9.99998571e-01 -7.73934117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:362.87, Y:-54.17, Z:-0.77 [[ 9.70374742e-01 2.41599146e-01 1.64733596e-03 3.62874405e+02] [-2.41598849e-01 9.70376139e-01 -3.79872708e-04 -5.41659936e+01] [-1.69031243e-03 -2.93755907e-05 9.99998571e-01 -7.73114403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:-54.17, Z:-0.77 [[ 9.71573985e-01 2.36730391e-01 1.64736169e-03 3.62901152e+02] [-2.36730087e-01 9.71575381e-01 -3.79761084e-04 -5.41730223e+01] [-1.69043705e-03 -2.10140866e-05 9.99998571e-01 -7.70304391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.93, Y:-54.18, Z:-0.77 [[ 9.72109735e-01 2.34520678e-01 1.64738728e-03 3.62927245e+02] [-2.34520372e-01 9.72111131e-01 -3.79650034e-04 -5.41789807e+01] [-1.69047930e-03 -1.72843841e-05 9.99998571e-01 -7.69780525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:-54.18, Z:-0.77 [[ 9.72496188e-01 2.32912968e-01 1.64741702e-03 3.62954502e+02] [-2.32912659e-01 9.72497583e-01 -3.79520952e-04 -5.41846673e+01] [-1.69050442e-03 -1.46215994e-05 9.99998571e-01 -7.69079111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.98, Y:-54.19, Z:-0.77 [[ 9.72727238e-01 2.31946128e-01 1.64744264e-03 3.62982496e+02] [-2.31945818e-01 9.72728633e-01 -3.79409714e-04 -5.41895840e+01] [-1.69051724e-03 -1.30552674e-05 9.99998571e-01 -7.69205742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.01, Y:-54.19, Z:-0.77 [[ 9.72356621e-01 2.33494942e-01 1.64746810e-03 3.63010733e+02] [-2.33494635e-01 9.72358016e-01 -3.79299103e-04 -5.41916859e+01] [-1.69049324e-03 -1.58609683e-05 9.99998571e-01 -7.71520773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:-54.20, Z:-0.77 [[ 9.71812154e-01 2.35750765e-01 1.64749367e-03 3.63037458e+02] [-2.35750460e-01 9.71813550e-01 -3.79188016e-04 -5.41954154e+01] [-1.69045054e-03 -1.98978687e-05 9.99998571e-01 -7.72821352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:-54.20, Z:-0.77 [[ 9.71236258e-01 2.38112195e-01 1.64752334e-03 3.63065291e+02] [-2.38111894e-01 9.71237655e-01 -3.79059071e-04 -5.41996742e+01] [-1.69039529e-03 -2.41389893e-05 9.99998571e-01 -7.72429323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:-54.20, Z:-0.77 [[ 9.70635953e-01 2.40547567e-01 1.64755007e-03 3.63093158e+02] [-2.40547270e-01 9.70637351e-01 -3.78942853e-04 -5.42039736e+01] [-1.69032742e-03 -2.84981140e-05 9.99998571e-01 -7.70593595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.12, Y:-54.20, Z:-0.77 [[ 9.69884983e-01 2.43557807e-01 1.64757685e-03 3.63120712e+02] [-2.43557515e-01 9.69886382e-01 -3.78826399e-04 -5.42047064e+01] [-1.69022847e-03 -3.38616858e-05 9.99998571e-01 -7.67053107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:-54.21, Z:-0.77 [[ 9.69638578e-01 2.44536938e-01 1.64760780e-03 3.63148264e+02] [-2.44536648e-01 9.69639977e-01 -3.78691731e-04 -5.42076463e+01] [-1.69019050e-03 -3.57063765e-05 9.99998571e-01 -7.67450803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.18, Y:-54.21, Z:-0.77 [[ 9.69542778e-01 2.44916491e-01 1.64767743e-03 3.63176289e+02] [-2.44916202e-01 9.69544177e-01 -3.78388543e-04 -5.42109461e+01] [-1.69016965e-03 -3.66790176e-05 9.99998571e-01 -7.68674347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.20, Y:-54.21, Z:-0.77 [[ 9.69561067e-01 2.44844078e-01 1.64770491e-03 3.63202850e+02] [-2.44843789e-01 9.69562466e-01 -3.78268806e-04 -5.42137869e+01] [-1.69016972e-03 -3.66756065e-05 9.99998571e-01 -7.70160204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.23, Y:-54.21, Z:-0.77 [[ 9.69711882e-01 2.44246086e-01 1.64773681e-03 3.63232075e+02] [-2.44245796e-01 9.69713281e-01 -3.78129796e-04 -5.42121445e+01] [-1.69018900e-03 -3.57758340e-05 9.99998571e-01 -7.72788482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:-54.21, Z:-0.77 [[ 9.69774594e-01 2.43996970e-01 1.64780937e-03 3.63259690e+02] [-2.43996680e-01 9.69775993e-01 -3.77813339e-04 -5.42136333e+01] [-1.69019128e-03 -3.56662380e-05 9.99998571e-01 -7.73347434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:-54.21, Z:-0.77 [[ 9.69802243e-01 2.43887053e-01 1.64784092e-03 3.63287455e+02] [-2.43886763e-01 9.69803642e-01 -3.77675705e-04 -5.42121165e+01] [-1.69019234e-03 -3.56158413e-05 9.99998571e-01 -7.73179359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:-54.21, Z:-0.77 [[ 9.70082791e-01 2.42768743e-01 1.64787154e-03 3.63315819e+02] [-2.42768452e-01 9.70084190e-01 -3.77542051e-04 -5.42145454e+01] [-1.69022954e-03 -3.38041759e-05 9.99998571e-01 -7.74373792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.34, Y:-54.22, Z:-0.78 [[ 9.70324867e-01 2.41799371e-01 1.64794301e-03 3.63343392e+02] [-2.41799079e-01 9.70326266e-01 -3.77229812e-04 -5.42167770e+01] [-1.69025632e-03 -3.24356364e-05 9.99998571e-01 -7.75844815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.37, Y:-54.22, Z:-0.78 [[ 9.70636575e-01 2.40545055e-01 1.64797414e-03 3.63371858e+02] [-2.40544762e-01 9.70637973e-01 -3.77093778e-04 -5.42186396e+01] [-1.69029432e-03 -3.03905336e-05 9.99998571e-01 -7.78066043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.40, Y:-54.22, Z:-0.78 [[ 9.71310083e-01 2.37810863e-01 1.64804565e-03 3.63400437e+02] [-2.37810566e-01 9.71311481e-01 -3.76781005e-04 -5.42189627e+01] [-1.69036827e-03 -2.59514789e-05 9.99998571e-01 -7.79851634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.43, Y:-54.22, Z:-0.78 [[ 9.71792440e-01 2.35832010e-01 1.64811747e-03 3.63428500e+02] [-2.35831711e-01 9.71793837e-01 -3.76466584e-04 -5.42236159e+01] [-1.69041327e-03 -2.28309823e-05 9.99998571e-01 -7.79632566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.46, Y:-54.23, Z:-0.78 [[ 9.72371631e-01 2.33432420e-01 1.64818903e-03 3.63456020e+02] [-2.33432118e-01 9.72373028e-01 -3.76153007e-04 -5.42285750e+01] [-1.69046087e-03 -1.89797442e-05 9.99998571e-01 -7.78804965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.48, Y:-54.23, Z:-0.78 [[ 9.72916584e-01 2.31150607e-01 1.64826075e-03 3.63482739e+02] [-2.31150302e-01 9.72917980e-01 -3.75838482e-04 -5.42333862e+01] [-1.69049782e-03 -1.53364781e-05 9.99998571e-01 -7.78254366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:-54.24, Z:-0.78 [[ 9.73589664e-01 2.28299034e-01 1.64829200e-03 3.63509400e+02] [-2.28298725e-01 9.73591059e-01 -3.75701397e-04 -5.42359189e+01] [-1.69053462e-03 -1.05239654e-05 9.99998571e-01 -7.77872809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.54, Y:-54.24, Z:-0.78 [[ 9.73676282e-01 2.27929334e-01 1.64832294e-03 3.63537060e+02] [-2.27929025e-01 9.73677677e-01 -3.75565588e-04 -5.42395007e+01] [-1.69053767e-03 -1.00213359e-05 9.99998571e-01 -7.77454253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.56, Y:-54.24, Z:-0.78 [[ 9.73612698e-01 2.28200782e-01 1.64839476e-03 3.63563627e+02] [-2.28200473e-01 9.73614094e-01 -3.75250123e-04 -5.42429647e+01] [-1.69053274e-03 -1.08161786e-05 9.99998571e-01 -7.77765146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.59, Y:-54.25, Z:-0.78 [[ 9.73542030e-01 2.28502077e-01 1.64842597e-03 3.63591885e+02] [-2.28501769e-01 9.73543425e-01 -3.75112940e-04 -5.42469733e+01] [-1.69052835e-03 -1.14800378e-05 9.99998571e-01 -7.77724516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.62, Y:-54.25, Z:-0.78 [[ 9.73464540e-01 2.28831971e-01 1.64849941e-03 3.63619196e+02] [-2.28831665e-01 9.73465936e-01 -3.74789913e-04 -5.42493684e+01] [-1.69052194e-03 -1.23841749e-05 9.99998571e-01 -7.75448645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.65, Y:-54.25, Z:-0.77 [[ 9.73409586e-01 2.29065623e-01 1.64853125e-03 3.63646425e+02] [-2.29065317e-01 9.73410982e-01 -3.74649844e-04 -5.42540152e+01] [-1.69051782e-03 -1.29335833e-05 9.99998571e-01 -7.73714336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:-54.26, Z:-0.77 [[ 9.73316765e-01 2.29459705e-01 1.64860475e-03 3.63674499e+02] [-2.29459400e-01 9.73318161e-01 -3.74326110e-04 -5.42584996e+01] [-1.69050971e-03 -1.39499795e-05 9.99998571e-01 -7.72906344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.70, Y:-54.26, Z:-0.77 [[ 9.73207686e-01 2.29921902e-01 1.64867835e-03 3.63701677e+02] [-2.29921598e-01 9.73209083e-01 -3.74001697e-04 -5.42626130e+01] [-1.69049992e-03 -1.50854340e-05 9.99998571e-01 -7.73293880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.73, Y:-54.26, Z:-0.77 [[ 9.73101791e-01 2.30369672e-01 1.64872868e-03 3.63728973e+02] [-2.30369369e-01 9.73103188e-01 -3.73779685e-04 -5.42636311e+01] [-1.69049064e-03 -1.60909045e-05 9.99998571e-01 -7.74631401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.76, Y:-54.27, Z:-0.77 [[ 9.73125706e-01 2.30268632e-01 1.64876047e-03 3.63755822e+02] [-2.30268329e-01 9.73127102e-01 -3.73639377e-04 -5.42664419e+01] [-1.69049093e-03 -1.60592373e-05 9.99998571e-01 -7.73304950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.78, Y:-54.27, Z:-0.77 [[ 9.73188291e-01 2.30003981e-01 1.64879170e-03 3.63783634e+02] [-2.30003678e-01 9.73189688e-01 -3.73501547e-04 -5.42690856e+01] [-1.69049392e-03 -1.57408231e-05 9.99998571e-01 -7.71210947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.81, Y:-54.27, Z:-0.77 [[ 9.73332572e-01 2.29392647e-01 1.64886296e-03 3.63812146e+02] [-2.29392344e-01 9.73333968e-01 -3.73186697e-04 -5.42719863e+01] [-1.69050061e-03 -1.50017707e-05 9.99998571e-01 -7.69136198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.84, Y:-54.27, Z:-0.77 [[ 9.73643003e-01 2.28071445e-01 1.64893426e-03 3.63839682e+02] [-2.28071140e-01 9.73644399e-01 -3.72871364e-04 -5.42738857e+01] [-1.69051692e-03 -1.30307231e-05 9.99998571e-01 -7.67607659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.87, Y:-54.28, Z:-0.77 [[ 9.73885381e-01 2.27034241e-01 1.64898283e-03 3.63867732e+02] [-2.27033935e-01 9.73886776e-01 -3.72656445e-04 -5.42784665e+01] [-1.69052835e-03 -1.14503982e-05 9.99998571e-01 -7.68875142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.90, Y:-54.28, Z:-0.77 [[ 9.74154174e-01 2.25878122e-01 1.64905321e-03 3.63895726e+02] [-2.25877815e-01 9.74155570e-01 -3.72344737e-04 -5.42834198e+01] [-1.69053890e-03 -9.76335682e-06 9.99998571e-01 -7.72958846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.92, Y:-54.29, Z:-0.78 [[ 9.74377264e-01 2.24913824e-01 1.64912673e-03 3.63922316e+02] [-2.24913517e-01 9.74378659e-01 -3.72018843e-04 -5.42882327e+01] [-1.69054607e-03 -8.42419033e-06 9.99998571e-01 -7.76696847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.95, Y:-54.29, Z:-0.78 [[ 9.74687149e-01 2.23567084e-01 1.64915855e-03 3.63949136e+02] [-2.23566775e-01 9.74688544e-01 -3.71877713e-04 -5.42922424e+01] [-1.69055557e-03 -6.23263143e-06 9.99998571e-01 -7.80341890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.98, Y:-54.30, Z:-0.78 [[ 9.74853067e-01 2.22842494e-01 1.64918983e-03 3.63976889e+02] [-2.22842184e-01 9.74854462e-01 -3.71738955e-04 -5.42977098e+01] [-1.69055930e-03 -5.11820340e-06 9.99998571e-01 -7.79650556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.00, Y:-54.30, Z:-0.78 [[ 9.74911316e-01 2.22587525e-01 1.64925961e-03 3.64003579e+02] [-2.22587215e-01 9.74912711e-01 -3.71429114e-04 -5.43038019e+01] [-1.69055965e-03 -4.99365802e-06 9.99998571e-01 -7.78490369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.03, Y:-54.31, Z:-0.78 [[ 9.75106344e-01 2.21731591e-01 1.64930721e-03 3.64030780e+02] [-2.21731280e-01 9.75107738e-01 -3.71217634e-04 -5.43105574e+01] [-1.69056290e-03 -3.72632988e-06 9.99998571e-01 -7.76873855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.06, Y:-54.32, Z:-0.77 [[ 9.75546333e-01 2.19787698e-01 1.64937706e-03 3.64057059e+02] [-2.19787385e-01 9.75547727e-01 -3.70907038e-04 -5.43190558e+01] [-1.69056684e-03 -6.75270054e-07 9.99998571e-01 -7.74981157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.08, Y:-54.33, Z:-0.77 [[ 9.75794885e-01 2.18681553e-01 1.64944745e-03 3.64082701e+02] [-2.18681239e-01 9.75796279e-01 -3.70593714e-04 -5.43264821e+01] [-1.69056670e-03 9.20237702e-07 9.99998571e-01 -7.74165066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.11, Y:-54.33, Z:-0.77 [[ 9.76056242e-01 2.17512050e-01 1.64947790e-03 3.64109795e+02] [-2.17511735e-01 9.76057636e-01 -3.70458130e-04 -5.43343712e+01] [-1.69056461e-03 2.80716920e-06 9.99998571e-01 -7.74588559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.14, Y:-54.34, Z:-0.78 [[ 9.76558775e-01 2.15244599e-01 1.64954713e-03 3.64135814e+02] [-2.15244280e-01 9.76560169e-01 -3.70149619e-04 -5.43447086e+01] [-1.69055473e-03 6.41727346e-06 9.99998571e-01 -7.75035171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.16, Y:-54.35, Z:-0.78 [[ 9.76853818e-01 2.13901605e-01 1.64961581e-03 3.64162919e+02] [-2.13901285e-01 9.76855211e-01 -3.69843284e-04 -5.43534524e+01] [-1.69054587e-03 8.42788186e-06 9.99998571e-01 -7.76845141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.19, Y:-54.36, Z:-0.78 [[ 9.77130242e-01 2.12635297e-01 1.64968463e-03 3.64188835e+02] [-2.12634976e-01 9.77131634e-01 -3.69536047e-04 -5.43620942e+01] [-1.69053545e-03 1.03041932e-05 9.99998571e-01 -7.79014021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.22, Y:-54.37, Z:-0.78 [[ 9.77435847e-01 2.11226049e-01 1.64971448e-03 3.64215194e+02] [-2.11225726e-01 9.77437239e-01 -3.69402761e-04 -5.43710035e+01] [-1.69051985e-03 1.26053607e-05 9.99998571e-01 -7.79439679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.24, Y:-54.38, Z:-0.78 [[ 9.77474433e-01 2.11047415e-01 1.64978196e-03 3.64243022e+02] [-2.11047092e-01 9.77475825e-01 -3.69101138e-04 -5.43770262e+01] [-1.69051982e-03 1.26052393e-05 9.99998571e-01 -7.79487832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.27, Y:-54.39, Z:-0.78 [[ 9.77736741e-01 2.09828844e-01 1.64984936e-03 3.64268110e+02] [-2.09828520e-01 9.77738133e-01 -3.68799621e-04 -5.43874708e+01] [-1.69050543e-03 1.44034896e-05 9.99998571e-01 -7.75121850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.29, Y:-54.39, Z:-0.77 [[ 9.77842373e-01 2.09336027e-01 1.64987865e-03 3.64294779e+02] [-2.09335703e-01 9.77843764e-01 -3.68668553e-04 -5.43946716e+01] [-1.69049916e-03 1.51212259e-05 9.99998571e-01 -7.73034623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.32, Y:-54.40, Z:-0.77 [[ 9.77985965e-01 2.08664155e-01 1.64994542e-03 3.64320445e+02] [-2.08663830e-01 9.77987357e-01 -3.68369464e-04 -5.44025662e+01] [-1.69049127e-03 1.59762338e-05 9.99998571e-01 -7.73531626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.35, Y:-54.41, Z:-0.78 [[ 9.78303504e-01 2.07170298e-01 1.64997441e-03 3.64347011e+02] [-2.07169971e-01 9.78304895e-01 -3.68239592e-04 -5.44117035e+01] [-1.69046635e-03 1.84249327e-05 9.99998571e-01 -7.75711193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.37, Y:-54.43, Z:-0.78 [[ 9.79121843e-01 2.03267541e-01 1.65004056e-03 3.64373106e+02] [-2.03267210e-01 9.79123233e-01 -3.67942912e-04 -5.44253333e+01] [-1.69038390e-03 2.48618007e-05 9.99998571e-01 -7.79910750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.40, Y:-54.43, Z:-0.78 [[ 9.79471810e-01 2.01574428e-01 1.65006527e-03 3.64399192e+02] [-2.01574094e-01 9.79473200e-01 -3.67832098e-04 -5.44342609e+01] [-1.69034025e-03 2.76707597e-05 9.99998571e-01 -7.79770612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.43, Y:-54.45, Z:-0.78 [[ 9.79995823e-01 1.99011218e-01 1.65009392e-03 3.64425317e+02] [-1.99010881e-01 9.79997211e-01 -3.67703500e-04 -5.44466230e+01] [-1.69026457e-03 3.19612483e-05 9.99998571e-01 -7.80751270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.45, Y:-54.46, Z:-0.78 [[ 9.80269474e-01 1.97658886e-01 1.65016122e-03 3.64451971e+02] [-1.97658547e-01 9.80270862e-01 -3.67401232e-04 -5.44562468e+01] [-1.69022508e-03 3.39837424e-05 9.99998571e-01 -7.81781056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.48, Y:-54.47, Z:-0.78 [[ 9.80572431e-01 1.96150413e-01 1.65018785e-03 3.64477799e+02] [-1.96150072e-01 9.80573819e-01 -3.67281579e-04 -5.44656735e+01] [-1.69017344e-03 3.64617232e-05 9.99998571e-01 -7.83225528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.50, Y:-54.47, Z:-0.78 [[ 9.80815637e-01 1.94930661e-01 1.65021874e-03 3.64503338e+02] [-1.94930319e-01 9.80817025e-01 -3.67142748e-04 -5.44744030e+01] [-1.69013001e-03 3.84216828e-05 9.99998571e-01 -7.83556704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.53, Y:-54.48, Z:-0.78 [[ 9.80954797e-01 1.94229148e-01 1.65024929e-03 3.64529266e+02] [-1.94228805e-01 9.80956185e-01 -3.67005375e-04 -5.44835080e+01] [-1.69010539e-03 3.94897349e-05 9.99998571e-01 -7.83855544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.56, Y:-54.50, Z:-0.78 [[ 9.81146976e-01 1.93256015e-01 1.65027918e-03 3.64555860e+02] [-1.93255671e-01 9.81148363e-01 -3.66870939e-04 -5.44970609e+01] [-1.69006873e-03 4.10285027e-05 9.99998571e-01 -7.79541389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:-54.51, Z:-0.78 [[ 9.81306453e-01 1.92444594e-01 1.65029494e-03 3.64582206e+02] [-1.92444249e-01 9.81307840e-01 -3.66800004e-04 -5.45072504e+01] [-1.69003604e-03 4.23534394e-05 9.99998571e-01 -7.77510127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.61, Y:-54.52, Z:-0.78 [[ 9.81532472e-01 1.91288482e-01 1.65031951e-03 3.64608460e+02] [-1.91288136e-01 9.81533858e-01 -3.66689456e-04 -5.45175111e+01] [-1.68998794e-03 4.42310660e-05 9.99998571e-01 -7.76540023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.63, Y:-54.53, Z:-0.77 [[ 9.81817353e-01 1.89820865e-01 1.65034510e-03 3.64632317e+02] [-1.89820517e-01 9.81818739e-01 -3.66574219e-04 -5.45324110e+01] [-1.68992318e-03 4.66395690e-05 9.99998571e-01 -7.74749583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.66, Y:-54.54, Z:-0.77 [[ 9.81793430e-01 1.89944565e-01 1.65037474e-03 3.64657671e+02] [-1.89944217e-01 9.81794816e-01 -3.66440753e-04 -5.45426715e+01] [-1.68993279e-03 4.62899863e-05 9.99998571e-01 -7.74326708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.68, Y:-54.55, Z:-0.77 [[ 9.81604006e-01 1.90921061e-01 1.65041573e-03 3.64684408e+02] [-1.90920715e-01 9.81605392e-01 -3.66256035e-04 -5.45530779e+01] [-1.68998297e-03 4.44198395e-05 9.99998571e-01 -7.74878525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.71, Y:-54.57, Z:-0.78 [[ 9.80919928e-01 1.94405173e-01 1.65044031e-03 3.64709969e+02] [-1.94404832e-01 9.80921315e-01 -3.66145254e-04 -5.45662529e+01] [-1.69013261e-03 3.83056051e-05 9.99998571e-01 -7.78493506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:-54.58, Z:-0.78 [[ 9.80455297e-01 1.96735065e-01 1.65046137e-03 3.64735723e+02] [-1.96734727e-01 9.80456686e-01 -3.66050294e-04 -5.45752147e+01] [-1.69022081e-03 3.41928837e-05 9.99998571e-01 -7.79786714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.76, Y:-54.58, Z:-0.78 [[ 9.79983870e-01 1.99070065e-01 1.65049085e-03 3.64762808e+02] [-1.99069731e-01 9.79985259e-01 -3.65917297e-04 -5.45838961e+01] [-1.69029989e-03 3.00302788e-05 9.99998571e-01 -7.79822187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.79, Y:-54.59, Z:-0.78 [[ 9.79455688e-01 2.01652748e-01 1.65053235e-03 3.64789614e+02] [-2.01652417e-01 9.79457079e-01 -3.65730032e-04 -5.45918263e+01] [-1.69037606e-03 2.53825221e-05 9.99998571e-01 -7.78971521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.82, Y:-54.60, Z:-0.78 [[ 9.78967223e-01 2.04010911e-01 1.65055812e-03 3.64815506e+02] [-2.04010585e-01 9.78968614e-01 -3.65613674e-04 -5.45990025e+01] [-1.69043378e-03 2.11924751e-05 9.99998571e-01 -7.77780854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.84, Y:-54.61, Z:-0.78 [[ 9.78241786e-01 2.07461525e-01 1.65058795e-03 3.64842562e+02] [-2.07461204e-01 9.78243178e-01 -3.65478965e-04 -5.46064496e+01] [-1.69049923e-03 1.50938322e-05 9.99998571e-01 -7.75330383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.87, Y:-54.61, Z:-0.77 [[ 9.78063683e-01 2.08299560e-01 1.65061403e-03 3.64869162e+02] [-2.08299240e-01 9.78065076e-01 -3.65361156e-04 -5.46129914e+01] [-1.69051250e-03 1.35248308e-05 9.99998571e-01 -7.74839667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.90, Y:-54.62, Z:-0.78 [[ 9.78074493e-01 2.08248796e-01 1.65064435e-03 3.64896118e+02] [-2.08248476e-01 9.78075886e-01 -3.65224123e-04 -5.46204174e+01] [-1.69051292e-03 1.34722296e-05 9.99998571e-01 -7.76528960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.92, Y:-54.63, Z:-0.78 [[ 9.78558941e-01 2.05960372e-01 1.65066977e-03 3.64921960e+02] [-2.05960049e-01 9.78560333e-01 -3.65109202e-04 -5.46296866e+01] [-1.69047798e-03 1.73088471e-05 9.99998571e-01 -7.79659609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.95, Y:-54.64, Z:-0.78 [[ 9.78793232e-01 2.04844047e-01 1.65071051e-03 3.64949525e+02] [-2.04843723e-01 9.78794624e-01 -3.64924878e-04 -5.46365560e+01] [-1.69045927e-03 1.90483136e-05 9.99998571e-01 -7.79210903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.98, Y:-54.64, Z:-0.78 [[ 9.78970687e-01 2.03994285e-01 1.65073557e-03 3.64976024e+02] [-2.03993960e-01 9.78972079e-01 -3.64811528e-04 -5.46428834e+01] [-1.69044349e-03 2.03997075e-05 9.99998571e-01 -7.78396361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.00, Y:-54.65, Z:-0.78 [[ 9.79070257e-01 2.03515864e-01 1.65076467e-03 3.65002001e+02] [-2.03515539e-01 9.79071648e-01 -3.64679784e-04 -5.46496800e+01] [-1.69043501e-03 2.10908684e-05 9.99998571e-01 -7.78031252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.03, Y:-54.66, Z:-0.78 [[ 9.78966421e-01 2.04014757e-01 1.65079337e-03 3.65029163e+02] [-2.04014433e-01 9.78967813e-01 -3.64549805e-04 -5.46570693e+01] [-1.69044712e-03 2.00963444e-05 9.99998571e-01 -7.77753506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.06, Y:-54.66, Z:-0.78 [[ 9.77956276e-01 2.08803251e-01 1.65081820e-03 3.65055797e+02] [-2.08802933e-01 9.77957669e-01 -3.64437365e-04 -5.46633364e+01] [-1.69052602e-03 1.17081275e-05 9.99998571e-01 -7.79371571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.08, Y:-54.67, Z:-0.78 [[ 9.77249360e-01 2.12087157e-01 1.65084692e-03 3.65084030e+02] [-2.12086844e-01 9.77250755e-01 -3.64307193e-04 -5.46670563e+01] [-1.69055628e-03 5.89605741e-06 9.99998571e-01 -7.80697031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.11, Y:-54.67, Z:-0.78 [[ 9.76423578e-01 2.15857061e-01 1.65087215e-03 3.65110644e+02] [-2.15856754e-01 9.76424974e-01 -3.64192834e-04 -5.46701991e+01] [-1.69056639e-03 -7.45432537e-07 9.99998571e-01 -7.81754854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.14, Y:-54.67, Z:-0.78 [[ 9.75632429e-01 2.19405193e-01 1.65090146e-03 3.65138542e+02] [-2.19404891e-01 9.75633825e-01 -3.64059913e-04 -5.46741092e+01] [-1.69055194e-03 -7.02719850e-06 9.99998571e-01 -7.82531867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.17, Y:-54.68, Z:-0.78 [[ 9.74450294e-01 2.24597195e-01 1.65092561e-03 3.65166455e+02] [-2.24596901e-01 9.74451692e-01 -3.63950381e-04 -5.46768650e+01] [-1.69048949e-03 -1.61412192e-05 9.99998571e-01 -7.82252217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.19, Y:-54.68, Z:-0.78 [[ 9.73989659e-01 2.26586448e-01 1.65094962e-03 3.65192799e+02] [-2.26586157e-01 9.73991058e-01 -3.63841435e-04 -5.46808978e+01] [-1.69045170e-03 -1.97045343e-05 9.99998571e-01 -7.80584524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.22, Y:-54.68, Z:-0.78 [[ 9.73708368e-01 2.27792205e-01 1.65097743e-03 3.65221107e+02] [-2.27791916e-01 9.73709767e-01 -3.63715205e-04 -5.46845529e+01] [-1.69042434e-03 -2.19267729e-05 9.99998571e-01 -7.78550537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.25, Y:-54.69, Z:-0.78 [[ 9.73541540e-01 2.28504145e-01 1.65100118e-03 3.65248790e+02] [-2.28503856e-01 9.73542940e-01 -3.63607371e-04 -5.46857542e+01] [-1.69040633e-03 -2.32732557e-05 9.99998571e-01 -7.76100461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.28, Y:-54.69, Z:-0.78 [[ 9.73740043e-01 2.27656767e-01 1.65102870e-03 3.65275240e+02] [-2.27656478e-01 9.73741442e-01 -3.63482349e-04 -5.46896894e+01] [-1.69042428e-03 -2.19300599e-05 9.99998571e-01 -7.76733522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.30, Y:-54.69, Z:-0.78 [[ 9.74148238e-01 2.25903705e-01 1.65105602e-03 3.65302754e+02] [-2.25903413e-01 9.74149637e-01 -3.63358217e-04 -5.46932259e+01] [-1.69045959e-03 -1.90144231e-05 9.99998571e-01 -7.78481098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.33, Y:-54.70, Z:-0.78 [[ 9.74564183e-01 2.24102490e-01 1.65108273e-03 3.65331004e+02] [-2.24102197e-01 9.74565582e-01 -3.63236817e-04 -5.46972887e+01] [-1.69049067e-03 -1.60136735e-05 9.99998571e-01 -7.80875816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.36, Y:-54.70, Z:-0.79 [[ 9.75537809e-01 2.19825514e-01 1.65110934e-03 3.65358660e+02] [-2.19825214e-01 9.75539207e-01 -3.63115791e-04 -5.47000771e+01] [-1.69054401e-03 -8.72228148e-06 9.99998571e-01 -7.86909732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.39, Y:-54.71, Z:-0.79 [[ 9.76001422e-01 2.17757888e-01 1.65113139e-03 3.65385689e+02] [-2.17757586e-01 9.76002819e-01 -3.63015522e-04 -5.47056193e+01] [-1.69055838e-03 -5.24271919e-06 9.99998571e-01 -7.86271892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.41, Y:-54.71, Z:-0.78 [[ 9.76497339e-01 2.15523133e-01 1.65115702e-03 3.65413426e+02] [-2.15522828e-01 9.76498735e-01 -3.62898920e-04 -5.47114560e+01] [-1.69056585e-03 -1.49219907e-06 9.99998571e-01 -7.82674307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.44, Y:-54.72, Z:-0.78 [[ 9.77470367e-01 2.11066233e-01 1.65117914e-03 3.65439699e+02] [-2.11065921e-01 9.77471762e-01 -3.62798217e-04 -5.47166869e+01] [-1.69055544e-03 6.11686031e-06 9.99998571e-01 -7.77655297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.47, Y:-54.72, Z:-0.78 [[ 9.77846929e-01 2.09314730e-01 1.65120985e-03 3.65467035e+02] [-2.09314416e-01 9.77848324e-01 -3.62658389e-04 -5.47221450e+01] [-1.69054253e-03 9.00236726e-06 9.99998571e-01 -7.78931448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.49, Y:-54.73, Z:-0.78 [[ 9.78107055e-01 2.08095801e-01 1.65123547e-03 3.65494385e+02] [-2.08095486e-01 9.78108449e-01 -3.62541710e-04 -5.47281095e+01] [-1.69053077e-03 1.09899569e-05 9.99998571e-01 -7.81958830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.52, Y:-54.73, Z:-0.78 [[ 9.78363654e-01 2.06886041e-01 1.65126106e-03 3.65521602e+02] [-2.06885724e-01 9.78365047e-01 -3.62425133e-04 -5.47347715e+01] [-1.69051680e-03 1.29612377e-05 9.99998571e-01 -7.84878070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.55, Y:-54.74, Z:-0.78 [[ 9.78474189e-01 2.06362629e-01 1.65128226e-03 3.65549573e+02] [-2.06362312e-01 9.78475582e-01 -3.62328504e-04 -5.47396880e+01] [-1.69051043e-03 1.37666642e-05 9.99998571e-01 -7.83268265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.58, Y:-54.74, Z:-0.78 [[ 9.78505019e-01 2.06216394e-01 1.65130758e-03 3.65578137e+02] [-2.06216077e-01 9.78506412e-01 -3.62213065e-04 -5.47446978e+01] [-1.69050933e-03 1.39011314e-05 9.99998571e-01 -7.80899965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.61, Y:-54.75, Z:-0.78 [[ 9.78556828e-01 2.05970405e-01 1.65132441e-03 3.65605869e+02] [-2.05970087e-01 9.78558221e-01 -3.62136333e-04 -5.47495212e+01] [-1.69050644e-03 1.42475499e-05 9.99998571e-01 -7.78446426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.63, Y:-54.76, Z:-0.78 [[ 9.78770355e-01 2.04953323e-01 1.65135013e-03 3.65631830e+02] [-2.04953004e-01 9.78771748e-01 -3.62019012e-04 -5.47555839e+01] [-1.69049185e-03 1.58843077e-05 9.99998571e-01 -7.77881942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.66, Y:-54.76, Z:-0.78 [[ 9.79085051e-01 2.03444675e-01 1.65137995e-03 3.65659576e+02] [-2.03444354e-01 9.79086444e-01 -3.61882905e-04 -5.47617283e+01] [-1.69046688e-03 1.83502152e-05 9.99998571e-01 -7.80157862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.69, Y:-54.77, Z:-0.78 [[ 9.79466784e-01 2.01598841e-01 1.65140521e-03 3.65685898e+02] [-2.01598517e-01 9.79468176e-01 -3.61767626e-04 -5.47670127e+01] [-1.69043078e-03 2.14185311e-05 9.99998571e-01 -7.82855154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.71, Y:-54.77, Z:-0.78 [[ 9.79840682e-01 1.99773646e-01 1.65144994e-03 3.65713677e+02] [-1.99773321e-01 9.79842074e-01 -3.61563300e-04 -5.47723918e+01] [-1.69039096e-03 2.43587913e-05 9.99998571e-01 -7.84331763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.74, Y:-54.78, Z:-0.78 [[ 9.80351931e-01 1.97249497e-01 1.65147484e-03 3.65740798e+02] [-1.97249168e-01 9.80353322e-01 -3.61449533e-04 -5.47795022e+01] [-1.69032459e-03 2.85957094e-05 9.99998571e-01 -7.81856018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.77, Y:-54.79, Z:-0.78 [[ 9.80618259e-01 1.95921163e-01 1.65149541e-03 3.65767895e+02] [-1.95920832e-01 9.80619650e-01 -3.61355523e-04 -5.47864488e+01] [-1.69028605e-03 3.07894688e-05 9.99998571e-01 -7.80762335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.79, Y:-54.79, Z:-0.78 [[ 9.80823852e-01 1.94889311e-01 1.65152086e-03 3.65793802e+02] [-1.94888979e-01 9.80825242e-01 -3.61239169e-04 -5.47930852e+01] [-1.69025500e-03 3.24487784e-05 9.99998571e-01 -7.81284794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.82, Y:-54.80, Z:-0.78 [[ 9.80905245e-01 1.94479234e-01 1.65155046e-03 3.65819829e+02] [-1.94478902e-01 9.80906635e-01 -3.61103825e-04 -5.47990416e+01] [-1.69024399e-03 3.30169175e-05 9.99998571e-01 -7.83310074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.85, Y:-54.81, Z:-0.79 [[ 9.80750875e-01 1.95256224e-01 1.65157971e-03 3.65847435e+02] [-1.95255893e-01 9.80752265e-01 -3.60969952e-04 -5.48057002e+01] [-1.69027218e-03 3.15409242e-05 9.99998571e-01 -7.89226426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.87, Y:-54.81, Z:-0.79 [[ 9.80612981e-01 1.95947581e-01 1.65159581e-03 3.65873526e+02] [-1.95947251e-01 9.80614371e-01 -3.60896281e-04 -5.48112748e+01] [-1.69029534e-03 3.02739189e-05 9.99998571e-01 -7.88969331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.90, Y:-54.82, Z:-0.79 [[ 9.80516366e-01 1.96430466e-01 1.65163870e-03 3.65902216e+02] [-1.96430137e-01 9.80517757e-01 -3.60699915e-04 -5.48173247e+01] [-1.69031352e-03 2.92405547e-05 9.99998571e-01 -7.86466032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.93, Y:-54.82, Z:-0.78 [[ 9.80424117e-01 1.96890382e-01 1.65165545e-03 3.65929320e+02] [-1.96890054e-01 9.80425508e-01 -3.60623194e-04 -5.48229460e+01] [-1.69032837e-03 2.83691459e-05 9.99998571e-01 -7.83702506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.96, Y:-54.83, Z:-0.78 [[ 9.80437745e-01 1.96822508e-01 1.65167632e-03 3.65957189e+02] [-1.96822180e-01 9.80439136e-01 -3.60527594e-04 -5.48288883e+01] [-1.69032805e-03 2.83883287e-05 9.99998571e-01 -7.83750677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.98, Y:-54.84, Z:-0.78 [[ 9.80508049e-01 1.96471979e-01 1.65170127e-03 3.65983743e+02] [-1.96471651e-01 9.80509439e-01 -3.60413247e-04 -5.48355857e+01] [-1.69031979e-03 2.88756154e-05 9.99998571e-01 -7.83522915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2257692310001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:366.01, Y:-54.84, Z:-0.79 [[ 9.80700077e-01 1.95511205e-01 1.65173021e-03 3.66010674e+02] [-1.95510875e-01 9.80701467e-01 -3.60280537e-04 -5.48424872e+01] [-1.69029313e-03 3.03959306e-05 9.99998571e-01 -7.85436869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.04, Y:-54.85, Z:-0.79 [[ 9.81080896e-01 1.93591187e-01 1.65175544e-03 3.66037365e+02] [-1.93590855e-01 9.81082286e-01 -3.60164829e-04 -5.48503811e+01] [-1.69023274e-03 3.35860847e-05 9.99998571e-01 -7.90769301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.06, Y:-54.86, Z:-0.79 [[ 9.81190873e-01 1.93033008e-01 1.65177638e-03 3.66063339e+02] [-1.93032675e-01 9.81192263e-01 -3.60068772e-04 -5.48574593e+01] [-1.69021537e-03 3.44493792e-05 9.99998571e-01 -7.91336572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.09, Y:-54.86, Z:-0.79 [[ 9.81250795e-01 1.92728176e-01 1.65180474e-03 3.66090011e+02] [-1.92727843e-01 9.81252184e-01 -3.59938636e-04 -5.48644982e+01] [-1.69020733e-03 3.48413087e-05 9.99998571e-01 -7.89877999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.12, Y:-54.87, Z:-0.79 [[ 9.81110299e-01 1.93442115e-01 1.65183006e-03 3.66116819e+02] [-1.93441783e-01 9.81111689e-01 -3.59822405e-04 -5.48715093e+01] [-1.69023459e-03 3.34925156e-05 9.99998571e-01 -7.88141410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.14, Y:-54.88, Z:-0.79 [[ 9.80820012e-01 1.94908632e-01 1.65185536e-03 3.66142993e+02] [-1.94908302e-01 9.80821403e-01 -3.59706236e-04 -5.48782026e+01] [-1.69028494e-03 3.08467523e-05 9.99998571e-01 -7.87573562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.17, Y:-54.89, Z:-0.79 [[ 9.80047000e-01 1.98759022e-01 1.65188053e-03 3.66170176e+02] [-1.98758698e-01 9.80048392e-01 -3.59590584e-04 -5.48872025e+01] [-1.69039473e-03 2.40900489e-05 9.99998571e-01 -7.87281431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.20, Y:-54.89, Z:-0.79 [[ 9.79803049e-01 1.99958134e-01 1.65189744e-03 3.66196997e+02] [-1.99957812e-01 9.79804442e-01 -3.59512903e-04 -5.48946545e+01] [-1.69042398e-03 2.19420406e-05 9.99998571e-01 -7.87342477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.22, Y:-54.90, Z:-0.79 [[ 9.79664889e-01 2.00633936e-01 1.65191845e-03 3.66223720e+02] [-2.00633615e-01 9.79666282e-01 -3.59416349e-04 -5.49024315e+01] [-1.69043992e-03 2.06772088e-05 9.99998571e-01 -7.85960332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.25, Y:-54.91, Z:-0.78 [[ 9.79652842e-01 2.00692749e-01 1.65193868e-03 3.66251521e+02] [-2.00692429e-01 9.79654235e-01 -3.59323316e-04 -5.49123411e+01] [-1.69044231e-03 2.04805212e-05 9.99998571e-01 -7.83266449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:-54.92, Z:-0.78 [[ 9.79687091e-01 2.00525495e-01 1.65195556e-03 3.66277425e+02] [-2.00525175e-01 9.79688484e-01 -3.59245702e-04 -5.49207175e+01] [-1.69043976e-03 2.06896997e-05 9.99998571e-01 -7.82655482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.30, Y:-54.93, Z:-0.78 [[ 9.79708714e-01 2.00419824e-01 1.65198493e-03 3.66304175e+02] [-2.00419504e-01 9.79710107e-01 -3.59110601e-04 -5.49302510e+01] [-1.69043922e-03 2.07337858e-05 9.99998571e-01 -7.82317668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.33, Y:-54.94, Z:-0.78 [[ 9.79669062e-01 2.00613557e-01 1.65200931e-03 3.66330065e+02] [-2.00613237e-01 9.79670455e-01 -3.58998402e-04 -5.49394011e+01] [-1.69044466e-03 2.02846923e-05 9.99998571e-01 -7.81962552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.36, Y:-54.95, Z:-0.78 [[ 9.79377243e-01 2.02033378e-01 1.65203769e-03 3.66356911e+02] [-2.02033060e-01 9.79378637e-01 -3.58867764e-04 -5.49492957e+01] [-1.69047369e-03 1.77006925e-05 9.99998571e-01 -7.81117071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.38, Y:-54.96, Z:-0.78 [[ 9.79229758e-01 2.02747015e-01 1.65206280e-03 3.66383899e+02] [-2.02746698e-01 9.79231151e-01 -3.58752138e-04 -5.49564001e+01] [-1.69048728e-03 1.63504921e-05 9.99998571e-01 -7.81415306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:-54.96, Z:-0.78 [[ 9.78987759e-01 2.03912330e-01 1.65208796e-03 3.66409522e+02] [-2.03912015e-01 9.78989153e-01 -3.58636225e-04 -5.49638616e+01] [-1.69050654e-03 1.42198893e-05 9.99998571e-01 -7.83348511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.44, Y:-54.97, Z:-0.78 [[ 9.78597023e-01 2.05779340e-01 1.65211716e-03 3.66436024e+02] [-2.05779028e-01 9.78598418e-01 -3.58501677e-04 -5.49725056e+01] [-1.69053147e-03 1.08576121e-05 9.99998571e-01 -7.84720356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73576923100006 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:366.46, Y:-54.98, Z:-0.79 [[ 9.77703640e-01 2.09983007e-01 1.65214195e-03 3.66462661e+02] [-2.09982701e-01 9.77705036e-01 -3.58387362e-04 -5.49819558e+01] [-1.69056276e-03 3.47539897e-06 9.99998571e-01 -7.87206834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:366.49, Y:-54.99, Z:-0.79 [[ 9.77283282e-01 2.11930783e-01 1.65216249e-03 3.66489739e+02] [-2.11930480e-01 9.77284679e-01 -3.58292681e-04 -5.49885059e+01] [-1.69056633e-03 9.85756680e-09 9.99998571e-01 -7.87255613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79576923100007 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:366.52, Y:-55.00, Z:-0.79 [[ 9.76406350e-01 2.15934967e-01 1.65218789e-03 3.66515682e+02] [-2.15934670e-01 9.76407748e-01 -3.58175512e-04 -5.49952429e+01] [-1.69055167e-03 -7.03980125e-06 9.99998571e-01 -7.88528770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82576923100004 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:366.54, Y:-55.00, Z:-0.79 [[ 9.76074875e-01 2.17428397e-01 1.65222540e-03 3.66541560e+02] [-2.17428103e-01 9.76076274e-01 -3.58002387e-04 -5.50021939e+01] [-1.69053790e-03 -9.80309892e-06 9.99998571e-01 -7.88899969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85576923100007 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:366.57, Y:-55.01, Z:-0.79 [[ 9.75817513e-01 2.18580537e-01 1.65226244e-03 3.66569042e+02] [-2.18580244e-01 9.75818912e-01 -3.57831383e-04 -5.50096040e+01] [-1.69052391e-03 -1.19737961e-05 9.99998571e-01 -7.88684632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88576923100004 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:366.60, Y:-55.02, Z:-0.79 [[ 9.75634486e-01 2.19396035e-01 1.65228721e-03 3.66595743e+02] [-2.19395744e-01 9.75635885e-01 -3.57716957e-04 -5.50156613e+01] [-1.69051237e-03 -1.35037811e-05 9.99998571e-01 -7.89463463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91576923100007 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:366.62, Y:-55.02, Z:-0.79 [[ 9.75296192e-01 2.20895017e-01 1.65231595e-03 3.66623004e+02] [-2.20894728e-01 9.75297591e-01 -3.57584155e-04 -5.50200410e+01] [-1.69048832e-03 -1.62374177e-05 9.99998571e-01 -7.89759112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94576923100004 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:366.65, Y:-55.02, Z:-0.79 [[ 9.75037584e-01 2.22033737e-01 1.65234035e-03 3.66649454e+02] [-2.22033450e-01 9.75038984e-01 -3.57471348e-04 -5.50249681e+01] [-1.69046696e-03 -1.83268292e-05 9.99998571e-01 -7.90320669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9757692310001 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:366.68, Y:-55.03, Z:-0.79 [[ 9.74734715e-01 2.23359588e-01 1.65237622e-03 3.66676891e+02] [-2.23359303e-01 9.74736115e-01 -3.57305479e-04 -5.50306421e+01] [-1.69043838e-03 -2.07955465e-05 9.99998571e-01 -7.90264931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00576923100004 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:366.71, Y:-55.04, Z:-0.79 [[ 9.74429659e-01 2.24686691e-01 1.65240040e-03 3.66705681e+02] [-2.24686408e-01 9.74431060e-01 -3.57193610e-04 -5.50361080e+01] [-1.69040693e-03 -2.32118639e-05 9.99998571e-01 -7.89034474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0357692310001 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:366.73, Y:-55.04, Z:-0.79 [[ 9.73774249e-01 2.27510397e-01 1.65241648e-03 3.66733343e+02] [-2.27510118e-01 9.73775651e-01 -3.57119205e-04 -5.50378843e+01] [-1.69033127e-03 -2.81879833e-05 9.99998571e-01 -7.85377896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06576923100005 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:366.76, Y:-55.04, Z:-0.78 [[ 9.73522535e-01 2.28585089e-01 1.65244526e-03 3.66761690e+02] [-2.28584812e-01 9.73523937e-01 -3.56986000e-04 -5.50412984e+01] [-1.69029669e-03 -3.01899744e-05 9.99998571e-01 -7.84499660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0957692310001 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:366.79, Y:-55.05, Z:-0.78 [[ 9.73333827e-01 2.29387293e-01 1.65246909e-03 3.66788560e+02] [-2.29387018e-01 9.73335229e-01 -3.56875678e-04 -5.50452207e+01] [-1.69026912e-03 -3.16957865e-05 9.99998571e-01 -7.83646936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12576923100005 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:366.82, Y:-55.05, Z:-0.78 [[ 9.73204079e-01 2.29937145e-01 1.65251110e-03 3.66816456e+02] [-2.29936870e-01 9.73205481e-01 -3.56681029e-04 -5.50476789e+01] [-1.69024708e-03 -3.28497979e-05 9.99998571e-01 -7.80945876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1557692310001 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:366.84, Y:-55.05, Z:-0.78 [[ 9.73158142e-01 2.30131486e-01 1.65253525e-03 3.66843669e+02] [-2.30131212e-01 9.73159544e-01 -3.56569092e-04 -5.50508040e+01] [-1.69023823e-03 -3.33018249e-05 9.99998571e-01 -7.79886996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18576923100005 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:366.87, Y:-55.05, Z:-0.78 [[ 9.73126296e-01 2.30266111e-01 1.65256324e-03 3.66871687e+02] [-2.30265838e-01 9.73127698e-01 -3.56439309e-04 -5.50535927e+01] [-1.69023096e-03 -3.36683958e-05 9.99998571e-01 -7.80082742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2157692310001 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:366.90, Y:-55.06, Z:-0.78 [[ 9.73059869e-01 2.30546655e-01 1.65258736e-03 3.66899289e+02] [-2.30546382e-01 9.73061272e-01 -3.56327457e-04 -5.50569747e+01] [-1.69021886e-03 -3.42700889e-05 9.99998571e-01 -7.80619814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24576923100005 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:366.93, Y:-55.06, Z:-0.78 [[ 9.73041769e-01 2.30623037e-01 1.65261218e-03 3.66927158e+02] [-2.30622764e-01 9.73043172e-01 -3.56212338e-04 -5.50599335e+01] [-1.69021376e-03 -3.45205051e-05 9.99998571e-01 -7.80021910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2757692310001 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:366.95, Y:-55.06, Z:-0.78 [[ 9.73103739e-01 2.30361417e-01 1.65263845e-03 3.66953884e+02] [-2.30361144e-01 9.73105142e-01 -3.56090402e-04 -5.50645514e+01] [-1.69022046e-03 -3.41907820e-05 9.99998571e-01 -7.79106072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30576923100006 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:366.98, Y:-55.07, Z:-0.78 [[ 9.73381876e-01 2.29183317e-01 1.65268160e-03 3.66980760e+02] [-2.29183043e-01 9.73383278e-01 -3.55890023e-04 -5.50689398e+01] [-1.69025669e-03 -3.23497002e-05 9.99998571e-01 -7.78731335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.33576923100003 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:367.01, Y:-55.07, Z:-0.78 [[ 9.74232339e-01 2.25540726e-01 1.65272432e-03 3.67007956e+02] [-2.25540447e-01 9.74233740e-01 -3.55691508e-04 -5.50728525e+01] [-1.69036272e-03 -2.62300116e-05 9.99998571e-01 -7.79670716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36576923100006 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:367.04, Y:-55.08, Z:-0.78 [[ 9.74697547e-01 2.23521723e-01 1.65275097e-03 3.67035118e+02] [-2.23521441e-01 9.74698948e-01 -3.55567655e-04 -5.50789771e+01] [-1.69041172e-03 -2.28543563e-05 9.99998571e-01 -7.79333191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39576923100003 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:367.06, Y:-55.09, Z:-0.78 [[ 9.75149316e-01 2.21542501e-01 1.65277487e-03 3.67062730e+02] [-2.21542217e-01 9.75150716e-01 -3.55456528e-04 -5.50853951e+01] [-1.69045332e-03 -1.95362180e-05 9.99998571e-01 -7.79334517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42576923100006 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:367.09, Y:-55.09, Z:-0.78 [[ 9.75401475e-01 2.20429653e-01 1.65279960e-03 3.67089544e+02] [-2.20429367e-01 9.75402875e-01 -3.55341497e-04 -5.50914330e+01] [-1.69047328e-03 -1.77249491e-05 9.99998571e-01 -7.79703063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45576923100003 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:367.12, Y:-55.10, Z:-0.78 [[ 9.75513324e-01 2.19934135e-01 1.65282836e-03 3.67117360e+02] [-2.19933849e-01 9.75514724e-01 -3.55207642e-04 -5.50973474e+01] [-1.69048069e-03 -1.70031165e-05 9.99998571e-01 -7.81157093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48576923100006 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:367.14, Y:-55.10, Z:-0.78 [[ 9.75435726e-01 2.20278034e-01 1.65285198e-03 3.67143999e+02] [-2.20277749e-01 9.75437126e-01 -3.55097732e-04 -5.51040583e+01] [-1.69047341e-03 -1.77114980e-05 9.99998571e-01 -7.84440603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51576923100004 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:367.17, Y:-55.11, Z:-0.79 [[ 9.75244921e-01 2.21121263e-01 1.65287940e-03 3.67170885e+02] [-2.21120979e-01 9.75246321e-01 -3.54970045e-04 -5.51103421e+01] [-1.69045598e-03 -1.93035771e-05 9.99998571e-01 -7.85638346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54576923100007 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:367.20, Y:-55.12, Z:-0.79 [[ 9.74429847e-01 2.24685870e-01 1.65290448e-03 3.67199145e+02] [-2.24685592e-01 9.74431249e-01 -3.54853215e-04 -5.51151097e+01] [-1.69037228e-03 -2.56042568e-05 9.99998571e-01 -7.88070809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57576923100004 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:367.23, Y:-55.12, Z:-0.79 [[ 9.73816123e-01 2.27331095e-01 1.65292113e-03 3.67226228e+02] [-2.27330820e-01 9.73817525e-01 -3.54775652e-04 -5.51198845e+01] [-1.69029510e-03 -3.02736658e-05 9.99998571e-01 -7.91419049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60576923100007 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:367.25, Y:-55.13, Z:-0.79 [[ 9.73218288e-01 2.29876993e-01 1.65294179e-03 3.67254066e+02] [-2.29876722e-01 9.73219691e-01 -3.54679356e-04 -5.51254319e+01] [-1.69020812e-03 -3.47924046e-05 9.99998571e-01 -7.92089571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63576923100004 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:367.28, Y:-55.13, Z:-0.79 [[ 9.72608397e-01 2.32443914e-01 1.65295837e-03 3.67280213e+02] [-2.32443647e-01 9.72609801e-01 -3.54602095e-04 -5.51307894e+01] [-1.69010861e-03 -3.93306950e-05 9.99998571e-01 -7.91869872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66576923100007 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:367.31, Y:-55.13, Z:-0.79 [[ 9.71369608e-01 2.37567574e-01 1.65298721e-03 3.67309423e+02] [-2.37567315e-01 9.71371013e-01 -3.54467595e-04 -5.51339982e+01] [-1.68987387e-03 -4.83766829e-05 9.99998571e-01 -7.87353537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69576923100004 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:367.34, Y:-55.14, Z:-0.79 [[ 9.70678888e-01 2.40374216e-01 1.65300348e-03 3.67337933e+02] [-2.40373961e-01 9.70680294e-01 -3.54391708e-04 -5.51369187e+01] [-1.68972453e-03 -5.33384439e-05 9.99998571e-01 -7.85565189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7257692310001 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:367.36, Y:-55.14, Z:-0.79 [[ 9.70022464e-01 2.43009645e-01 1.65302837e-03 3.67364888e+02] [-2.43009394e-01 9.70023870e-01 -3.54275561e-04 -5.51391904e+01] [-1.68956936e-03 -5.80461705e-05 9.99998571e-01 -7.85329626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75576923100004 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:367.39, Y:-55.14, Z:-0.79 [[ 9.69464055e-01 2.45227882e-01 1.65305724e-03 3.67391926e+02] [-2.45227634e-01 9.69465462e-01 -3.54140808e-04 -5.51413355e+01] [-1.68942710e-03 -6.20485328e-05 9.99998571e-01 -7.85932092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7857692310001 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:367.42, Y:-55.14, Z:-0.79 [[ 9.68699719e-01 2.48229979e-01 1.65308511e-03 3.67421122e+02] [-2.48229736e-01 9.68701127e-01 -3.54010683e-04 -5.51396018e+01] [-1.68922147e-03 -6.74148297e-05 9.99998571e-01 -7.85719993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81576923100005 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:367.45, Y:-55.14, Z:-0.78 [[ 9.68648357e-01 2.48430328e-01 1.65310969e-03 3.67449601e+02] [-2.48430085e-01 9.68649765e-01 -3.53895834e-04 -5.51416050e+01] [-1.68920277e-03 -6.78815627e-05 9.99998571e-01 -7.83645783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8457692310001 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:367.48, Y:-55.14, Z:-0.78 [[ 9.68892096e-01 2.47478025e-01 1.65313009e-03 3.67476986e+02] [-2.47477781e-01 9.68893504e-01 -3.53800545e-04 -5.51435840e+01] [-1.68926486e-03 -6.63184133e-05 9.99998571e-01 -7.82231557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87576923100005 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:367.51, Y:-55.14, Z:-0.78 [[ 9.69891508e-01 2.43531782e-01 1.65315815e-03 3.67506088e+02] [-2.43531532e-01 9.69892916e-01 -3.53669366e-04 -5.51422111e+01] [-1.68951611e-03 -5.95752232e-05 9.99998571e-01 -7.82668010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9057692310001 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:367.53, Y:-55.14, Z:-0.78 [[ 9.70514631e-01 2.41036549e-01 1.65322202e-03 3.67533591e+02] [-2.41036297e-01 9.70516037e-01 -3.53370574e-04 -5.51434305e+01] [-1.68965370e-03 -5.55351996e-05 9.99998571e-01 -7.83138153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93576923100005 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:367.56, Y:-55.15, Z:-0.78 [[ 9.71098605e-01 2.38672928e-01 1.65324982e-03 3.67561730e+02] [-2.38672673e-01 9.71100011e-01 -3.53240445e-04 -5.51451370e+01] [-1.68977985e-03 -5.15542499e-05 9.99998571e-01 -7.81439623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9657692310001 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:367.59, Y:-55.15, Z:-0.78 [[ 9.71728433e-01 2.36095572e-01 1.65330908e-03 3.67589461e+02] [-2.36095313e-01 9.71729838e-01 -3.52962850e-04 -5.51470647e+01] [-1.68990273e-03 -4.73544876e-05 9.99998571e-01 -7.78781203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99576923100005 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:367.62, Y:-55.15, Z:-0.78 [[ 9.73024698e-01 2.30695045e-01 1.65337281e-03 3.67617442e+02] [-2.30694778e-01 9.73026102e-01 -3.52664079e-04 -5.51459043e+01] [-1.69013276e-03 -3.82736153e-05 9.99998571e-01 -7.78329379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0257692310001 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:367.65, Y:-55.15, Z:-0.78 [[ 9.73777100e-01 2.27498190e-01 1.65340051e-03 3.67645867e+02] [-2.27497920e-01 9.73778503e-01 -3.52534153e-04 -5.51482361e+01] [-1.69024676e-03 -3.28554923e-05 9.99998571e-01 -7.80673754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05576923100006 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:367.67, Y:-55.15, Z:-0.78 [[ 9.73817877e-01 2.27323577e-01 1.65346373e-03 3.67673766e+02] [-2.27323306e-01 9.73819280e-01 -3.52237413e-04 -5.51539627e+01] [-1.69024673e-03 -3.28557515e-05 9.99998571e-01 -7.80721906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.08576923100003 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:367.70, Y:-55.16, Z:-0.78 [[ 9.74535278e-01 2.24228137e-01 1.65352683e-03 3.67700771e+02] [-2.24227863e-01 9.74536681e-01 -3.51940917e-04 -5.51558956e+01] [-1.69033761e-03 -2.77879490e-05 9.99998571e-01 -7.82580678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11576923100006 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:367.73, Y:-55.16, Z:-0.78 [[ 9.76043994e-01 2.17566974e-01 1.65355426e-03 3.67728725e+02] [-2.17566691e-01 9.76045394e-01 -3.51812016e-04 -5.51565354e+01] [-1.69048669e-03 -1.63743234e-05 9.99998571e-01 -7.83280677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14576923100003 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:367.76, Y:-55.16, Z:-0.78 [[ 9.76925443e-01 2.13574214e-01 1.65358150e-03 3.67756616e+02] [-2.13573924e-01 9.76926842e-01 -3.51683943e-04 -5.51611898e+01] [-1.69053877e-03 -9.59289856e-06 9.99998571e-01 -7.82442870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17576923100006 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:367.78, Y:-55.17, Z:-0.78 [[ 9.77780448e-01 2.09625050e-01 1.65364370e-03 3.67784448e+02] [-2.09624756e-01 9.77781846e-01 -3.51391230e-04 -5.51663281e+01] [-1.69056319e-03 -3.06118162e-06 9.99998571e-01 -7.80676575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20576923100003 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:367.81, Y:-55.17, Z:-0.78 [[ 9.78642832e-01 2.05561358e-01 1.65366802e-03 3.67811250e+02] [-2.05561058e-01 9.78644230e-01 -3.51276748e-04 -5.51710454e+01] [-1.69056159e-03 3.84472426e-06 9.99998571e-01 -7.78453119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23576923100006 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:367.84, Y:-55.18, Z:-0.78 [[ 9.79960731e-01 1.99183911e-01 1.65369607e-03 3.67837892e+02] [-1.99183602e-01 9.79962126e-01 -3.51144646e-04 -5.51754209e+01] [-1.69050188e-03 1.47188237e-05 9.99998571e-01 -7.77721611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26576923100004 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:367.86, Y:-55.18, Z:-0.78 [[ 9.80432061e-01 1.96850802e-01 1.65372268e-03 3.67863908e+02] [-1.96850490e-01 9.80433456e-01 -3.51019284e-04 -5.51808051e+01] [-1.69046347e-03 1.86144420e-05 9.99998571e-01 -7.80461028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29576923100007 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:367.89, Y:-55.19, Z:-0.78 [[ 9.80748308e-01 1.95269099e-01 1.65374898e-03 3.67891595e+02] [-1.95268785e-01 9.80749702e-01 -3.50895325e-04 -5.51869012e+01] [-1.69043283e-03 2.12144432e-05 9.99998571e-01 -7.83330870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32576923100004 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:367.92, Y:-55.19, Z:-0.78 [[ 9.80917856e-01 1.94415597e-01 1.65377136e-03 3.67918308e+02] [-1.94415282e-01 9.80919250e-01 -3.50789827e-04 -5.51929044e+01] [-1.69041517e-03 2.25775817e-05 9.99998571e-01 -7.83141743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35576923100007 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:367.95, Y:-55.20, Z:-0.78 [[ 9.80865103e-01 1.94681570e-01 1.65381209e-03 3.67945979e+02] [-1.94681256e-01 9.80866497e-01 -3.50597682e-04 -5.51991155e+01] [-1.69042378e-03 2.19228163e-05 9.99998571e-01 -7.81146987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38576923100004 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:367.97, Y:-55.21, Z:-0.78 [[ 9.80794057e-01 1.95039185e-01 1.65383536e-03 3.67971896e+02] [-1.95038871e-01 9.80795451e-01 -3.50487864e-04 -5.52056385e+01] [-1.69043307e-03 2.11942322e-05 9.99998571e-01 -7.80384870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41576923100007 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:368.00, Y:-55.21, Z:-0.78 [[ 9.80831763e-01 1.94849472e-01 1.65386238e-03 3.67998743e+02] [-1.94849158e-01 9.80833158e-01 -3.50360349e-04 -5.52120843e+01] [-1.69043059e-03 2.13908679e-05 9.99998571e-01 -7.81708673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44576923100004 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:368.03, Y:-55.22, Z:-0.79 [[ 9.81092360e-01 1.93533061e-01 1.65388450e-03 3.68025622e+02] [-1.93532745e-01 9.81093754e-01 -3.50255883e-04 -5.52195267e+01] [-1.69040185e-03 2.35525634e-05 9.99998571e-01 -7.87526589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4757692310001 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:368.05, Y:-55.23, Z:-0.79 [[ 9.81279997e-01 1.92579419e-01 1.65390748e-03 3.68052870e+02] [-1.92579102e-01 9.81281390e-01 -3.50147317e-04 -5.52268594e+01] [-1.69037980e-03 2.50845400e-05 9.99998571e-01 -7.87987994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50576923100004 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:368.08, Y:-55.24, Z:-0.79 [[ 9.81531175e-01 1.91295105e-01 1.65393141e-03 3.68080030e+02] [-1.91294787e-01 9.81532568e-01 -3.50034273e-04 -5.52352186e+01] [-1.69034739e-03 2.71810949e-05 9.99998571e-01 -7.86780950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5357692310001 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:368.11, Y:-55.24, Z:-0.78 [[ 9.81831821e-01 1.89745989e-01 1.65395585e-03 3.68107221e+02] [-1.89745669e-01 9.81833213e-01 -3.49918753e-04 -5.52432638e+01] [-1.69030447e-03 2.97304072e-05 9.99998571e-01 -7.84172998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56576923100005 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:368.13, Y:-55.25, Z:-0.78 [[ 9.82080360e-01 1.88455380e-01 1.65398147e-03 3.68133349e+02] [-1.88455058e-01 9.82081753e-01 -3.49797594e-04 -5.52517946e+01] [-1.69026626e-03 3.18281722e-05 9.99998571e-01 -7.82558462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5957692310001 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:368.16, Y:-55.26, Z:-0.78 [[ 9.82022263e-01 1.88757884e-01 1.65402768e-03 3.68160970e+02] [-1.88757562e-01 9.82023656e-01 -3.49578983e-04 -5.52585192e+01] [-1.69028009e-03 3.10841120e-05 9.99998571e-01 -7.84270123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62576923100005 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:368.19, Y:-55.27, Z:-0.79 [[ 9.81832202e-01 1.89744014e-01 1.65405226e-03 3.68189129e+02] [-1.89743695e-01 9.81833595e-01 -3.49462620e-04 -5.52657617e+01] [-1.69031252e-03 2.92676668e-05 9.99998571e-01 -7.86860732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6557692310001 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:368.22, Y:-55.27, Z:-0.79 [[ 9.81182483e-01 1.93075630e-01 1.65406455e-03 3.68215241e+02] [-1.93075315e-01 9.81183877e-01 -3.49404429e-04 -5.52746696e+01] [-1.69040295e-03 2.34704700e-05 9.99998571e-01 -7.89399117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68576923100005 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:368.24, Y:-55.28, Z:-0.79 [[ 9.80874935e-01 1.94632025e-01 1.65408504e-03 3.68242495e+02] [-1.94631713e-01 9.80876330e-01 -3.49307402e-04 -5.52817271e+01] [-1.69043927e-03 2.06894702e-05 9.99998571e-01 -7.88220356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7157692310001 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:368.27, Y:-55.29, Z:-0.79 [[ 9.80612613e-01 1.95949398e-01 1.65410528e-03 3.68270613e+02] [-1.95949087e-01 9.80614008e-01 -3.49211524e-04 -5.52893135e+01] [-1.69046660e-03 1.83208041e-05 9.99998571e-01 -7.86202044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74576923100005 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:368.30, Y:-55.30, Z:-0.78 [[ 9.80431531e-01 1.96853439e-01 1.65412159e-03 3.68297225e+02] [-1.96853130e-01 9.80432926e-01 -3.49134251e-04 -5.52964701e+01] [-1.69048355e-03 1.66832142e-05 9.99998571e-01 -7.84744485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7757692310001 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:368.32, Y:-55.31, Z:-0.79 [[ 9.80136031e-01 1.98319503e-01 1.65414598e-03 3.68324366e+02] [-1.98319197e-01 9.80137426e-01 -3.49018685e-04 -5.53063569e+01] [-1.69050759e-03 1.40368868e-05 9.99998571e-01 -7.88332079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80576923100006 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:368.35, Y:-55.31, Z:-0.79 [[ 9.80018545e-01 1.98899257e-01 1.65416235e-03 3.68351814e+02] [-1.98898952e-01 9.80019941e-01 -3.48941064e-04 -5.53138622e+01] [-1.69051621e-03 1.29575555e-05 9.99998571e-01 -7.90685457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.83576923100003 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:368.38, Y:-55.32, Z:-0.79 [[ 9.79887623e-01 1.99543252e-01 1.65417931e-03 3.68378928e+02] [-1.99542947e-01 9.79889019e-01 -3.48860659e-04 -5.53205615e+01] [-1.69052493e-03 1.17644267e-05 9.99998571e-01 -7.93096645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86576923100006 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:368.41, Y:-55.33, Z:-0.79 [[ 9.79509503e-01 2.01391156e-01 1.65420042e-03 3.68406050e+02] [-2.01390854e-01 9.79510899e-01 -3.48760518e-04 -5.53270828e+01] [-1.69054463e-03 8.47340495e-06 9.99998571e-01 -7.90146155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89576923100003 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:368.43, Y:-55.33, Z:-0.79 [[ 9.79316569e-01 2.02327264e-01 1.65422071e-03 3.68434191e+02] [-2.02326963e-01 9.79317966e-01 -3.48664286e-04 -5.53339074e+01] [-1.69055235e-03 6.75925967e-06 9.99998571e-01 -7.87944593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92576923100006 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:368.46, Y:-55.34, Z:-0.79 [[ 9.79115620e-01 2.03297484e-01 1.65423689e-03 3.68461307e+02] [-2.03297185e-01 9.79117017e-01 -3.48587487e-04 -5.53414237e+01] [-1.69055845e-03 5.00574981e-06 9.99998571e-01 -7.87178543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95576923100003 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:368.49, Y:-55.35, Z:-0.79 [[ 9.79087233e-01 2.03434149e-01 1.65426134e-03 3.68487303e+02] [-2.03433851e-01 9.79088631e-01 -3.48471421e-04 -5.53473843e+01] [-1.69055946e-03 4.65116529e-06 9.99998571e-01 -7.88145965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98576923100006 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:368.51, Y:-55.35, Z:-0.79 [[ 9.79196305e-01 2.02908501e-01 1.65428978e-03 3.68514515e+02] [-2.02908202e-01 9.79197702e-01 -3.48336327e-04 -5.53534349e+01] [-1.69055716e-03 5.42067830e-06 9.99998571e-01 -7.88552478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01576923100004 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:368.54, Y:-55.36, Z:-0.79 [[ 9.79623929e-01 2.00833816e-01 1.65431429e-03 3.68540255e+02] [-2.00833514e-01 9.79625325e-01 -3.48219913e-04 -5.53607294e+01] [-1.69054251e-03 8.88280688e-06 9.99998571e-01 -7.88492713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04576923100007 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:368.57, Y:-55.37, Z:-0.79 [[ 9.79868391e-01 1.99637672e-01 1.65434266e-03 3.68568587e+02] [-1.99637369e-01 9.79869787e-01 -3.48085064e-04 -5.53676526e+01] [-1.69053128e-03 1.08089351e-05 9.99998571e-01 -7.86944531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07576923100004 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:368.60, Y:-55.37, Z:-0.78 [[ 9.80202709e-01 1.97989679e-01 1.65435916e-03 3.68595670e+02] [-1.97989374e-01 9.80204105e-01 -3.48006639e-04 -5.53745047e+01] [-1.69051136e-03 1.35715165e-05 9.99998571e-01 -7.84924200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10576923100007 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:368.62, Y:-55.38, Z:-0.78 [[ 9.80693297e-01 1.95545187e-01 1.65438396e-03 3.68621918e+02] [-1.95544878e-01 9.80694692e-01 -3.47888675e-04 -5.53833755e+01] [-1.69047353e-03 1.76657811e-05 9.99998571e-01 -7.82481702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13576923100004 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:368.65, Y:-55.39, Z:-0.78 [[ 9.80868511e-01 1.94664394e-01 1.65440868e-03 3.68647797e+02] [-1.94664084e-01 9.80869906e-01 -3.47771104e-04 -5.53905633e+01] [-1.69045834e-03 1.90637743e-05 9.99998571e-01 -7.84099654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16576923100007 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:368.67, Y:-55.40, Z:-0.79 [[ 9.80997703e-01 1.94012291e-01 1.65443740e-03 3.68674388e+02] [-1.94011981e-01 9.80999098e-01 -3.47634423e-04 -5.53985083e+01] [-1.69044695e-03 2.00478932e-05 9.99998571e-01 -7.86577355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19576923100004 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:368.70, Y:-55.41, Z:-0.79 [[ 9.81133237e-01 1.93325718e-01 1.65446225e-03 3.68699958e+02] [-1.93325407e-01 9.81134632e-01 -3.47516124e-04 -5.54061280e+01] [-1.69043401e-03 2.11100324e-05 9.99998571e-01 -7.88417779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2257692310001 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:368.73, Y:-55.41, Z:-0.79 [[ 9.81152461e-01 1.93228133e-01 1.65449114e-03 3.68726616e+02] [-1.93227822e-01 9.81153855e-01 -3.47378522e-04 -5.54139272e+01] [-1.69043366e-03 2.11375721e-05 9.99998571e-01 -7.87869710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25576923100004 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:368.75, Y:-55.42, Z:-0.78 [[ 9.80752817e-01 1.95246443e-01 1.65451571e-03 3.68754713e+02] [-1.95246135e-01 9.80754213e-01 -3.47261473e-04 -5.54222236e+01] [-1.69047482e-03 1.75398707e-05 9.99998571e-01 -7.82764047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2857692310001 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:368.78, Y:-55.43, Z:-0.78 [[ 9.80372574e-01 1.97146844e-01 1.65453202e-03 3.68781882e+02] [-1.97146539e-01 9.80373970e-01 -3.47183716e-04 -5.54284464e+01] [-1.69050630e-03 1.41841316e-05 9.99998571e-01 -7.81501142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31576923100005 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:368.81, Y:-55.43, Z:-0.78 [[ 9.79673776e-01 2.00590517e-01 1.65455716e-03 3.68807838e+02] [-2.00590217e-01 9.79675173e-01 -3.47063883e-04 -5.54349220e+01] [-1.69054629e-03 8.12140556e-06 9.99998571e-01 -7.84291324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3457692310001 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:368.84, Y:-55.44, Z:-0.79 [[ 9.79491152e-01 2.01480385e-01 1.65458623e-03 3.68835281e+02] [-2.01480086e-01 9.79492550e-01 -3.46925228e-04 -5.54412039e+01] [-1.69055351e-03 6.44401486e-06 9.99998571e-01 -7.86420081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37576923100005 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:368.86, Y:-55.45, Z:-0.79 [[ 9.79393800e-01 2.01953081e-01 1.65461071e-03 3.68863749e+02] [-2.01952784e-01 9.79395198e-01 -3.46808447e-04 -5.54480993e+01] [-1.69055682e-03 5.50880461e-06 9.99998571e-01 -7.88652002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4057692310001 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:368.89, Y:-55.45, Z:-0.79 [[ 9.79344668e-01 2.02191204e-01 1.65462721e-03 3.68891062e+02] [-2.02190907e-01 9.79346066e-01 -3.46729702e-04 -5.54549681e+01] [-1.69055834e-03 5.01730877e-06 9.99998571e-01 -7.91112943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43576923100005 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:368.92, Y:-55.46, Z:-0.79 [[ 9.79126938e-01 2.03242959e-01 1.65464770e-03 3.68918384e+02] [-2.03242664e-01 9.79128337e-01 -3.46631880e-04 -5.54624566e+01] [-1.69056294e-03 3.10160442e-06 9.99998571e-01 -7.91293049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4657692310001 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:368.95, Y:-55.47, Z:-0.79 [[ 9.78947829e-01 2.04103919e-01 1.65467237e-03 3.68946528e+02] [-2.04103625e-01 9.78949228e-01 -3.46514077e-04 -5.54686608e+01] [-1.69056512e-03 1.49457354e-06 9.99998571e-01 -7.90013127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49576923100005 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:368.97, Y:-55.47, Z:-0.79 [[ 9.78804987e-01 2.04787841e-01 1.65468886e-03 3.68974416e+02] [-2.04787548e-01 9.78806385e-01 -3.46435301e-04 -5.54738243e+01] [-1.69056576e-03 2.32924308e-07 9.99998571e-01 -7.88340971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5257692310001 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:369.00, Y:-55.48, Z:-0.79 [[ 9.78607031e-01 2.05731719e-01 1.65470525e-03 3.69001108e+02] [-2.05731427e-01 9.78608430e-01 -3.46357023e-04 -5.54786190e+01] [-1.69056513e-03 -1.47745446e-06 9.99998571e-01 -7.87639648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55576923100006 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:369.03, Y:-55.48, Z:-0.79 [[ 9.78003281e-01 2.08582943e-01 1.65473390e-03 3.69029320e+02] [-2.08582656e-01 9.78004681e-01 -3.46220109e-04 -5.54821363e+01] [-1.69055311e-03 -6.54438938e-06 9.99998571e-01 -7.89594781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.58576923100003 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:369.06, Y:-55.49, Z:-0.79 [[ 9.77636147e-01 2.10296992e-01 1.65474986e-03 3.69056006e+02] [-2.10296708e-01 9.77637548e-01 -3.46143801e-04 -5.54861531e+01] [-1.69053859e-03 -9.58575477e-06 9.99998571e-01 -7.90353655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61576923100006 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:369.08, Y:-55.49, Z:-0.79 [[ 9.77254478e-01 2.12063546e-01 1.65477745e-03 3.69084109e+02] [-2.12063264e-01 9.77255879e-01 -3.46011843e-04 -5.54907653e+01] [-1.69051749e-03 -1.27758850e-05 9.99998571e-01 -7.89690591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64576923100003 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:369.11, Y:-55.49, Z:-0.79 [[ 9.76863133e-01 2.13859022e-01 1.65479326e-03 3.69113035e+02] [-2.13858743e-01 9.76864534e-01 -3.45936205e-04 -5.54941800e+01] [-1.69049043e-03 -1.59596823e-05 9.99998571e-01 -7.87580180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67576923100006 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:369.14, Y:-55.50, Z:-0.79 [[ 9.76781629e-01 2.14230976e-01 1.65480901e-03 3.69139686e+02] [-2.14230697e-01 9.76783031e-01 -3.45860870e-04 -5.54988847e+01] [-1.69048347e-03 -1.66803434e-05 9.99998571e-01 -7.88231761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70576923100003 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:369.17, Y:-55.50, Z:-0.79 [[ 9.76808284e-01 2.14109405e-01 1.65483632e-03 3.69166992e+02] [-2.14109127e-01 9.76809686e-01 -3.45730158e-04 -5.55035344e+01] [-1.69048422e-03 -1.66034763e-05 9.99998571e-01 -7.88807969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73576923100006 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:369.20, Y:-55.51, Z:-0.79 [[ 9.76978510e-01 2.13331322e-01 1.65486064e-03 3.69195447e+02] [-2.13331043e-01 9.76979911e-01 -3.45613674e-04 -5.55070900e+01] [-1.69049583e-03 -1.53760145e-05 9.99998571e-01 -7.85897032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76576923100004 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:369.22, Y:-55.51, Z:-0.78 [[ 9.77019438e-01 2.13143800e-01 1.65487685e-03 3.69223028e+02] [-2.13143521e-01 9.77020839e-01 -3.45536067e-04 -5.55107459e+01] [-1.69049804e-03 -1.51308238e-05 9.99998571e-01 -7.84474386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79576923100007 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:369.25, Y:-55.51, Z:-0.79 [[ 9.76968689e-01 2.13376292e-01 1.65490101e-03 3.69250175e+02] [-2.13376013e-01 9.76970090e-01 -3.45420306e-04 -5.55145473e+01] [-1.69049329e-03 -1.56513564e-05 9.99998571e-01 -7.85174802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82576923100004 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:369.28, Y:-55.52, Z:-0.79 [[ 9.76923396e-01 2.13583564e-01 1.65492898e-03 3.69277427e+02] [-2.13583285e-01 9.76924798e-01 -3.45286244e-04 -5.55188242e+01] [-1.69048863e-03 -1.61469583e-05 9.99998571e-01 -7.87667219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85576923100007 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:369.31, Y:-55.52, Z:-0.79 [[ 9.76965361e-01 2.13391530e-01 1.65495300e-03 3.69305506e+02] [-2.13391252e-01 9.76966762e-01 -3.45171095e-04 -5.55226247e+01] [-1.69049066e-03 -1.59322880e-05 9.99998571e-01 -7.92558052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88576923100004 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:369.33, Y:-55.53, Z:-0.79 [[ 9.77138189e-01 2.12598730e-01 1.65497286e-03 3.69332894e+02] [-2.12598451e-01 9.77139591e-01 -3.45075835e-04 -5.55266409e+01] [-1.69050219e-03 -1.46578894e-05 9.99998571e-01 -7.92384684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91576923100007 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:369.36, Y:-55.53, Z:-0.79 [[ 9.77343249e-01 2.11654047e-01 1.65499633e-03 3.69361067e+02] [-2.11653766e-01 9.77344650e-01 -3.44963239e-04 -5.55317805e+01] [-1.69051467e-03 -1.31387137e-05 9.99998571e-01 -7.91811593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94576923100004 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:369.39, Y:-55.54, Z:-0.79 [[ 9.77616329e-01 2.10389104e-01 1.65501198e-03 3.69389719e+02] [-2.10388821e-01 9.77617729e-01 -3.44888156e-04 -5.55378984e+01] [-1.69052976e-03 -1.10277263e-05 9.99998571e-01 -7.89295021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9757692310001 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:369.42, Y:-55.54, Z:-0.79 [[ 9.77630719e-01 2.10322226e-01 1.65502772e-03 3.69417643e+02] [-2.10321944e-01 9.77632120e-01 -3.44812593e-04 -5.55435720e+01] [-1.69053001e-03 -1.09892636e-05 9.99998571e-01 -7.89343192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00576923100004 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:369.44, Y:-55.55, Z:-0.79 [[ 9.78437616e-01 2.06535936e-01 1.65505130e-03 3.69443537e+02] [-2.06535649e-01 9.78439015e-01 -3.44699374e-04 -5.55512284e+01] [-1.69055957e-03 -4.56026020e-06 9.99998571e-01 -7.86420922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0357692310001 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:369.47, Y:-55.56, Z:-0.79 [[ 9.78964073e-01 2.04025990e-01 1.65507866e-03 3.69470623e+02] [-2.04025699e-01 9.78965472e-01 -3.44567964e-04 -5.55572347e+01] [-1.69056568e-03 -3.58922775e-07 9.99998571e-01 -7.86928151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06576923100005 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:369.50, Y:-55.56, Z:-0.79 [[ 9.79499609e-01 2.01439261e-01 1.65510176e-03 3.69497053e+02] [-2.01438967e-01 9.79501008e-01 -3.44456965e-04 -5.55633769e+01] [-1.69056100e-03 3.99347394e-06 9.99998571e-01 -7.87817228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0957692310001 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:369.52, Y:-55.57, Z:-0.79 [[ 9.80287346e-01 1.97570192e-01 1.65512858e-03 3.69523793e+02] [-1.97569892e-01 9.80288743e-01 -3.44328017e-04 -5.55733472e+01] [-1.69053287e-03 1.05368215e-05 9.99998571e-01 -7.88953231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12576923100005 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:369.55, Y:-55.58, Z:-0.79 [[ 9.80531857e-01 1.96353097e-01 1.65515156e-03 3.69549809e+02] [-1.96352796e-01 9.80533253e-01 -3.44217552e-04 -5.55809555e+01] [-1.69051932e-03 1.25226393e-05 9.99998571e-01 -7.88594974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1557692310001 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:369.58, Y:-55.59, Z:-0.79 [[ 9.80685063e-01 1.95586470e-01 1.65517818e-03 3.69576633e+02] [-1.95586168e-01 9.80686460e-01 -3.44089505e-04 -5.55880919e+01] [-1.69051008e-03 1.37134803e-05 9.99998571e-01 -7.88885941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18576923100005 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:369.60, Y:-55.59, Z:-0.79 [[ 9.80734059e-01 1.95340640e-01 1.65520101e-03 3.69603619e+02] [-1.95340338e-01 9.80735456e-01 -3.43979654e-04 -5.55947828e+01] [-1.69050752e-03 1.40250386e-05 9.99998571e-01 -7.90408814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2157692310001 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:369.63, Y:-55.60, Z:-0.80 [[ 9.80931159e-01 1.94348453e-01 1.65522385e-03 3.69630498e+02] [-1.94348149e-01 9.80932556e-01 -3.43869708e-04 -5.56032761e+01] [-1.69049350e-03 1.56228209e-05 9.99998571e-01 -7.95228505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24576923100005 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:369.66, Y:-55.61, Z:-0.80 [[ 9.81162218e-01 1.93178574e-01 1.65525063e-03 3.69656077e+02] [-1.93178269e-01 9.81163614e-01 -3.43740722e-04 -5.56104097e+01] [-1.69047504e-03 1.75069567e-05 9.99998571e-01 -7.95661514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2757692310001 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:369.68, Y:-55.62, Z:-0.79 [[ 9.81450544e-01 1.91708348e-01 1.65528044e-03 3.69683883e+02] [-1.91708041e-01 9.81451939e-01 -3.43597120e-04 -5.56183599e+01] [-1.69044864e-03 1.98930091e-05 9.99998571e-01 -7.93900807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30576923100006 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:369.71, Y:-55.63, Z:-0.79 [[ 9.81723979e-01 1.90303152e-01 1.65529524e-03 3.69711921e+02] [-1.90302843e-01 9.81725374e-01 -3.43525816e-04 -5.56266205e+01] [-1.69041938e-03 2.22401404e-05 9.99998571e-01 -7.92283353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.33576923100003 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:369.74, Y:-55.64, Z:-0.79 [[ 9.82454250e-01 1.86496398e-01 1.65531000e-03 3.69737741e+02] [-1.86496083e-01 9.82455644e-01 -3.43454670e-04 -5.56385861e+01] [-1.69032171e-03 2.87196677e-05 9.99998571e-01 -7.92794361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36576923100006 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:369.76, Y:-55.65, Z:-0.79 [[ 9.82913373e-01 1.84061298e-01 1.65533208e-03 3.69764081e+02] [-1.84060981e-01 9.82914766e-01 -3.43348228e-04 -5.56483344e+01] [-1.69024746e-03 3.27995186e-05 9.99998571e-01 -7.94212015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39576923100003 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:369.79, Y:-55.66, Z:-0.80 [[ 9.83835325e-01 1.79067899e-01 1.65535357e-03 3.69790171e+02] [-1.79067575e-01 9.83836717e-01 -3.43244575e-04 -5.56630912e+01] [-1.69006171e-03 4.12759880e-05 9.99998571e-01 -7.95051074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42576923100006 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:369.82, Y:-55.67, Z:-0.80 [[ 9.84160546e-01 1.77271765e-01 1.65536971e-03 3.69816606e+02] [-1.77271438e-01 9.84161938e-01 -3.43166714e-04 -5.56735948e+01] [-1.68998563e-03 4.42813711e-05 9.99998571e-01 -7.95200024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45576923100003 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:369.84, Y:-55.68, Z:-0.79 [[ 9.84318746e-01 1.76391231e-01 1.65539130e-03 3.69844079e+02] [-1.76390904e-01 9.84320137e-01 -3.43062547e-04 -5.56843138e+01] [-1.68994822e-03 4.56869284e-05 9.99998571e-01 -7.92311262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48576923100006 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:369.87, Y:-55.69, Z:-0.79 [[ 9.84272265e-01 1.76650412e-01 1.65540674e-03 3.69871662e+02] [-1.76650085e-01 9.84273656e-01 -3.42988027e-04 -5.56949525e+01] [-1.68996222e-03 4.51658604e-05 9.99998571e-01 -7.90561545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51576923100004 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:369.90, Y:-55.70, Z:-0.79 [[ 9.84030937e-01 1.77989813e-01 1.65542211e-03 3.69898060e+02] [-1.77989488e-01 9.84032329e-01 -3.42913825e-04 -5.57048543e+01] [-1.69002404e-03 4.27900785e-05 9.99998571e-01 -7.90773404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54576923100007 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:369.93, Y:-55.71, Z:-0.79 [[ 9.83644558e-01 1.80112861e-01 1.65544131e-03 3.69925229e+02] [-1.80112539e-01 9.83645950e-01 -3.42821123e-04 -5.57143335e+01] [-1.69011463e-03 3.90483945e-05 9.99998571e-01 -7.91001028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57576923100004 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:369.95, Y:-55.73, Z:-0.79 [[ 9.82648341e-01 1.85471018e-01 1.65545669e-03 3.69952665e+02] [-1.85470703e-01 9.82649735e-01 -3.42746817e-04 -5.57285312e+01] [-1.69030368e-03 2.97608733e-05 9.99998571e-01 -7.92225322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60576923100007 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:369.98, Y:-55.74, Z:-0.79 [[ 9.82173355e-01 1.87970106e-01 1.65546471e-03 3.69980769e+02] [-1.87969796e-01 9.82174749e-01 -3.42708070e-04 -5.57390620e+01] [-1.69037451e-03 2.54213705e-05 9.99998571e-01 -7.91728158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63576923100004 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:370.01, Y:-55.75, Z:-0.79 [[ 9.81793453e-01 1.89944399e-01 1.65547309e-03 3.70008682e+02] [-1.89944091e-01 9.81794849e-01 -3.42667612e-04 -5.57493692e+01] [-1.69042274e-03 2.19814859e-05 9.99998571e-01 -7.92990730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66576923100007 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:370.04, Y:-55.76, Z:-0.79 [[ 9.81474125e-01 1.91587583e-01 1.65547725e-03 3.70036719e+02] [-1.91587278e-01 9.81475521e-01 -3.42647487e-04 -5.57588802e+01] [-1.69045740e-03 1.91312617e-05 9.99998571e-01 -7.93386242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69576923100004 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:370.06, Y:-55.77, Z:-0.80 [[ 9.80714284e-01 1.95439895e-01 1.65548520e-03 3.70063479e+02] [-1.95439595e-01 9.80715681e-01 -3.42609104e-04 -5.57708268e+01] [-1.69051978e-03 1.24542854e-05 9.99998571e-01 -7.97140687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7257692310001 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:370.09, Y:-55.78, Z:-0.80 [[ 9.80271181e-01 1.97650374e-01 1.65549252e-03 3.70091547e+02] [-1.97650077e-01 9.80272579e-01 -3.42573710e-04 -5.57796765e+01] [-1.69054375e-03 8.60691148e-06 9.99998571e-01 -7.97121424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75576923100004 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:370.12, Y:-55.79, Z:-0.80 [[ 9.79815940e-01 1.99894931e-01 1.65550042e-03 3.70120131e+02] [-1.99894638e-01 9.79817338e-01 -3.42535543e-04 -5.57882198e+01] [-1.69055913e-03 4.69612856e-06 9.99998571e-01 -7.95164825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7857692310001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:370.15, Y:-55.80, Z:-0.79 [[ 9.79360327e-01 2.02115334e-01 1.65550830e-03 3.70148301e+02] [-2.02115044e-01 9.79361727e-01 -3.42497453e-04 -5.57960312e+01] [-1.69056545e-03 8.25284551e-07 9.99998571e-01 -7.92867123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81576923100005 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:370.17, Y:-55.81, Z:-0.79 [[ 9.78618973e-01 2.05674902e-01 1.65551781e-03 3.70174879e+02] [-2.05674617e-01 9.78620373e-01 -3.42451459e-04 -5.58071484e+01] [-1.69055713e-03 -5.36849767e-06 9.99998571e-01 -7.91618535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8457692310001 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:370.20, Y:-55.82, Z:-0.79 [[ 9.78428515e-01 2.06579039e-01 1.65552962e-03 3.70203481e+02] [-2.06578755e-01 9.78429916e-01 -3.42394389e-04 -5.58171942e+01] [-1.69055121e-03 -6.98881406e-06 9.99998571e-01 -7.91667207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87576923100005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:370.23, Y:-55.83, Z:-0.79 [[ 9.78366474e-01 2.06872668e-01 1.65552962e-03 3.70231624e+02] [-2.06872385e-01 9.78367875e-01 -3.42394389e-04 -5.58272868e+01] [-1.69054903e-03 -7.49616938e-06 9.99998571e-01 -7.94166700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9057692310001 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:370.26, Y:-55.84, Z:-0.79 [[ 9.78300053e-01 2.07186547e-01 1.65553350e-03 3.70260505e+02] [-2.07186264e-01 9.78301454e-01 -3.42375602e-04 -5.58371153e+01] [-1.69054645e-03 -8.05773150e-06 9.99998571e-01 -7.94618654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93576923100005 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:370.29, Y:-55.85, Z:-0.80 [[ 9.77590104e-01 2.10510923e-01 1.65553350e-03 3.70287924e+02] [-2.10510645e-01 9.77591505e-01 -3.42375602e-04 -5.58477954e+01] [-1.69050929e-03 -1.38044248e-05 9.99998571e-01 -7.95829867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9657692310001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:370.32, Y:-55.85, Z:-0.79 [[ 9.76816239e-01 2.14073105e-01 1.65553733e-03 3.70316736e+02] [-2.14072832e-01 9.76817642e-01 -3.42357108e-04 -5.58548891e+01] [-1.69044752e-03 -1.99855814e-05 9.99998571e-01 -7.94552045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99576923100005 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:370.35, Y:-55.86, Z:-0.79 [[ 9.75777532e-01 2.18758925e-01 1.65554483e-03 3.70346000e+02] [-2.18758659e-01 9.75778936e-01 -3.42320813e-04 -5.58618211e+01] [-1.69033151e-03 -2.81358092e-05 9.99998571e-01 -7.93086172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0257692310001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:370.38, Y:-55.87, Z:-0.79 [[ 9.74662876e-01 2.23672834e-01 1.65555232e-03 3.70376055e+02] [-2.23672575e-01 9.74664282e-01 -3.42284588e-04 -5.58685214e+01] [-1.69016748e-03 -3.66895689e-05 9.99998571e-01 -7.91936369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05576923100006 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:370.40, Y:-55.87, Z:-0.79 [[ 9.72582525e-01 2.32552125e-01 1.65555232e-03 3.70404085e+02] [-2.32551879e-01 9.72583933e-01 -3.42284588e-04 -5.58748445e+01] [-1.68976259e-03 -5.21017943e-05 9.99998571e-01 -7.93698414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.08576923100003 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:370.43, Y:-55.88, Z:-0.79 [[ 9.71843131e-01 2.35622979e-01 1.65556396e-03 3.70433708e+02] [-2.35622738e-01 9.71844539e-01 -3.42228274e-04 -5.58801234e+01] [-1.68958764e-03 -5.74963154e-05 9.99998571e-01 -7.94789022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11576923100006 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:370.46, Y:-55.88, Z:-0.79 [[ 9.71327721e-01 2.37738758e-01 1.65557156e-03 3.70462418e+02] [-2.37738520e-01 9.71329130e-01 -3.42191486e-04 -5.58840554e+01] [-1.68945707e-03 -6.12130573e-05 9.99998571e-01 -7.93876351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14576923100003 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:370.49, Y:-55.89, Z:-0.79 [[ 9.70823290e-01 2.39790323e-01 1.65558677e-03 3.70492621e+02] [-2.39790087e-01 9.70824699e-01 -3.42117926e-04 -5.58855690e+01] [-1.68932109e-03 -6.48572443e-05 9.99998571e-01 -7.88485899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17576923100006 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:370.52, Y:-55.89, Z:-0.79 [[ 9.70774064e-01 2.39989533e-01 1.65559464e-03 3.70521581e+02] [-2.39989298e-01 9.70775473e-01 -3.42079813e-04 -5.58884070e+01] [-1.68930625e-03 -6.52427848e-05 9.99998571e-01 -7.86695321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20576923100003 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:370.55, Y:-55.89, Z:-0.79 [[ 9.70960541e-01 2.39233960e-01 1.65560640e-03 3.70550969e+02] [-2.39233724e-01 9.70961950e-01 -3.42022906e-04 -5.58904933e+01] [-1.68935431e-03 -6.39861377e-05 9.99998571e-01 -7.86388690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23576923100006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:370.58, Y:-55.89, Z:-0.79 [[ 9.71467841e-01 2.37165538e-01 1.65562133e-03 3.70581060e+02] [-2.37165299e-01 9.71469250e-01 -3.41950614e-04 -5.58894090e+01] [-1.68948411e-03 -6.04619024e-05 9.99998571e-01 -7.89651035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26576923100004 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:370.61, Y:-55.89, Z:-0.79 [[ 9.71728691e-01 2.36094495e-01 1.65563680e-03 3.70608914e+02] [-2.36094254e-01 9.71730099e-01 -3.41875678e-04 -5.58923238e+01] [-1.68954708e-03 -5.86759318e-05 9.99998571e-01 -7.90163754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29576923100007 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:370.64, Y:-55.90, Z:-0.79 [[ 9.71996563e-01 2.34989236e-01 1.65565607e-03 3.70637667e+02] [-2.34988994e-01 9.71997971e-01 -3.41782349e-04 -5.58951512e+01] [-1.68960951e-03 -5.68496861e-05 9.99998571e-01 -7.89382025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32576923100004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:370.67, Y:-55.90, Z:-0.79 [[ 9.72310131e-01 2.33688400e-01 1.65567085e-03 3.70666603e+02] [-2.33688156e-01 9.72311539e-01 -3.41710716e-04 -5.58977217e+01] [-1.68968170e-03 -5.46618776e-05 9.99998571e-01 -7.87349816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35576923100007 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:370.70, Y:-55.90, Z:-0.79 [[ 9.73046179e-01 2.30604408e-01 1.65568674e-03 3.70695821e+02] [-2.30604160e-01 9.73047586e-01 -3.41633713e-04 -5.58963896e+01] [-1.68984423e-03 -4.93828709e-05 9.99998571e-01 -7.86753182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38576923100004 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:370.72, Y:-55.90, Z:-0.79 [[ 9.73445887e-01 2.28911256e-01 1.65570265e-03 3.70723814e+02] [-2.28911006e-01 9.73447294e-01 -3.41556573e-04 -5.58998643e+01] [-1.68992541e-03 -4.65217181e-05 9.99998571e-01 -7.88780713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41576923100007 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:370.75, Y:-55.90, Z:-0.79 [[ 9.73925804e-01 2.26860722e-01 1.65572253e-03 3.70752054e+02] [-2.26860469e-01 9.73927210e-01 -3.41460201e-04 -5.59043415e+01] [-1.69001713e-03 -4.30610892e-05 9.99998571e-01 -7.90730891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44576923100004 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:370.78, Y:-55.91, Z:-0.79 [[ 9.74899816e-01 2.22637837e-01 1.65573767e-03 3.70780512e+02] [-2.22637578e-01 9.74901222e-01 -3.41386759e-04 -5.59080732e+01] [-1.69018629e-03 -3.58115363e-05 9.99998571e-01 -7.94350193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4757692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:370.81, Y:-55.91, Z:-0.80 [[ 9.75289836e-01 2.20923052e-01 1.65575278e-03 3.70808931e+02] [-2.20922791e-01 9.75291241e-01 -3.41313445e-04 -5.59117351e+01] [-1.69024519e-03 -3.29139928e-05 9.99998571e-01 -7.95846440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:370.84, Y:-55.92, Z:-0.80 [[ 9.75554336e-01 2.19752126e-01 1.65576864e-03 3.70836368e+02] [-2.19751863e-01 9.75555740e-01 -3.41236507e-04 -5.59150028e+01] [-1.69028205e-03 -3.09634892e-05 9.99998571e-01 -7.97454775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5357692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:370.86, Y:-55.92, Z:-0.80 [[ 9.75950877e-01 2.17984277e-01 1.65578831e-03 3.70864852e+02] [-2.17984012e-01 9.75952281e-01 -3.41141039e-04 -5.59178636e+01] [-1.69033376e-03 -2.79984829e-05 9.99998571e-01 -7.97435853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:370.89, Y:-55.92, Z:-0.79 [[ 9.76200024e-01 2.16865790e-01 1.65580404e-03 3.70892675e+02] [-2.16865523e-01 9.76201428e-01 -3.41064667e-04 -5.59226977e+01] [-1.69036353e-03 -2.61394735e-05 9.99998571e-01 -7.94573614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5957692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:370.92, Y:-55.93, Z:-0.79 [[ 9.76470209e-01 2.15645983e-01 1.65582358e-03 3.70921332e+02] [-2.15645715e-01 9.76471612e-01 -3.40969776e-04 -5.59274205e+01] [-1.69039348e-03 -2.41244313e-05 9.99998571e-01 -7.91044648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62576923100005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:370.95, Y:-55.93, Z:-0.79 [[ 9.76763522e-01 2.14313509e-01 1.65583909e-03 3.70950111e+02] [-2.14313239e-01 9.76764925e-01 -3.40894419e-04 -5.59325028e+01] [-1.69042383e-03 -2.18950064e-05 9.99998571e-01 -7.89556004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6557692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:370.98, Y:-55.94, Z:-0.79 [[ 9.77472165e-01 2.11057872e-01 1.65585457e-03 3.70978239e+02] [-2.11057598e-01 9.77473567e-01 -3.40819237e-04 -5.59382862e+01] [-1.69048666e-03 -1.63393705e-05 9.99998571e-01 -7.90891990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68576923100005 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:371.01, Y:-55.94, Z:-0.79 [[ 9.77874649e-01 2.09185153e-01 1.65587096e-03 3.71005129e+02] [-2.09184876e-01 9.77876051e-01 -3.40739609e-04 -5.59449971e+01] [-1.69051422e-03 -1.31825349e-05 9.99998571e-01 -7.92030041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7157692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:371.03, Y:-55.95, Z:-0.79 [[ 9.78369110e-01 2.06860199e-01 1.65589131e-03 3.71033085e+02] [-2.06859918e-01 9.78370512e-01 -3.40640647e-04 -5.59515303e+01] [-1.69054022e-03 -9.26525489e-06 9.99998571e-01 -7.92505266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:371.06, Y:-55.96, Z:-0.79 [[ 9.78703043e-01 2.05274477e-01 1.65590653e-03 3.71061718e+02] [-2.05274194e-01 9.78704444e-01 -3.40566682e-04 -5.59578932e+01] [-1.69055272e-03 -6.60123021e-06 9.99998571e-01 -7.93047178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7757692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:371.09, Y:-55.96, Z:-0.79 [[ 9.78886044e-01 2.04400026e-01 1.65592170e-03 3.71089970e+02] [-2.04399743e-01 9.78887445e-01 -3.40492880e-04 -5.59649862e+01] [-1.69055772e-03 -5.16624099e-06 9.99998571e-01 -7.94952010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:371.12, Y:-55.97, Z:-0.80 [[ 9.78818756e-01 2.04722008e-01 1.65593685e-03 3.71117474e+02] [-2.04721725e-01 9.78820157e-01 -3.40419184e-04 -5.59719302e+01] [-1.69055567e-03 -5.79756535e-06 9.99998571e-01 -7.95064149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.83576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:371.15, Y:-55.98, Z:-0.80 [[ 9.78762029e-01 2.04993046e-01 1.65595312e-03 3.71145804e+02] [-2.04992764e-01 9.78763430e-01 -3.40340039e-04 -5.59794001e+01] [-1.69055369e-03 -6.34649911e-06 9.99998571e-01 -7.95005416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:371.17, Y:-55.99, Z:-0.80 [[ 9.78771865e-01 2.04946078e-01 1.65596938e-03 3.71174556e+02] [-2.04945796e-01 9.78773265e-01 -3.40260892e-04 -5.59852150e+01] [-1.69055369e-03 -6.34617456e-06 9.99998571e-01 -7.95054999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:371.20, Y:-55.99, Z:-0.79 [[ 9.78765022e-01 2.04978755e-01 1.65598570e-03 3.71203532e+02] [-2.04978473e-01 9.78766423e-01 -3.40181426e-04 -5.59932504e+01] [-1.69055317e-03 -6.48373986e-06 9.99998571e-01 -7.94500524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:-56.01, Z:-0.79 [[ 9.78899898e-01 2.04333666e-01 1.65599399e-03 3.71230643e+02] [-2.04333383e-01 9.78901299e-01 -3.40141066e-04 -5.60052891e+01] [-1.69055694e-03 -5.41080020e-06 9.99998571e-01 -7.92152378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.26, Y:-56.02, Z:-0.79 [[ 9.79016912e-01 2.03772283e-01 1.65600631e-03 3.71259210e+02] [-2.03771999e-01 9.79018313e-01 -3.40081079e-04 -5.60152855e+01] [-1.69055960e-03 -4.50258802e-06 9.99998571e-01 -7.91412658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:371.29, Y:-56.02, Z:-0.79 [[ 9.79083643e-01 2.03451415e-01 1.65601442e-03 3.71287780e+02] [-2.03451131e-01 9.79085043e-01 -3.40041576e-04 -5.60247534e+01] [-1.69056089e-03 -3.98886260e-06 9.99998571e-01 -7.92276702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:371.32, Y:-56.03, Z:-0.79 [[ 9.79082500e-01 2.03456916e-01 1.65600987e-03 3.71315117e+02] [-2.03456631e-01 9.79083900e-01 -3.40063741e-04 -5.60327708e+01] [-1.69056092e-03 -3.97573305e-06 9.99998571e-01 -7.93773407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.34, Y:-56.04, Z:-0.80 [[ 9.78806079e-01 2.04782611e-01 1.65602180e-03 3.71342133e+02] [-2.04782329e-01 9.78807480e-01 -3.40005666e-04 -5.60420795e+01] [-1.69055377e-03 -6.32438839e-06 9.99998571e-01 -7.95981555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.37, Y:-56.05, Z:-0.80 [[ 9.78552645e-01 2.05990240e-01 1.65603071e-03 3.71371863e+02] [-2.05989960e-01 9.78554046e-01 -3.39962241e-04 -5.60505996e+01] [-1.69054446e-03 -8.45474918e-06 9.99998571e-01 -7.96680343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.40, Y:-56.06, Z:-0.80 [[ 9.78119121e-01 2.08039042e-01 1.65603071e-03 3.71400122e+02] [-2.08038764e-01 9.78120523e-01 -3.39962241e-04 -5.60585340e+01] [-1.69052304e-03 -1.19950141e-05 9.99998571e-01 -7.97227922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.43, Y:-56.07, Z:-0.80 [[ 9.77500706e-01 2.10925642e-01 1.65603471e-03 3.71429039e+02] [-2.10925369e-01 9.77502109e-01 -3.39942749e-04 -5.60658127e+01] [-1.69048007e-03 -1.70054554e-05 9.99998571e-01 -7.97335930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.46, Y:-56.07, Z:-0.80 [[ 9.76762602e-01 2.14317700e-01 1.65604265e-03 3.71458397e+02] [-2.14317432e-01 9.76764006e-01 -3.39904069e-04 -5.60727225e+01] [-1.69041031e-03 -2.29132253e-05 9.99998571e-01 -7.96194175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:371.49, Y:-56.08, Z:-0.79 [[ 9.75126563e-01 2.21642604e-01 1.65605059e-03 3.71486109e+02] [-2.21642346e-01 9.75127968e-01 -3.39865375e-04 -5.60792289e+01] [-1.69018990e-03 -3.56391842e-05 9.99998571e-01 -7.93073285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:371.52, Y:-56.08, Z:-0.79 [[ 9.74282220e-01 2.25325127e-01 1.65606244e-03 3.71515120e+02] [-2.25324875e-01 9.74283627e-01 -3.39807628e-04 -5.60836692e+01] [-1.69004172e-03 -4.20835320e-05 9.99998571e-01 -7.92395403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.54, Y:-56.09, Z:-0.79 [[ 9.73380283e-01 2.29190056e-01 1.65607022e-03 3.71543151e+02] [-2.29189809e-01 9.73381691e-01 -3.39769735e-04 -5.60868539e+01] [-1.68986027e-03 -4.88292559e-05 9.99998571e-01 -7.92227198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2857692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:371.57, Y:-56.09, Z:-0.79 [[ 9.71599015e-01 2.36627580e-01 1.65608955e-03 3.71571828e+02] [-2.36627344e-01 9.71600424e-01 -3.39675463e-04 -5.60862179e+01] [-1.68943389e-03 -6.18477270e-05 9.99998571e-01 -7.92423155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.60, Y:-56.09, Z:-0.79 [[ 9.70904589e-01 2.39460927e-01 1.65610846e-03 3.71599858e+02] [-2.39460696e-01 9.70905999e-01 -3.39583227e-04 -5.60895950e+01] [-1.68924256e-03 -6.68699722e-05 9.99998571e-01 -7.92575339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:371.63, Y:-56.09, Z:-0.79 [[ 9.70374968e-01 2.41598177e-01 1.65613105e-03 3.71627326e+02] [-2.41597949e-01 9.70376378e-01 -3.39473042e-04 -5.60927175e+01] [-1.68908652e-03 -7.07017236e-05 9.99998571e-01 -7.93753818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:371.65, Y:-56.10, Z:-0.79 [[ 9.70132047e-01 2.42571781e-01 1.65615348e-03 3.71654770e+02] [-2.42571555e-01 9.70133458e-01 -3.39363590e-04 -5.60952747e+01] [-1.68900993e-03 -7.25082297e-05 9.99998571e-01 -7.94151089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.68, Y:-56.09, Z:-0.79 [[ 9.70050763e-01 2.42896634e-01 1.65617204e-03 3.71684519e+02] [-2.42896408e-01 9.70052174e-01 -3.39272993e-04 -5.60931157e+01] [-1.68898155e-03 -7.31662136e-05 9.99998571e-01 -7.93177377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.71, Y:-56.09, Z:-0.79 [[ 9.70185472e-01 2.42358014e-01 1.65618676e-03 3.71712767e+02] [-2.42357787e-01 9.70186883e-01 -3.39201101e-04 -5.60947731e+01] [-1.68901878e-03 -7.23017784e-05 9.99998571e-01 -7.92079440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.74, Y:-56.10, Z:-0.79 [[ 9.70376720e-01 2.41591138e-01 1.65620887e-03 3.71740116e+02] [-2.41590911e-01 9.70378131e-01 -3.39093134e-04 -5.60969321e+01] [-1.68907076e-03 -7.10769249e-05 9.99998571e-01 -7.91607591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.77, Y:-56.10, Z:-0.79 [[ 9.70673840e-01 2.40394580e-01 1.65623451e-03 3.71769383e+02] [-2.40394351e-01 9.70675250e-01 -3.38967861e-04 -5.60953299e+01] [-1.68915188e-03 -6.91221836e-05 9.99998571e-01 -7.90467943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.80, Y:-56.10, Z:-0.79 [[ 9.70910575e-01 2.39436655e-01 1.65625729e-03 3.71796938e+02] [-2.39436424e-01 9.70911986e-01 -3.38856499e-04 -5.60969151e+01] [-1.68921472e-03 -6.75689643e-05 9.99998571e-01 -7.90345389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.82, Y:-56.10, Z:-0.79 [[ 9.71137416e-01 2.38514938e-01 1.65628374e-03 3.71823691e+02] [-2.38514707e-01 9.71138826e-01 -3.38727166e-04 -5.60983639e+01] [-1.68927294e-03 -6.60974062e-05 9.99998571e-01 -7.89204895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.58576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:-56.10, Z:-0.79 [[ 9.71375458e-01 2.37543629e-01 1.65631968e-03 3.71852491e+02] [-2.37543396e-01 9.71376868e-01 -3.38551352e-04 -5.60997335e+01] [-1.68933134e-03 -6.45873265e-05 9.99998571e-01 -7.88459703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.88, Y:-56.10, Z:-0.79 [[ 9.71657105e-01 2.36388931e-01 1.65634237e-03 3.71880869e+02] [-2.36388697e-01 9.71658515e-01 -3.38440277e-04 -5.60964811e+01] [-1.68940270e-03 -6.26927164e-05 9.99998571e-01 -7.90842923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.91, Y:-56.10, Z:-0.79 [[ 9.71793161e-01 2.35828981e-01 1.65636865e-03 3.71909711e+02] [-2.35828746e-01 9.71794571e-01 -3.38311594e-04 -5.60982239e+01] [-1.68943374e-03 -6.18504496e-05 9.99998571e-01 -7.92574237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.94, Y:-56.10, Z:-0.79 [[ 9.71908409e-01 2.35353568e-01 1.65638510e-03 3.71936643e+02] [-2.35353333e-01 9.71909818e-01 -3.38231053e-04 -5.60996804e+01] [-1.68946083e-03 -6.11061490e-05 9.99998571e-01 -7.94782959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.96, Y:-56.10, Z:-0.79 [[ 9.72059803e-01 2.34727492e-01 1.65641380e-03 3.71963691e+02] [-2.34727256e-01 9.72061213e-01 -3.38090445e-04 -5.61014759e+01] [-1.68949473e-03 -6.01613350e-05 9.99998571e-01 -7.94845420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.99, Y:-56.10, Z:-0.79 [[ 9.72198523e-01 2.34152275e-01 1.65643989e-03 3.71992678e+02] [-2.34152039e-01 9.72199932e-01 -3.37962549e-04 -5.60980890e+01] [-1.68952545e-03 -5.92920868e-05 9.99998571e-01 -7.90654269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.02, Y:-56.10, Z:-0.79 [[ 9.72221292e-01 2.34057717e-01 1.65645831e-03 3.72021456e+02] [-2.34057481e-01 9.72222702e-01 -3.37872262e-04 -5.60985447e+01] [-1.68952798e-03 -5.92198523e-05 9.99998571e-01 -7.88360665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.05, Y:-56.10, Z:-0.79 [[ 9.72184771e-01 2.34209364e-01 1.65648024e-03 3.72048634e+02] [-2.34209128e-01 9.72186181e-01 -3.37764724e-04 -5.60997385e+01] [-1.68951486e-03 -5.95930718e-05 9.99998571e-01 -7.87214779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.08, Y:-56.10, Z:-0.79 [[ 9.72721807e-01 2.31968837e-01 1.65650569e-03 3.72077932e+02] [-2.31968598e-01 9.72723216e-01 -3.37639874e-04 -5.60971198e+01] [-1.68964347e-03 -5.58276335e-05 9.99998571e-01 -7.86573701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:372.11, Y:-56.10, Z:-0.79 [[ 9.73384131e-01 2.29173709e-01 1.65652743e-03 3.72105054e+02] [-2.29173466e-01 9.73385540e-01 -3.37533161e-04 -5.60985473e+01] [-1.68979357e-03 -5.10827094e-05 9.99998571e-01 -7.87159641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.13, Y:-56.10, Z:-0.79 [[ 9.74222687e-01 2.25582384e-01 1.65655272e-03 3.72133676e+02] [-2.25582136e-01 9.74224094e-01 -3.37408991e-04 -5.61005048e+01] [-1.68996710e-03 -4.49772078e-05 9.99998571e-01 -7.88757777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.16, Y:-56.10, Z:-0.79 [[ 9.75109181e-01 2.21719059e-01 1.65657454e-03 3.72160254e+02] [-2.21718806e-01 9.75110587e-01 -3.37301829e-04 -5.61030933e+01] [-1.69012962e-03 -3.83876188e-05 9.99998571e-01 -7.91217416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.19, Y:-56.11, Z:-0.79 [[ 9.76010187e-01 2.17718560e-01 1.65659989e-03 3.72187755e+02] [-2.17718301e-01 9.76011592e-01 -3.37177280e-04 -5.61067923e+01] [-1.69027045e-03 -3.15836539e-05 9.99998571e-01 -7.92420752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.21, Y:-56.11, Z:-0.79 [[ 9.77621148e-01 2.10366696e-01 1.65662387e-03 3.72214475e+02] [-2.10366426e-01 9.77622551e-01 -3.37059403e-04 -5.61094996e+01] [-1.69045893e-03 -1.89816435e-05 9.99998571e-01 -7.92164946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.24, Y:-56.11, Z:-0.79 [[ 9.78256234e-01 2.07393335e-01 1.65665168e-03 3.72242553e+02] [-2.07393062e-01 9.78257637e-01 -3.36922663e-04 -5.61138168e+01] [-1.69050768e-03 -1.39813696e-05 9.99998571e-01 -7.90244869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.27, Y:-56.12, Z:-0.79 [[ 9.78702138e-01 2.05278789e-01 1.65667309e-03 3.72270589e+02] [-2.05278513e-01 9.78703540e-01 -3.36817375e-04 -5.61181812e+01] [-1.69053328e-03 -1.04355035e-05 9.99998571e-01 -7.89026027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.30, Y:-56.12, Z:-0.79 [[ 9.79055257e-01 2.03587966e-01 1.65669706e-03 3.72297499e+02] [-2.03587688e-01 9.79056658e-01 -3.36699428e-04 -5.61227281e+01] [-1.69054824e-03 -7.63577969e-06 9.99998571e-01 -7.88270618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.32, Y:-56.13, Z:-0.79 [[ 9.79208914e-01 2.02847621e-01 1.65672497e-03 3.72323756e+02] [-2.02847342e-01 9.79210316e-01 -3.36562063e-04 -5.61277200e+01] [-1.69055299e-03 -6.49768406e-06 9.99998571e-01 -7.88950778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.35, Y:-56.13, Z:-0.79 [[ 9.79267495e-01 2.02564627e-01 1.65674972e-03 3.72352130e+02] [-2.02564348e-01 9.79268897e-01 -3.36440172e-04 -5.61330457e+01] [-1.69055435e-03 -6.13350190e-06 9.99998571e-01 -7.93457955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.38, Y:-56.14, Z:-0.79 [[ 9.79158216e-01 2.03092205e-01 1.65676379e-03 3.72379677e+02] [-2.03091926e-01 9.79159617e-01 -3.36370892e-04 -5.61383687e+01] [-1.69055050e-03 -7.11502582e-06 9.99998571e-01 -7.94427913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.41, Y:-56.14, Z:-0.79 [[ 9.79056361e-01 2.03582654e-01 1.65678482e-03 3.72406714e+02] [-2.03582376e-01 9.79057763e-01 -3.36267243e-04 -5.61439793e+01] [-1.69054622e-03 -8.06760792e-06 9.99998571e-01 -7.93394095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.43, Y:-56.15, Z:-0.79 [[ 9.78694539e-01 2.05315011e-01 1.65680843e-03 3.72433487e+02] [-2.05314736e-01 9.78695942e-01 -3.36150870e-04 -5.61509543e+01] [-1.69052851e-03 -1.11781646e-05 9.99998571e-01 -7.89509550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.46, Y:-56.16, Z:-0.79 [[ 9.78435590e-01 2.06545518e-01 1.65682803e-03 3.72460794e+02] [-2.06545245e-01 9.78436993e-01 -3.36054229e-04 -5.61565841e+01] [-1.69051233e-03 -1.34025353e-05 9.99998571e-01 -7.89221661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.49, Y:-56.16, Z:-0.79 [[ 9.78161695e-01 2.07838766e-01 1.65685225e-03 3.72487588e+02] [-2.07838495e-01 9.78163098e-01 -3.35934822e-04 -5.61617905e+01] [-1.69049200e-03 -1.57591029e-05 9.99998571e-01 -7.90103769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.51, Y:-56.17, Z:-0.79 [[ 9.77701210e-01 2.09994282e-01 1.65688029e-03 3.72514239e+02] [-2.09994015e-01 9.77702614e-01 -3.35796432e-04 -5.61679060e+01] [-1.69045152e-03 -1.96263663e-05 9.99998571e-01 -7.88603408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.33576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.54, Y:-56.17, Z:-0.79 [[ 9.77518132e-01 2.10844861e-01 1.65692335e-03 3.72541805e+02] [-2.10844595e-01 9.77519536e-01 -3.35583838e-04 -5.61741719e+01] [-1.69043107e-03 -2.13140459e-05 9.99998571e-01 -7.88005999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.57, Y:-56.18, Z:-0.79 [[ 9.77312780e-01 2.11794678e-01 1.65694698e-03 3.72568531e+02] [-2.11794413e-01 9.77314184e-01 -3.35467142e-04 -5.61805967e+01] [-1.69040794e-03 -2.30757872e-05 9.99998571e-01 -7.87132467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.60, Y:-56.19, Z:-0.79 [[ 9.77240866e-01 2.12126244e-01 1.65697444e-03 3.72596065e+02] [-2.12125980e-01 9.77242271e-01 -3.35331429e-04 -5.61870521e+01] [-1.69039806e-03 -2.37877519e-05 9.99998571e-01 -7.86700067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.62, Y:-56.19, Z:-0.79 [[ 9.77273554e-01 2.11975600e-01 1.65699799e-03 3.72622728e+02] [-2.11975336e-01 9.77274958e-01 -3.35215042e-04 -5.61930801e+01] [-1.69040005e-03 -2.36459093e-05 9.99998571e-01 -7.86520402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.65, Y:-56.20, Z:-0.79 [[ 9.77430299e-01 2.11251665e-01 1.65702528e-03 3.72650173e+02] [-2.11251400e-01 9.77431703e-01 -3.35080086e-04 -5.62001016e+01] [-1.69041526e-03 -2.25314816e-05 9.99998571e-01 -7.87549601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.68, Y:-56.21, Z:-0.79 [[ 9.77527210e-01 2.10802771e-01 1.65704889e-03 3.72676458e+02] [-2.10802506e-01 9.77528614e-01 -3.34963278e-04 -5.62062127e+01] [-1.69042389e-03 -2.18743390e-05 9.99998571e-01 -7.88925478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.70, Y:-56.21, Z:-0.79 [[ 9.77737828e-01 2.09823721e-01 1.65707630e-03 3.72703232e+02] [-2.09823455e-01 9.77739232e-01 -3.34827603e-04 -5.62134867e+01] [-1.69044329e-03 -2.03198629e-05 9.99998571e-01 -7.90507032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.73, Y:-56.22, Z:-0.79 [[ 9.77854200e-01 2.09280715e-01 1.65709934e-03 3.72730429e+02] [-2.09280448e-01 9.77855604e-01 -3.34713555e-04 -5.62194668e+01] [-1.69045297e-03 -1.94974368e-05 9.99998571e-01 -7.90405350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.76, Y:-56.22, Z:-0.79 [[ 9.77939178e-01 2.08883265e-01 1.65712228e-03 3.72757059e+02] [-2.08882998e-01 9.77940582e-01 -3.34599935e-04 -5.62248815e+01] [-1.69045945e-03 -1.89262841e-05 9.99998571e-01 -7.90517076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.78, Y:-56.23, Z:-0.79 [[ 9.77859487e-01 2.09256011e-01 1.65714888e-03 3.72784031e+02] [-2.09255745e-01 9.77860891e-01 -3.34468132e-04 -5.62303056e+01] [-1.69045055e-03 -1.97050880e-05 9.99998571e-01 -7.90788898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.81, Y:-56.24, Z:-0.79 [[ 9.77679691e-01 2.10094447e-01 1.65717145e-03 3.72811387e+02] [-2.10094182e-01 9.77681095e-01 -3.34356297e-04 -5.62368996e+01] [-1.69043160e-03 -2.12687188e-05 9.99998571e-01 -7.92948176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.84, Y:-56.24, Z:-0.79 [[ 9.77736813e-01 2.09828450e-01 1.65719449e-03 3.72837695e+02] [-2.09828185e-01 9.77738217e-01 -3.34242042e-04 -5.62427739e+01] [-1.69043588e-03 -2.09253626e-05 9.99998571e-01 -7.93321091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.86, Y:-56.25, Z:-0.79 [[ 9.77950077e-01 2.08832231e-01 1.65722131e-03 3.72864107e+02] [-2.08831964e-01 9.77951481e-01 -3.34109007e-04 -5.62488368e+01] [-1.69045477e-03 -1.93388532e-05 9.99998571e-01 -7.93826969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.89, Y:-56.26, Z:-0.79 [[ 9.78237141e-01 2.07483373e-01 1.65724783e-03 3.72891119e+02] [-2.07483105e-01 9.78238544e-01 -3.33977424e-04 -5.62557200e+01] [-1.69047847e-03 -1.71418051e-05 9.99998571e-01 -7.94199988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.92, Y:-56.27, Z:-0.80 [[ 9.78967997e-01 2.04007145e-01 1.65727043e-03 3.72918230e+02] [-2.04006872e-01 9.78969399e-01 -3.33865263e-04 -5.62659701e+01] [-1.69052793e-03 -1.12511472e-05 9.99998571e-01 -7.97802359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.95, Y:-56.27, Z:-0.80 [[ 9.78981782e-01 2.03940981e-01 1.65728549e-03 3.72946193e+02] [-2.03940709e-01 9.78983185e-01 -3.33790446e-04 -5.62714577e+01] [-1.69052818e-03 -1.12132126e-05 9.99998571e-01 -7.97850531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.97, Y:-56.28, Z:-0.80 [[ 9.79208438e-01 2.02849918e-01 1.65730805e-03 3.72971787e+02] [-2.02849644e-01 9.79209840e-01 -3.33678438e-04 -5.62788255e+01] [-1.69053899e-03 -9.44360467e-06 9.99998571e-01 -7.98999768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.00, Y:-56.29, Z:-0.80 [[ 9.79213060e-01 2.02827601e-01 1.65733421e-03 3.72998957e+02] [-2.02827326e-01 9.79214463e-01 -3.33548426e-04 -5.62866038e+01] [-1.69053846e-03 -9.53769232e-06 9.99998571e-01 -7.98824839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.03, Y:-56.30, Z:-0.80 [[ 9.78772024e-01 2.04945307e-01 1.65735652e-03 3.73026856e+02] [-2.04945037e-01 9.78773427e-01 -3.33437567e-04 -5.62960118e+01] [-1.69051298e-03 -1.33076296e-05 9.99998571e-01 -7.95931343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.05, Y:-56.30, Z:-0.79 [[ 9.78287567e-01 2.07245479e-01 1.65737135e-03 3.73053571e+02] [-2.07245212e-01 9.78288971e-01 -3.33363807e-04 -5.63023668e+01] [-1.69047626e-03 -1.73566084e-05 9.99998571e-01 -7.94992053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.08, Y:-56.31, Z:-0.80 [[ 9.77795655e-01 2.09554072e-01 1.65739709e-03 3.73080852e+02] [-2.09553809e-01 9.77797060e-01 -3.33235805e-04 -5.63079762e+01] [-1.69042892e-03 -2.14773499e-05 9.99998571e-01 -7.95085089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.11, Y:-56.31, Z:-0.80 [[ 9.76971389e-01 2.13363912e-01 1.65741905e-03 3.73108006e+02] [-2.13363654e-01 9.76972794e-01 -3.33126517e-04 -5.63131075e+01] [-1.69033050e-03 -2.81779092e-05 9.99998571e-01 -7.96745125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.13, Y:-56.32, Z:-0.80 [[ 9.76830685e-01 2.14007164e-01 1.65744286e-03 3.73134806e+02] [-2.14006907e-01 9.76832090e-01 -3.33008005e-04 -5.63173618e+01] [-1.69030948e-03 -2.94117835e-05 9.99998571e-01 -7.96599277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.16, Y:-56.32, Z:-0.80 [[ 9.76896748e-01 2.13705398e-01 1.65748133e-03 3.73161831e+02] [-2.13705141e-01 9.76898153e-01 -3.32816433e-04 -5.63209480e+01] [-1.69031512e-03 -2.90849901e-05 9.99998571e-01 -7.95780915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.19, Y:-56.33, Z:-0.79 [[ 9.77123347e-01 2.12666914e-01 1.65751919e-03 3.73189440e+02] [-2.12666656e-01 9.77124753e-01 -3.32627786e-04 -5.63250091e+01] [-1.69034195e-03 -2.74806870e-05 9.99998571e-01 -7.94752742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.22, Y:-56.33, Z:-0.80 [[ 9.78170630e-01 2.07796705e-01 1.65754066e-03 3.73216309e+02] [-2.07796440e-01 9.78172035e-01 -3.32520765e-04 -5.63278646e+01] [-1.69045664e-03 -1.91690009e-05 9.99998571e-01 -7.95757732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.24, Y:-56.33, Z:-0.80 [[ 9.78921955e-01 2.04227956e-01 1.65756562e-03 3.73243998e+02] [-2.04227685e-01 9.78923359e-01 -3.32396284e-04 -5.63322359e+01] [-1.69051432e-03 -1.31307695e-05 9.99998571e-01 -7.96513099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.27, Y:-56.34, Z:-0.80 [[ 9.79792135e-01 2.00011562e-01 1.65758932e-03 3.73270952e+02] [-2.00011286e-01 9.79793537e-01 -3.32278059e-04 -5.63369054e+01] [-1.69055476e-03 -5.97314307e-06 9.99998571e-01 -7.98966065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.30, Y:-56.34, Z:-0.80 [[ 9.80753501e-01 1.95242982e-01 1.65761681e-03 3.73297994e+02] [-1.95242700e-01 9.80754902e-01 -3.32140868e-04 -5.63427917e+01] [-1.69056398e-03 2.11073837e-06 9.99998571e-01 -8.00198932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.32, Y:-56.35, Z:-0.80 [[ 9.82443420e-01 1.86553420e-01 1.65763802e-03 3.73324630e+02] [-1.86553125e-01 9.82444818e-01 -3.32034979e-04 -5.63518554e+01] [-1.69048014e-03 1.69680270e-05 9.99998571e-01 -7.98901471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.35, Y:-56.36, Z:-0.80 [[ 9.83057379e-01 1.83290592e-01 1.65766156e-03 3.73350889e+02] [-1.83290293e-01 9.83058777e-01 -3.31917389e-04 -5.63593038e+01] [-1.69041608e-03 2.24605647e-05 9.99998571e-01 -7.98910572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.38, Y:-56.37, Z:-0.80 [[ 9.83371749e-01 1.81596407e-01 1.65768874e-03 3.73377733e+02] [-1.81596105e-01 9.83373146e-01 -3.31781617e-04 -5.63672292e+01] [-1.69037694e-03 2.52348499e-05 9.99998571e-01 -7.97513996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.40, Y:-56.38, Z:-0.80 [[ 9.83359203e-01 1.81664330e-01 1.65770947e-03 3.73404713e+02] [-1.81664029e-01 9.83360600e-01 -3.31677992e-04 -5.63774979e+01] [-1.69038024e-03 2.50124238e-05 9.99998571e-01 -7.95192875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.43, Y:-56.39, Z:-0.80 [[ 9.83203842e-01 1.82503304e-01 1.65772498e-03 3.73432812e+02] [-1.82503005e-01 9.83205240e-01 -3.31600455e-04 -5.63858453e+01] [-1.69040207e-03 2.34910514e-05 9.99998571e-01 -7.95275272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.46, Y:-56.39, Z:-0.80 [[ 9.83012600e-01 1.83530600e-01 1.65774068e-03 3.73459937e+02] [-1.83530302e-01 9.83013997e-01 -3.31521984e-04 -5.63942044e+01] [-1.69042672e-03 2.16446411e-05 9.99998571e-01 -7.95792145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.49, Y:-56.40, Z:-0.80 [[ 9.82731689e-01 1.85028858e-01 1.65776023e-03 3.73487213e+02] [-1.85028562e-01 9.82733088e-01 -3.31424155e-04 -5.64028746e+01] [-1.69045887e-03 1.89680272e-05 9.99998571e-01 -7.95723957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.51, Y:-56.42, Z:-0.79 [[ 9.82127732e-01 1.88208313e-01 1.65777586e-03 3.73513350e+02] [-1.88208022e-01 9.82129131e-01 -3.31345987e-04 -5.64152783e+01] [-1.69051203e-03 1.34173675e-05 9.99998571e-01 -7.94937600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.54, Y:-56.42, Z:-0.79 [[ 9.81866645e-01 1.89565669e-01 1.65779522e-03 3.73541416e+02] [-1.89565380e-01 9.81868045e-01 -3.31249090e-04 -5.64238208e+01] [-1.69052961e-03 1.09818525e-05 9.99998571e-01 -7.93739956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.57, Y:-56.43, Z:-0.79 [[ 9.81664811e-01 1.90608106e-01 1.65781026e-03 3.73567983e+02] [-1.90607818e-01 9.81666211e-01 -3.31173794e-04 -5.64317806e+01] [-1.69054073e-03 9.11006361e-06 9.99998571e-01 -7.92963721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.60, Y:-56.44, Z:-0.79 [[ 9.81458562e-01 1.91667273e-01 1.65782902e-03 3.73595727e+02] [-1.91666987e-01 9.81459962e-01 -3.31079857e-04 -5.64392481e+01] [-1.69054998e-03 7.19006688e-06 9.99998571e-01 -7.92849457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.62, Y:-56.45, Z:-0.79 [[ 9.80751822e-01 1.95251415e-01 1.65784409e-03 3.73623331e+02] [-1.95251134e-01 9.80753223e-01 -3.31004389e-04 -5.64458751e+01] [-1.69056501e-03 9.37219023e-07 9.99998571e-01 -7.94378384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.65, Y:-56.45, Z:-0.80 [[ 9.80348357e-01 1.97267207e-01 1.65786662e-03 3.73650319e+02] [-1.97266930e-01 9.80349759e-01 -3.30891476e-04 -5.64510249e+01] [-1.69056318e-03 -2.65334357e-06 9.99998571e-01 -7.95091393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.68, Y:-56.46, Z:-0.80 [[ 9.80052803e-01 1.98730358e-01 1.65788531e-03 3.73678886e+02] [-1.98730083e-01 9.80054205e-01 -3.30797835e-04 -5.64561173e+01] [-1.69055704e-03 -5.27233942e-06 9.99998571e-01 -7.96088563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.71, Y:-56.46, Z:-0.80 [[ 9.79978547e-01 1.99096205e-01 1.65790114e-03 3.73705906e+02] [-1.99095931e-01 9.79979949e-01 -3.30718474e-04 -5.64618764e+01] [-1.69055467e-03 -5.98436102e-06 9.99998571e-01 -7.96377552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.73, Y:-56.47, Z:-0.80 [[ 9.80285890e-01 1.97577388e-01 1.65792080e-03 3.73733997e+02] [-1.97577112e-01 9.80287292e-01 -3.30619897e-04 -5.64684925e+01] [-1.69056171e-03 -3.46518283e-06 9.99998571e-01 -7.96160375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.76, Y:-56.48, Z:-0.79 [[ 9.80790598e-01 1.95056543e-01 1.65793623e-03 3.73762524e+02] [-1.95056262e-01 9.80791999e-01 -3.30542514e-04 -5.64754059e+01] [-1.69056506e-03 8.02146725e-07 9.99998571e-01 -7.94571534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.79, Y:-56.48, Z:-0.79 [[ 9.81410703e-01 1.91912175e-01 1.65795185e-03 3.73789698e+02] [-1.91911890e-01 9.81412104e-01 -3.30464110e-04 -5.64825915e+01] [-1.69055410e-03 6.14033997e-06 9.99998571e-01 -7.93484023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.82, Y:-56.49, Z:-0.79 [[ 9.82842941e-01 1.84436993e-01 1.65797124e-03 3.73817616e+02] [-1.84436698e-01 9.82844339e-01 -3.30366828e-04 -5.64923598e+01] [-1.69045951e-03 1.89079649e-05 9.99998571e-01 -7.93225906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.85, Y:-56.50, Z:-0.79 [[ 9.83427088e-01 1.81296479e-01 1.65797900e-03 3.73845421e+02] [-1.81296180e-01 9.83428485e-01 -3.30327881e-04 -5.64998956e+01] [-1.69039106e-03 2.42681272e-05 9.99998571e-01 -7.94117250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.87, Y:-56.51, Z:-0.80 [[ 9.83857608e-01 1.78945403e-01 1.65798676e-03 3.73874158e+02] [-1.78945101e-01 9.83859005e-01 -3.30288931e-04 -5.65075994e+01] [-1.69032889e-03 2.82686701e-05 9.99998571e-01 -7.95543357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.83576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.90, Y:-56.52, Z:-0.80 [[ 9.84353248e-01 1.76198566e-01 1.65799439e-03 3.73901325e+02] [-1.76198259e-01 9.84354644e-01 -3.30250625e-04 -5.65171094e+01] [-1.69024416e-03 3.29475508e-05 9.99998571e-01 -7.96609496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.93, Y:-56.53, Z:-0.80 [[ 9.84526537e-01 1.75227708e-01 1.65800582e-03 3.73929587e+02] [-1.75227400e-01 9.84527932e-01 -3.30193199e-04 -5.65253602e+01] [-1.69021204e-03 3.45559164e-05 9.99998571e-01 -7.95085525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:-56.53, Z:-0.79 [[ 9.84670921e-01 1.74414533e-01 1.65801339e-03 3.73956812e+02] [-1.74414224e-01 9.84672316e-01 -3.30155197e-04 -5.65336367e+01] [-1.69018375e-03 3.59131033e-05 9.99998571e-01 -7.93781640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.98, Y:-56.55, Z:-0.80 [[ 9.84706019e-01 1.74216267e-01 1.65802465e-03 3.73984793e+02] [-1.74215958e-01 9.84707414e-01 -3.30098638e-04 -5.65468410e+01] [-1.69017772e-03 3.61957625e-05 9.99998571e-01 -7.95390979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.01, Y:-56.56, Z:-0.80 [[ 9.84686599e-01 1.74325993e-01 1.65802465e-03 3.74013180e+02] [-1.74325685e-01 9.84687995e-01 -3.30098638e-04 -5.65564042e+01] [-1.69018174e-03 3.60074226e-05 9.99998571e-01 -7.97539869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.04, Y:-56.57, Z:-0.80 [[ 9.84636068e-01 1.74611179e-01 1.65802838e-03 3.74042455e+02] [-1.74610871e-01 9.84637464e-01 -3.30079908e-04 -5.65660488e+01] [-1.69019250e-03 3.54988036e-05 9.99998571e-01 -8.00872276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.07, Y:-56.58, Z:-0.80 [[ 9.84517634e-01 1.75277721e-01 1.65802838e-03 3.74072101e+02] [-1.75277414e-01 9.84519029e-01 -3.30079908e-04 -5.65752260e+01] [-1.69021614e-03 3.43545637e-05 9.99998571e-01 -8.03070571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.10, Y:-56.58, Z:-0.80 [[ 9.84245678e-01 1.76798463e-01 1.65802838e-03 3.74101852e+02] [-1.76798158e-01 9.84247074e-01 -3.30079908e-04 -5.65842703e+01] [-1.69026720e-03 3.17433604e-05 9.99998571e-01 -8.02628254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.13, Y:-56.59, Z:-0.80 [[ 9.83352139e-01 1.81702562e-01 1.65802838e-03 3.74130227e+02] [-1.81702263e-01 9.83353537e-01 -3.30079908e-04 -5.65941003e+01] [-1.69040444e-03 2.33172745e-05 9.99998571e-01 -7.97962184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.16, Y:-56.60, Z:-0.80 [[ 9.82869413e-01 1.84295870e-01 1.65803205e-03 3.74159442e+02] [-1.84295576e-01 9.82870811e-01 -3.30061445e-04 -5.66015661e+01] [-1.69046027e-03 1.88393267e-05 9.99998571e-01 -7.96003432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.19, Y:-56.61, Z:-0.80 [[ 9.81905317e-01 1.89365254e-01 1.65803205e-03 3.74186441e+02] [-1.89364967e-01 9.81906717e-01 -3.30061445e-04 -5.66103878e+01] [-1.69053498e-03 1.01159026e-05 9.99998571e-01 -7.97687661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.22, Y:-56.62, Z:-0.80 [[ 9.81462543e-01 1.91646884e-01 1.65804297e-03 3.74215539e+02] [-1.91646600e-01 9.81463943e-01 -3.30006596e-04 -5.66187452e+01] [-1.69055413e-03 6.13081518e-06 9.99998571e-01 -8.00480881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.25, Y:-56.63, Z:-0.80 [[ 9.81103653e-01 1.93475771e-01 1.65804658e-03 3.74245374e+02] [-1.93475489e-01 9.81105054e-01 -3.29988476e-04 -5.66267015e+01] [-1.69056265e-03 2.96152570e-06 9.99998571e-01 -8.03814634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.27, Y:-56.63, Z:-0.81 [[ 9.80755527e-01 1.95232805e-01 1.65804658e-03 3.74274401e+02] [-1.95232526e-01 9.80756928e-01 -3.29988476e-04 -5.66340470e+01] [-1.69056524e-03 -6.66000882e-08 9.99998571e-01 -8.06868768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.30, Y:-56.64, Z:-0.81 [[ 9.79763421e-01 2.00152168e-01 1.65805016e-03 3.74302105e+02] [-2.00151896e-01 9.79764824e-01 -3.29970497e-04 -5.66406875e+01] [-1.69054353e-03 -8.56886065e-06 9.99998571e-01 -8.09863572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.33, Y:-56.65, Z:-0.81 [[ 9.79109298e-01 2.03327894e-01 1.65806076e-03 3.74331081e+02] [-2.03327627e-01 9.79110702e-01 -3.29917178e-04 -5.66459645e+01] [-1.69050640e-03 -1.41045842e-05 9.99998571e-01 -8.09228325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.36, Y:-56.65, Z:-0.81 [[ 9.78462051e-01 2.06420120e-01 1.65806784e-03 3.74358399e+02] [-2.06419857e-01 9.78463455e-01 -3.29881632e-04 -5.66500038e+01] [-1.69045299e-03 -1.94814684e-05 9.99998571e-01 -8.09648609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.39, Y:-56.65, Z:-0.81 [[ 9.77804648e-01 2.09512104e-01 1.65808543e-03 3.74387310e+02] [-2.09511846e-01 9.77806053e-01 -3.29793193e-04 -5.66537278e+01] [-1.69038163e-03 -2.49152223e-05 9.99998571e-01 -8.10007032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37576923100005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:374.42, Y:-56.65, Z:-0.81 [[ 9.76694974e-01 2.14625672e-01 1.65809929e-03 3.74415217e+02] [-2.14625421e-01 9.76696381e-01 -3.29723489e-04 -5.66543421e+01] [-1.69022670e-03 -3.38309834e-05 9.99998571e-01 -8.09689376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:374.44, Y:-56.66, Z:-0.81 [[ 9.76390001e-01 2.16008835e-01 1.65811654e-03 3.74443275e+02] [-2.16008586e-01 9.76391408e-01 -3.29636725e-04 -5.66581517e+01] [-1.69017519e-03 -3.63134069e-05 9.99998571e-01 -8.05216037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:374.47, Y:-56.66, Z:-0.80 [[ 9.76410687e-01 2.15915309e-01 1.65813467e-03 3.74472565e+02] [-2.15915061e-01 9.76412094e-01 -3.29545492e-04 -5.66629331e+01] [-1.69017666e-03 -3.62445078e-05 9.99998571e-01 -7.98892543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.50, Y:-56.67, Z:-0.80 [[ 9.77327878e-01 2.11724985e-01 1.65814212e-03 3.74501134e+02] [-2.11724730e-01 9.77329284e-01 -3.29508013e-04 -5.66670220e+01] [-1.69031593e-03 -2.90323260e-05 9.99998571e-01 -7.95688390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.53, Y:-56.67, Z:-0.80 [[ 9.78072548e-01 2.08257874e-01 1.65815060e-03 3.74529061e+02] [-2.08257615e-01 9.78073953e-01 -3.29465346e-04 -5.66724323e+01] [-1.69040766e-03 -2.30814778e-05 9.99998571e-01 -7.96011456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:374.56, Y:-56.68, Z:-0.80 [[ 9.78857196e-01 2.04538114e-01 1.65816164e-03 3.74559347e+02] [-2.04537849e-01 9.78858600e-01 -3.29409747e-04 -5.66789999e+01] [-1.69048263e-03 -1.67117141e-05 9.99998571e-01 -7.95473847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:374.59, Y:-56.69, Z:-0.79 [[ 9.79597617e-01 2.00962082e-01 1.65816164e-03 3.74590036e+02] [-2.00961813e-01 9.79599021e-01 -3.29409747e-04 -5.66861028e+01] [-1.69053239e-03 -1.05381653e-05 9.99998571e-01 -7.94733618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.58576923100003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:374.62, Y:-56.70, Z:-0.80 [[ 9.80648058e-01 1.95771900e-01 1.65815374e-03 3.74620609e+02] [-1.95771623e-01 9.80649460e-01 -3.29449518e-04 -5.66961315e+01] [-1.69056453e-03 -1.54541821e-06 9.99998571e-01 -7.95240246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:374.65, Y:-56.70, Z:-0.80 [[ 9.80821075e-01 1.94903233e-01 1.65809456e-03 3.74651761e+02] [-1.94902954e-01 9.80822476e-01 -3.29747097e-04 -5.67044187e+01] [-1.69056519e-03 2.55374147e-07 9.99998571e-01 -7.97158336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:374.68, Y:-56.71, Z:-0.80 [[ 9.80787723e-01 1.95070993e-01 1.65803966e-03 3.74683391e+02] [-1.95070714e-01 9.80789125e-01 -3.30022903e-04 -5.67125818e+01] [-1.69056516e-03 2.47431233e-07 9.99998571e-01 -7.99433171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67576923100006 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:374.72, Y:-56.72, Z:-0.80 [[ 9.80755212e-01 1.95234387e-01 1.65798474e-03 3.74715393e+02] [-1.95234108e-01 9.80756613e-01 -3.30298576e-04 -5.67191110e+01] [-1.69056514e-03 2.46877745e-07 9.99998571e-01 -7.99488422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70576923100003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:374.75, Y:-56.73, Z:-0.80 [[ 9.80576141e-01 1.96131800e-01 1.65792967e-03 3.74745488e+02] [-1.96131521e-01 9.80577543e-01 -3.30574782e-04 -5.67266309e+01] [-1.69056483e-03 -1.01852367e-06 9.99998571e-01 -8.01799407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:374.78, Y:-56.73, Z:-0.80 [[ 9.79859028e-01 1.99683593e-01 1.65787876e-03 3.74775860e+02] [-1.99683319e-01 9.79860430e-01 -3.30829914e-04 -5.67346811e+01] [-1.69055110e-03 -6.88405434e-06 9.99998571e-01 -7.99335261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:374.81, Y:-56.74, Z:-0.80 [[ 9.79321791e-01 2.02301958e-01 1.65787094e-03 3.74805517e+02] [-2.02301687e-01 9.79323194e-01 -3.30869107e-04 -5.67417961e+01] [-1.69052693e-03 -1.13627613e-05 9.99998571e-01 -7.97265499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79576923100007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:374.84, Y:-56.75, Z:-0.80 [[ 9.78784137e-01 2.04887446e-01 1.65786704e-03 3.74836280e+02] [-2.04887179e-01 9.78785541e-01 -3.30888617e-04 -5.67493768e+01] [-1.69049121e-03 -1.58071718e-05 9.99998571e-01 -7.95787584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82576923100004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:374.87, Y:-56.76, Z:-0.80 [[ 9.78013875e-01 2.08533239e-01 1.65785925e-03 3.74867228e+02] [-2.08532978e-01 9.78015280e-01 -3.30927658e-04 -5.67581878e+01] [-1.69042109e-03 -2.20664849e-05 9.99998571e-01 -7.95036283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:374.90, Y:-56.77, Z:-0.80 [[ 9.77841143e-01 2.09341706e-01 1.65780290e-03 3.74898516e+02] [-2.09341446e-01 9.77842548e-01 -3.31209698e-04 -5.67664380e+01] [-1.69040622e-03 -2.31763860e-05 9.99998571e-01 -7.96067684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:374.93, Y:-56.78, Z:-0.80 [[ 9.78215548e-01 2.07585146e-01 1.65776280e-03 3.74928598e+02] [-2.07584883e-01 9.78216953e-01 -3.31410296e-04 -5.67780283e+01] [-1.69044753e-03 -1.99357920e-05 9.99998571e-01 -7.97266122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:374.96, Y:-56.79, Z:-0.80 [[ 9.78595331e-01 2.05787343e-01 1.65770895e-03 3.74959693e+02] [-2.05787076e-01 9.78596735e-01 -3.31679450e-04 -5.67881256e+01] [-1.69048399e-03 -1.65551154e-05 9.99998571e-01 -7.96255676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:374.99, Y:-56.80, Z:-0.79 [[ 9.79016023e-01 2.03776543e-01 1.65765163e-03 3.74991269e+02] [-2.03776273e-01 9.79017426e-01 -3.31965653e-04 -5.67984789e+01] [-1.69051664e-03 -1.27903773e-05 9.99998571e-01 -7.94904266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9757692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:375.02, Y:-56.81, Z:-0.80 [[ 9.79566780e-01 2.01112346e-01 1.65759039e-03 3.75021921e+02] [-2.01112072e-01 9.79568182e-01 -3.32271164e-04 -5.68129900e+01] [-1.69054664e-03 -7.87964299e-06 9.99998571e-01 -7.97662053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:375.05, Y:-56.82, Z:-0.80 [[ 9.79630798e-01 2.00800280e-01 1.65752565e-03 3.75051728e+02] [-2.00800005e-01 9.79632200e-01 -3.32593774e-04 -5.68233049e+01] [-1.69055043e-03 -7.01205548e-06 9.99998571e-01 -8.01745642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0357692310001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:375.08, Y:-56.83, Z:-0.80 [[ 9.79566772e-01 2.01112388e-01 1.65747322e-03 3.75082611e+02] [-2.01112113e-01 9.79568174e-01 -3.32854857e-04 -5.68340478e+01] [-1.69054925e-03 -7.28438467e-06 9.99998571e-01 -8.01837748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:375.11, Y:-56.85, Z:-0.81 [[ 9.78678341e-01 2.05392206e-01 1.65741700e-03 3.75111665e+02] [-2.05391936e-01 9.78679744e-01 -3.33134580e-04 -5.68468581e+01] [-1.69050369e-03 -1.43884891e-05 9.99998571e-01 -8.07508842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0957692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:375.14, Y:-56.86, Z:-0.81 [[ 9.77941646e-01 2.08871705e-01 1.65738499e-03 3.75143677e+02] [-2.08871440e-01 9.77943051e-01 -3.33293741e-04 -5.68558740e+01] [-1.69044377e-03 -2.02385611e-05 9.99998571e-01 -8.06868414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:375.17, Y:-56.86, Z:-0.81 [[ 9.77103127e-01 2.12759798e-01 1.65732158e-03 3.75174130e+02] [-2.12759538e-01 9.77104533e-01 -3.33608752e-04 -5.68640280e+01] [-1.69035496e-03 -2.66408191e-05 9.99998571e-01 -8.06045013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1557692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:375.21, Y:-56.87, Z:-0.80 [[ 9.76201720e-01 2.16858146e-01 1.65729121e-03 3.75206485e+02] [-2.16857891e-01 9.76203126e-01 -3.33759598e-04 -5.68721656e+01] [-1.69023134e-03 -3.35799826e-05 9.99998571e-01 -8.03021559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:375.24, Y:-56.88, Z:-0.80 [[ 9.74669528e-01 2.23643833e-01 1.65722833e-03 3.75236415e+02] [-2.23643588e-01 9.74670936e-01 -3.34071504e-04 -5.68789610e+01] [-1.68996532e-03 -4.50191746e-05 9.99998571e-01 -8.00991042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2157692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:375.27, Y:-56.88, Z:-0.80 [[ 9.74137896e-01 2.25948252e-01 1.65718542e-03 3.75267466e+02] [-2.25948010e-01 9.74139305e-01 -3.34284225e-04 -5.68844339e+01] [-1.68986039e-03 -4.87988170e-05 9.99998571e-01 -8.01305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:375.30, Y:-56.89, Z:-0.80 [[ 9.73789491e-01 2.27445115e-01 1.65712744e-03 3.75300396e+02] [-2.27444875e-01 9.73790900e-01 -3.34571392e-04 -5.68902308e+01] [-1.68979225e-03 -5.11030378e-05 9.99998571e-01 -8.01262080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:375.33, Y:-56.89, Z:-0.80 [[ 9.73638281e-01 2.28091543e-01 1.65706568e-03 3.75332722e+02] [-2.28091303e-01 9.73639690e-01 -3.34877026e-04 -5.68949372e+01] [-1.68976753e-03 -5.19131776e-05 9.99998571e-01 -7.99902700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:375.37, Y:-56.90, Z:-0.80 [[ 9.73756485e-01 2.27586385e-01 1.65700402e-03 3.75365533e+02] [-2.27586143e-01 9.73757893e-01 -3.35181843e-04 -5.69006083e+01] [-1.68980356e-03 -5.07256607e-05 9.99998571e-01 -7.99766974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.33576923100003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:375.40, Y:-56.91, Z:-0.80 [[ 9.73949488e-01 2.26759011e-01 1.65693925e-03 3.75397917e+02] [-2.26758768e-01 9.73950896e-01 -3.35501717e-04 -5.69062374e+01] [-1.68985550e-03 -4.89637770e-05 9.99998571e-01 -7.99689826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:375.43, Y:-56.91, Z:-0.80 [[ 9.74240191e-01 2.25506772e-01 1.65687333e-03 3.75429768e+02] [-2.25506527e-01 9.74241599e-01 -3.35826920e-04 -5.69114972e+01] [-1.68992617e-03 -4.64596685e-05 9.99998571e-01 -7.97919656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:375.46, Y:-56.92, Z:-0.80 [[ 9.74106366e-01 2.26084150e-01 1.65681188e-03 3.75461908e+02] [-2.26083905e-01 9.74107774e-01 -3.36129805e-04 -5.69177178e+01] [-1.68990696e-03 -4.71523182e-05 9.99998571e-01 -7.96132560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42576923100006 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:375.49, Y:-56.92, Z:-0.80 [[ 9.73782830e-01 2.27473637e-01 1.65675067e-03 3.75493931e+02] [-2.27473393e-01 9.73784238e-01 -3.36431253e-04 -5.69233035e+01] [-1.68984693e-03 -4.92557201e-05 9.99998571e-01 -7.95061527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.53, Y:-56.93, Z:-0.79 [[ 9.72566668e-01 2.32618426e-01 1.65668953e-03 3.75526093e+02] [-2.32618190e-01 9.72568077e-01 -3.36732048e-04 -5.69266919e+01] [-1.68957343e-03 -5.78817537e-05 9.99998571e-01 -7.94519569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:375.56, Y:-56.93, Z:-0.80 [[ 9.71809934e-01 2.35759852e-01 1.65663629e-03 3.75556699e+02] [-2.35759620e-01 9.71811344e-01 -3.36993763e-04 -5.69309717e+01] [-1.68938754e-03 -6.30740562e-05 9.99998571e-01 -7.95581819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:375.59, Y:-56.94, Z:-0.80 [[ 9.71144666e-01 2.38485414e-01 1.65658693e-03 3.75589103e+02] [-2.38485185e-01 9.71146077e-01 -3.37236263e-04 -5.69356023e+01] [-1.68921383e-03 -6.75662414e-05 9.99998571e-01 -7.97925358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:375.62, Y:-56.94, Z:-0.80 [[ 9.70292100e-01 2.41930769e-01 1.65652270e-03 3.75621603e+02] [-2.41930545e-01 9.70293511e-01 -3.37551462e-04 -5.69371576e+01] [-1.68897731e-03 -7.32399225e-05 9.99998571e-01 -8.00531302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:375.65, Y:-56.94, Z:-0.80 [[ 9.70084091e-01 2.42763490e-01 1.65648279e-03 3.75651867e+02] [-2.42763267e-01 9.70085503e-01 -3.37747200e-04 -5.69399847e+01] [-1.68892263e-03 -7.44899881e-05 9.99998571e-01 -7.99655004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:375.68, Y:-56.94, Z:-0.80 [[ 9.69879280e-01 2.43580456e-01 1.65648279e-03 3.75682827e+02] [-2.43580233e-01 9.69880692e-01 -3.37747200e-04 -5.69427044e+01] [-1.68885929e-03 -7.59124535e-05 9.99998571e-01 -7.97420033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:375.71, Y:-56.94, Z:-0.80 [[ 9.69679821e-01 2.44373282e-01 1.65647496e-03 3.75713614e+02] [-2.44373061e-01 9.69681233e-01 -3.37785583e-04 -5.69406996e+01] [-1.68879846e-03 -7.72539933e-05 9.99998571e-01 -7.98543190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.74, Y:-56.94, Z:-0.80 [[ 9.69706161e-01 2.44268740e-01 1.65647052e-03 3.75741492e+02] [-2.44268518e-01 9.69707573e-01 -3.37807359e-04 -5.69418241e+01] [-1.68880779e-03 -7.70497232e-05 9.99998571e-01 -8.00419395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.77, Y:-56.94, Z:-0.80 [[ 9.69840707e-01 2.43733994e-01 1.65648881e-03 3.75770297e+02] [-2.43733772e-01 9.69842118e-01 -3.37717644e-04 -5.69433082e+01] [-1.68884589e-03 -7.62099487e-05 9.99998571e-01 -8.01095267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.80, Y:-56.95, Z:-0.80 [[ 9.70099155e-01 2.42703288e-01 1.65650349e-03 3.75800216e+02] [-2.42703065e-01 9.70100566e-01 -3.37645655e-04 -5.69454752e+01] [-1.68892268e-03 -7.44887082e-05 9.99998571e-01 -8.00023550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.83, Y:-56.94, Z:-0.80 [[ 9.71224268e-01 2.38161032e-01 1.65651147e-03 3.75830254e+02] [-2.38160802e-01 9.71225678e-01 -3.37606499e-04 -5.69434604e+01] [-1.68925118e-03 -6.66244739e-05 9.99998571e-01 -7.98893923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.86, Y:-56.95, Z:-0.80 [[ 9.72060597e-01 2.34724204e-01 1.65652035e-03 3.75858984e+02] [-2.34723969e-01 9.72062006e-01 -3.37562914e-04 -5.69454125e+01] [-1.68947468e-03 -6.06934232e-05 9.99998571e-01 -7.98934298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.89, Y:-56.95, Z:-0.80 [[ 9.72997568e-01 2.30809420e-01 1.65653566e-03 3.75888961e+02] [-2.30809179e-01 9.72998977e-01 -3.37487742e-04 -5.69485237e+01] [-1.68970285e-03 -5.39688847e-05 9.99998571e-01 -7.98610373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:375.92, Y:-56.95, Z:-0.80 [[ 9.74748018e-01 2.23301493e-01 1.65654378e-03 3.75918818e+02] [-2.23301242e-01 9.74749425e-01 -3.37447898e-04 -5.69518241e+01] [-1.69006772e-03 -4.09816130e-05 9.99998571e-01 -8.00441118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:375.95, Y:-56.96, Z:-0.80 [[ 9.75403100e-01 2.20422433e-01 1.65654783e-03 3.75947703e+02] [-2.20422178e-01 9.75404506e-01 -3.37428025e-04 -5.69566252e+01] [-1.69018092e-03 -3.60115390e-05 9.99998571e-01 -8.01024239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.98, Y:-56.96, Z:-0.80 [[ 9.75745091e-01 2.18903573e-01 1.65656329e-03 3.75977096e+02] [-2.18903315e-01 9.75746496e-01 -3.37352081e-04 -5.69606172e+01] [-1.69023340e-03 -3.34575594e-05 9.99998571e-01 -8.00215632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.01, Y:-56.96, Z:-0.80 [[ 9.75891427e-01 2.18250265e-01 1.65657136e-03 3.76005399e+02] [-2.18250007e-01 9.75892833e-01 -3.37312456e-04 -5.69637556e+01] [-1.69025465e-03 -3.23663767e-05 9.99998571e-01 -7.99979772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.03, Y:-56.97, Z:-0.80 [[ 9.75905291e-01 2.18188264e-01 1.65658336e-03 3.76034172e+02] [-2.18188006e-01 9.75906697e-01 -3.37253519e-04 -5.69660162e+01] [-1.69025555e-03 -3.23191257e-05 9.99998571e-01 -7.97036412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.06, Y:-56.97, Z:-0.80 [[ 9.75949237e-01 2.17991612e-01 1.65659940e-03 3.76061858e+02] [-2.17991353e-01 9.75950642e-01 -3.37174724e-04 -5.69704260e+01] [-1.69026051e-03 -3.20589293e-05 9.99998571e-01 -7.95958971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.09, Y:-56.97, Z:-0.80 [[ 9.75965899e-01 2.17917002e-01 1.65661933e-03 3.76090354e+02] [-2.17916743e-01 9.75967304e-01 -3.37076758e-04 -5.69746358e+01] [-1.69026106e-03 -3.20296677e-05 9.99998571e-01 -7.96137693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.12, Y:-56.98, Z:-0.80 [[ 9.75945714e-01 2.18007381e-01 1.65663565e-03 3.76117920e+02] [-2.18007122e-01 9.75947120e-01 -3.36996532e-04 -5.69768500e+01] [-1.69025652e-03 -3.22680500e-05 9.99998571e-01 -7.98332655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.08576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.15, Y:-56.98, Z:-0.80 [[ 9.75986164e-01 2.17826224e-01 1.65665590e-03 3.76146171e+02] [-2.17825966e-01 9.75987569e-01 -3.36896944e-04 -5.69815564e+01] [-1.69026056e-03 -3.20559163e-05 9.99998571e-01 -7.99293561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.17, Y:-56.99, Z:-0.80 [[ 9.76061274e-01 2.17489411e-01 1.65667172e-03 3.76173617e+02] [-2.17489152e-01 9.76062680e-01 -3.36819162e-04 -5.69864105e+01] [-1.69027004e-03 -3.15519870e-05 9.99998571e-01 -7.99354940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.20, Y:-56.99, Z:-0.80 [[ 9.76273551e-01 2.16534547e-01 1.65669142e-03 3.76201924e+02] [-2.16534287e-01 9.76274956e-01 -3.36722243e-04 -5.69899791e+01] [-1.69029834e-03 -2.99974750e-05 9.99998571e-01 -7.99463300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.23, Y:-56.99, Z:-0.80 [[ 9.76298300e-01 2.16422929e-01 1.65670708e-03 3.76230211e+02] [-2.16422669e-01 9.76299705e-01 -3.36645172e-04 -5.69936716e+01] [-1.69030036e-03 -2.98828589e-05 9.99998571e-01 -7.97083109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.26, Y:-57.00, Z:-0.79 [[ 9.76086433e-01 2.17376474e-01 1.65672283e-03 3.76258233e+02] [-2.17376215e-01 9.76087838e-01 -3.36567612e-04 -5.69970946e+01] [-1.69026889e-03 -3.16130595e-05 9.99998571e-01 -7.94032734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.29, Y:-57.00, Z:-0.79 [[ 9.75634588e-01 2.19395546e-01 1.65674239e-03 3.76285706e+02] [-2.19395291e-01 9.75635994e-01 -3.36471319e-04 -5.70000969e+01] [-1.69019782e-03 -3.52084213e-05 9.99998571e-01 -7.91288912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.31, Y:-57.00, Z:-0.79 [[ 9.75138338e-01 2.21590787e-01 1.65676167e-03 3.76314088e+02] [-2.21590535e-01 9.75139745e-01 -3.36376348e-04 -5.70028839e+01] [-1.69011205e-03 -3.91092324e-05 9.99998571e-01 -7.91575244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.34, Y:-57.00, Z:-0.80 [[ 9.74553879e-01 2.24147256e-01 1.65678507e-03 3.76343153e+02] [-2.24147008e-01 9.74555286e-01 -3.36261040e-04 -5.70025731e+01] [-1.69000064e-03 -4.36589169e-05 9.99998571e-01 -7.97232613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:376.37, Y:-57.00, Z:-0.80 [[ 9.74710776e-01 2.23463999e-01 1.65680096e-03 3.76371479e+02] [-2.23463750e-01 9.74712183e-01 -3.36182761e-04 -5.70046450e+01] [-1.69002882e-03 -4.25539962e-05 9.99998571e-01 -8.00529385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:376.40, Y:-57.01, Z:-0.80 [[ 9.75123627e-01 2.21655514e-01 1.65682420e-03 3.76398486e+02] [-2.21655262e-01 9.75125034e-01 -3.36068179e-04 -5.70073377e+01] [-1.69010212e-03 -3.95357810e-05 9.99998571e-01 -8.03907845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:376.43, Y:-57.01, Z:-0.81 [[ 9.76560488e-01 2.15236771e-01 1.65685007e-03 3.76426571e+02] [-2.15236511e-01 9.76561893e-01 -3.35940608e-04 -5.70118152e+01] [-1.69032341e-03 -2.85483029e-05 9.99998571e-01 -8.07994685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.45, Y:-57.02, Z:-0.81 [[ 9.77550690e-01 2.10693863e-01 1.65686524e-03 3.76454420e+02] [-2.10693596e-01 9.77552094e-01 -3.35865765e-04 -5.70171667e+01] [-1.69043694e-03 -2.07650850e-05 9.99998571e-01 -8.06474786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:376.48, Y:-57.02, Z:-0.81 [[ 9.78666204e-01 2.05450033e-01 1.65688151e-03 3.76481788e+02] [-2.05449759e-01 9.78667606e-01 -3.35785469e-04 -5.70218088e+01] [-1.69052340e-03 -1.17840166e-05 9.99998571e-01 -8.06240532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4757692310001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:376.51, Y:-57.03, Z:-0.80 [[ 9.80903676e-01 1.94487100e-01 1.65690183e-03 3.76510200e+02] [-1.94486811e-01 9.80905076e-01 -3.35685158e-04 -5.70281011e+01] [-1.69054985e-03 7.02925282e-06 9.99998571e-01 -8.01933027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:376.54, Y:-57.04, Z:-0.80 [[ 9.81804192e-01 1.89888872e-01 1.65691392e-03 3.76538335e+02] [-1.89888576e-01 9.81805590e-01 -3.35625476e-04 -5.70362688e+01] [-1.69049889e-03 1.48894750e-05 9.99998571e-01 -8.01404899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5357692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:376.57, Y:-57.04, Z:-0.80 [[ 9.82508504e-01 1.86210352e-01 1.65693028e-03 3.76566144e+02] [-1.86210051e-01 9.82509900e-01 -3.35544684e-04 -5.70446124e+01] [-1.69043230e-03 2.11384333e-05 9.99998571e-01 -8.02163814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:376.59, Y:-57.05, Z:-0.80 [[ 9.82947988e-01 1.83876336e-01 1.65694252e-03 3.76593179e+02] [-1.83876031e-01 9.82949385e-01 -3.35484239e-04 -5.70531929e+01] [-1.69037824e-03 2.50915424e-05 9.99998571e-01 -8.04188661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5957692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:376.62, Y:-57.06, Z:-0.80 [[ 9.82952344e-01 1.83853052e-01 1.65695459e-03 3.76622755e+02] [-1.83852748e-01 9.82953740e-01 -3.35424607e-04 -5.70591337e+01] [-1.69037855e-03 2.50707482e-05 9.99998571e-01 -8.04239654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:376.65, Y:-57.07, Z:-0.81 [[ 9.83354070e-01 1.81692124e-01 1.65696254e-03 3.76649442e+02] [-1.81691816e-01 9.83355465e-01 -3.35385358e-04 -5.70716516e+01] [-1.69032005e-03 2.87460242e-05 9.99998571e-01 -8.07338031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6557692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.68, Y:-57.08, Z:-0.81 [[ 9.83416896e-01 1.81351765e-01 1.65697439e-03 3.76677319e+02] [-1.81351458e-01 9.83418292e-01 -3.35326800e-04 -5.70813214e+01] [-1.69031103e-03 2.92713197e-05 9.99998571e-01 -8.07926760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:376.70, Y:-57.09, Z:-0.81 [[ 9.83386518e-01 1.81516419e-01 1.65698231e-03 3.76704505e+02] [-1.81516111e-01 9.83387914e-01 -3.35287657e-04 -5.70902175e+01] [-1.69031659e-03 2.89483758e-05 9.99998571e-01 -8.08200532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7157692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:376.73, Y:-57.10, Z:-0.81 [[ 9.83223435e-01 1.82397726e-01 1.65699416e-03 3.76733175e+02] [-1.82397420e-01 9.83224831e-01 -3.35229097e-04 -5.70990032e+01] [-1.69034282e-03 2.73736452e-05 9.99998571e-01 -8.07167397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74576923100005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:376.76, Y:-57.11, Z:-0.80 [[ 9.82436461e-01 1.86590070e-01 1.65700204e-03 3.76761054e+02] [-1.86589770e-01 9.82437858e-01 -3.35190138e-04 -5.71103292e+01] [-1.69044468e-03 2.01233827e-05 9.99998571e-01 -8.04180255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:376.79, Y:-57.12, Z:-0.80 [[ 9.82002414e-01 1.88861096e-01 1.65700988e-03 3.76788149e+02] [-1.88860799e-01 9.82003812e-01 -3.35151379e-04 -5.71189062e+01] [-1.69048707e-03 1.61752539e-05 9.99998571e-01 -8.02301846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:376.82, Y:-57.13, Z:-0.80 [[ 9.81676638e-01 1.90547191e-01 1.65701792e-03 3.76816710e+02] [-1.90546897e-01 9.81678037e-01 -3.35111625e-04 -5.71278332e+01] [-1.69051267e-03 1.32316316e-05 9.99998571e-01 -8.00780717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.83576923100003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:376.85, Y:-57.14, Z:-0.80 [[ 9.81490797e-01 1.91502142e-01 1.65702568e-03 3.76845084e+02] [-1.91501849e-01 9.81492195e-01 -3.35073240e-04 -5.71360771e+01] [-1.69052501e-03 1.15478205e-05 9.99998571e-01 -8.00566684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:376.87, Y:-57.14, Z:-0.80 [[ 9.81416307e-01 1.91883524e-01 1.65703338e-03 3.76874473e+02] [-1.91883231e-01 9.81417706e-01 -3.35035149e-04 -5.71438383e+01] [-1.69052962e-03 1.08520386e-05 9.99998571e-01 -8.02339783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89576923100003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:376.90, Y:-57.15, Z:-0.81 [[ 9.81356353e-01 1.92189914e-01 1.65703338e-03 3.76903470e+02] [-1.92189622e-01 9.81357752e-01 -3.35035149e-04 -5.71535354e+01] [-1.69053293e-03 1.03242521e-05 9.99998571e-01 -8.07002949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92576923100006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:376.93, Y:-57.16, Z:-0.81 [[ 9.81369646e-01 1.92122024e-01 1.65702949e-03 3.76932773e+02] [-1.92121732e-01 9.81371045e-01 -3.35054390e-04 -5.71617070e+01] [-1.69053209e-03 1.04608321e-05 9.99998571e-01 -8.07943979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:376.96, Y:-57.17, Z:-0.81 [[ 9.81439710e-01 1.91763789e-01 1.65702949e-03 3.76961314e+02] [-1.91763496e-01 9.81441108e-01 -3.35054390e-04 -5.71694786e+01] [-1.69052816e-03 1.10779143e-05 9.99998571e-01 -8.07393104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98576923100006 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:376.99, Y:-57.18, Z:-0.81 [[ 9.81584628e-01 1.91020607e-01 1.65703329e-03 3.76990635e+02] [-1.91020313e-01 9.81586027e-01 -3.35035580e-04 -5.71768658e+01] [-1.69051943e-03 1.23387565e-05 9.99998571e-01 -8.05755410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01576923100004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:377.02, Y:-57.19, Z:-0.80 [[ 9.82074893e-01 1.88483842e-01 1.65702952e-03 3.77020967e+02] [-1.88483545e-01 9.82076291e-01 -3.35054248e-04 -5.71853389e+01] [-1.69048171e-03 1.67255671e-05 9.99998571e-01 -8.01225015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:377.05, Y:-57.19, Z:-0.80 [[ 9.82265709e-01 1.87486884e-01 1.65702200e-03 3.77051498e+02] [-1.87486586e-01 9.82267106e-01 -3.35091405e-04 -5.71933862e+01] [-1.69046345e-03 1.84793979e-05 9.99998571e-01 -7.99358225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:377.08, Y:-57.20, Z:-0.80 [[ 9.82393347e-01 1.86816929e-01 1.65701451e-03 3.77081834e+02] [-1.86816630e-01 9.82394745e-01 -3.35128466e-04 -5.72016755e+01] [-1.69045002e-03 1.96701095e-05 9.99998571e-01 -7.99993988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.11, Y:-57.21, Z:-0.80 [[ 9.82432634e-01 1.86610219e-01 1.65700698e-03 3.77111155e+02] [-1.86609919e-01 9.82434031e-01 -3.35165689e-04 -5.72096647e+01] [-1.69044539e-03 2.00637727e-05 9.99998571e-01 -8.03273049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13576923100004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:377.14, Y:-57.22, Z:-0.80 [[ 9.82325062e-01 1.87175658e-01 1.65700323e-03 3.77143247e+02] [-1.87175359e-01 9.82326459e-01 -3.35184218e-04 -5.72171823e+01] [-1.69045644e-03 1.91096828e-05 9.99998571e-01 -8.03444461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16576923100007 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:377.17, Y:-57.22, Z:-0.80 [[ 9.82247719e-01 1.87581113e-01 1.65693896e-03 3.77174755e+02] [-1.87580814e-01 9.82249116e-01 -3.35501620e-04 -5.72245686e+01] [-1.69046060e-03 1.87357412e-05 9.99998571e-01 -8.03457864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19576923100004 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:377.21, Y:-57.23, Z:-0.80 [[ 9.82218731e-01 1.87732838e-01 1.65687899e-03 3.77207064e+02] [-1.87732538e-01 9.82220129e-01 -3.35797533e-04 -5.72331834e+01] [-1.69046012e-03 1.87765283e-05 9.99998571e-01 -8.03358467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2257692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.24, Y:-57.24, Z:-0.81 [[ 9.82248109e-01 1.87579070e-01 1.65681539e-03 3.77237498e+02] [-1.87578770e-01 9.82249506e-01 -3.36111026e-04 -5.72431115e+01] [-1.69045350e-03 1.93610259e-05 9.99998571e-01 -8.06489758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25576923100004 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:377.27, Y:-57.25, Z:-0.81 [[ 9.82162492e-01 1.88026845e-01 1.65675596e-03 3.77268862e+02] [-1.88026545e-01 9.82163889e-01 -3.36403722e-04 -5.72515574e+01] [-1.69045881e-03 1.88890190e-05 9.99998571e-01 -8.08071057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2857692310001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:377.30, Y:-57.26, Z:-0.81 [[ 9.82063894e-01 1.88541145e-01 1.65670308e-03 3.77299045e+02] [-1.88540845e-01 9.82065291e-01 -3.36663951e-04 -5.72596857e+01] [-1.69046560e-03 1.82693122e-05 9.99998571e-01 -8.09208985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31576923100005 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:377.33, Y:-57.27, Z:-0.81 [[ 9.81858077e-01 1.89610052e-01 1.65667305e-03 3.77330023e+02] [-1.89609754e-01 9.81859475e-01 -3.36811664e-04 -5.72680428e+01] [-1.69048301e-03 1.65798834e-05 9.99998571e-01 -8.08882191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3457692310001 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:377.36, Y:-57.28, Z:-0.81 [[ 9.81340051e-01 1.92273139e-01 1.65662031e-03 3.77360765e+02] [-1.92272844e-01 9.81341449e-01 -3.37070881e-04 -5.72756254e+01] [-1.69051985e-03 1.22580581e-05 9.99998571e-01 -8.08967053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37576923100005 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:377.39, Y:-57.28, Z:-0.81 [[ 9.80948766e-01 1.94259556e-01 1.65657161e-03 3.77391967e+02] [-1.94259263e-01 9.80950164e-01 -3.37310055e-04 -5.72812090e+01] [-1.69053989e-03 9.07950267e-06 9.99998571e-01 -8.06832516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4057692310001 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:377.42, Y:-57.29, Z:-0.81 [[ 9.80434053e-01 1.96840859e-01 1.65651769e-03 3.77422665e+02] [-1.96840570e-01 9.80435452e-01 -3.37574601e-04 -5.72858929e+01] [-1.69055715e-03 4.89974725e-06 9.99998571e-01 -8.06692523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43576923100005 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:377.45, Y:-57.29, Z:-0.81 [[ 9.79143857e-01 2.03161424e-01 1.65651000e-03 3.77453255e+02] [-2.03161144e-01 9.79145258e-01 -3.37612361e-04 -5.72886435e+01] [-1.69055372e-03 -5.96739654e-06 9.99998571e-01 -8.08281434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4657692310001 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:377.48, Y:-57.29, Z:-0.81 [[ 9.78554947e-01 2.05979298e-01 1.65650617e-03 3.77484946e+02] [-2.05979022e-01 9.78556349e-01 -3.37631130e-04 -5.72925453e+01] [-1.69052966e-03 -1.08149090e-05 9.99998571e-01 -8.08407471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49576923100005 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:377.52, Y:-57.30, Z:-0.81 [[ 9.78156668e-01 2.07862426e-01 1.65649015e-03 3.77515622e+02] [-2.07862152e-01 9.78158071e-01 -3.37709737e-04 -5.72962706e+01] [-1.69050637e-03 -1.39885759e-05 9.99998571e-01 -8.09642099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5257692310001 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:377.55, Y:-57.30, Z:-0.81 [[ 9.78141643e-01 2.07933119e-01 1.65648614e-03 3.77545776e+02] [-2.07932846e-01 9.78143046e-01 -3.37729374e-04 -5.73001882e+01] [-1.69050552e-03 -1.40907132e-05 9.99998571e-01 -8.10080836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55576923100006 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:377.58, Y:-57.30, Z:-0.80 [[ 9.79089043e-01 2.03425422e-01 1.65646795e-03 3.77578096e+02] [-2.03425141e-01 9.79090444e-01 -3.37818585e-04 -5.73038078e+01] [-1.69055283e-03 -6.21275232e-06 9.99998571e-01 -8.03642568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.58576923100003 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:377.61, Y:-57.31, Z:-0.80 [[ 9.79819675e-01 1.99876613e-01 1.65641212e-03 3.77609207e+02] [-1.99876327e-01 9.79821075e-01 -3.38092134e-04 -5.73085595e+01] [-1.69056421e-03 1.91755020e-07 9.99998571e-01 -8.01763643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61576923100006 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:377.64, Y:-57.31, Z:-0.80 [[ 9.80463853e-01 1.96692373e-01 1.65640412e-03 3.77639018e+02] [-1.96692082e-01 9.80465252e-01 -3.38131316e-04 -5.73131634e+01] [-1.69055453e-03 5.72395868e-06 9.99998571e-01 -8.01921099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64576923100003 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:377.67, Y:-57.32, Z:-0.80 [[ 9.81039996e-01 1.93798306e-01 1.65640015e-03 3.77668483e+02] [-1.93798011e-01 9.81041394e-01 -3.38150774e-04 -5.73180814e+01] [-1.69053015e-03 1.07323807e-05 9.99998571e-01 -8.02632257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67576923100006 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:377.70, Y:-57.32, Z:-0.80 [[ 9.81829382e-01 1.89758586e-01 1.65639619e-03 3.77698915e+02] [-1.89758285e-01 9.81830779e-01 -3.38170135e-04 -5.73233497e+01] [-1.69047145e-03 1.77104732e-05 9.99998571e-01 -8.01506488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70576923100003 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:377.73, Y:-57.33, Z:-0.80 [[ 9.81973298e-01 1.89012429e-01 1.65634531e-03 3.77729233e+02] [-1.89012127e-01 9.81974695e-01 -3.38419175e-04 -5.73294678e+01] [-1.69045461e-03 1.92492433e-05 9.99998571e-01 -7.99843568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73576923100006 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:377.76, Y:-57.33, Z:-0.80 [[ 9.81896606e-01 1.89410431e-01 1.65633737e-03 3.77759532e+02] [-1.89410129e-01 9.81898003e-01 -3.38458048e-04 -5.73347510e+01] [-1.69046184e-03 1.86037342e-05 9.99998571e-01 -7.98518956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76576923100004 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:377.79, Y:-57.34, Z:-0.80 [[ 9.81087672e-01 1.93556804e-01 1.65631900e-03 3.77789956e+02] [-1.93556508e-01 9.81089070e-01 -3.38547902e-04 -5.73359432e+01] [-1.69052472e-03 1.15538512e-05 9.99998571e-01 -7.98961358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79576923100007 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:377.82, Y:-57.34, Z:-0.80 [[ 9.80568549e-01 1.96169766e-01 1.65631900e-03 3.77819994e+02] [-1.96169474e-01 9.80569948e-01 -3.38547902e-04 -5.73384629e+01] [-1.69054950e-03 7.05019855e-06 9.99998571e-01 -8.00123816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82576923100004 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:377.85, Y:-57.34, Z:-0.80 [[ 9.80069470e-01 1.98648159e-01 1.65632682e-03 3.77848734e+02] [-1.98647870e-01 9.80070869e-01 -3.38509625e-04 -5.73411995e+01] [-1.69056198e-03 2.73715283e-06 9.99998571e-01 -8.01620969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85576923100007 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:377.88, Y:-57.34, Z:-0.80 [[ 9.79698859e-01 2.00467956e-01 1.65633593e-03 3.77877555e+02] [-2.00467670e-01 9.79700260e-01 -3.38465057e-04 -5.73435935e+01] [-1.69056414e-03 -4.47974366e-07 9.99998571e-01 -8.03590820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88576923100004 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:377.91, Y:-57.34, Z:-0.80 [[ 9.79267726e-01 2.02563516e-01 1.65635124e-03 3.77906578e+02] [-2.02563234e-01 9.79269126e-01 -3.38390113e-04 -5.73423874e+01] [-1.69055912e-03 -4.14134690e-06 9.99998571e-01 -8.04325256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91576923100007 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:377.93, Y:-57.34, Z:-0.80 [[ 9.79026479e-01 2.03726311e-01 1.65637028e-03 3.77934317e+02] [-2.03726030e-01 9.79027880e-01 -3.38296880e-04 -5.73447879e+01] [-1.69055266e-03 -6.24413865e-06 9.99998571e-01 -8.04028661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94576923100004 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:377.96, Y:-57.35, Z:-0.80 [[ 9.78666987e-01 2.05446307e-01 1.65638917e-03 3.77963441e+02] [-2.05446029e-01 9.78668389e-01 -3.38204386e-04 -5.73464474e+01] [-1.69053856e-03 -9.30911026e-06 9.99998571e-01 -8.03623344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9757692310001 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:377.99, Y:-57.34, Z:-0.81 [[ 9.77930202e-01 2.08925287e-01 1.65640447e-03 3.77992312e+02] [-2.08925014e-01 9.77931605e-01 -3.38129439e-04 -5.73427707e+01] [-1.69049407e-03 -1.53973367e-05 9.99998571e-01 -8.06464725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00576923100004 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:378.02, Y:-57.34, Z:-0.81 [[ 9.77649568e-01 2.10234578e-01 1.65642343e-03 3.78020638e+02] [-2.10234307e-01 9.77650971e-01 -3.38036522e-04 -5.73431534e+01] [-1.69047094e-03 -1.77557715e-05 9.99998571e-01 -8.07088751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0357692310001 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:378.05, Y:-57.34, Z:-0.81 [[ 9.77452081e-01 2.11150862e-01 1.65644192e-03 3.78048616e+02] [-2.11150592e-01 9.77453484e-01 -3.37945910e-04 -5.73437377e+01] [-1.69045249e-03 -1.94327587e-05 9.99998571e-01 -8.06187363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06576923100005 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:378.08, Y:-57.34, Z:-0.81 [[ 9.77124882e-01 2.12659874e-01 1.65646481e-03 3.78077299e+02] [-2.12659606e-01 9.77126285e-01 -3.37833640e-04 -5.73406463e+01] [-1.69041897e-03 -2.21574996e-05 9.99998571e-01 -8.09182948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0957692310001 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:378.11, Y:-57.34, Z:-0.81 [[ 9.77112018e-01 2.12718971e-01 1.65648375e-03 3.78106575e+02] [-2.12718704e-01 9.77113422e-01 -3.37740745e-04 -5.73423880e+01] [-1.69041637e-03 -2.23545375e-05 9.99998571e-01 -8.10677041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12576923100005 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:378.13, Y:-57.34, Z:-0.81 [[ 9.77189234e-01 2.12363972e-01 1.65649885e-03 3.78133511e+02] [-2.12363704e-01 9.77190638e-01 -3.37666690e-04 -5.73441473e+01] [-1.69042341e-03 -2.18159782e-05 9.99998571e-01 -8.11057317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1557692310001 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:378.16, Y:-57.35, Z:-0.81 [[ 9.77363105e-01 2.11562324e-01 1.65653486e-03 3.78162656e+02] [-2.11562056e-01 9.77364509e-01 -3.37489921e-04 -5.73468256e+01] [-1.69043854e-03 -2.06097239e-05 9.99998571e-01 -8.08128188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18576923100005 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:378.19, Y:-57.35, Z:-0.81 [[ 9.77537209e-01 2.10756402e-01 1.65655120e-03 3.78191306e+02] [-2.10756133e-01 9.77538612e-01 -3.37409699e-04 -5.73498953e+01] [-1.69045402e-03 -1.92977899e-05 9.99998571e-01 -8.05104977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2157692310001 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:378.22, Y:-57.35, Z:-0.80 [[ 9.77863110e-01 2.09239085e-01 1.65656781e-03 3.78220089e+02] [-2.09238813e-01 9.77864513e-01 -3.37328165e-04 -5.73495123e+01] [-1.69048111e-03 -1.67575137e-05 9.99998571e-01 -8.01110952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24576923100005 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:378.25, Y:-57.35, Z:-0.80 [[ 9.77980715e-01 2.08688707e-01 1.65658850e-03 3.78248188e+02] [-2.08688435e-01 9.77982118e-01 -3.37226498e-04 -5.73519603e+01] [-1.69048929e-03 -1.59098514e-05 9.99998571e-01 -7.99365491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2757692310001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:378.28, Y:-57.36, Z:-0.80 [[ 9.77963414e-01 2.08769768e-01 1.65661059e-03 3.78275662e+02] [-2.08769497e-01 9.77964817e-01 -3.37117936e-04 -5.73550847e+01] [-1.69048691e-03 -1.61607523e-05 9.99998571e-01 -7.99667115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30576923100006 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:378.30, Y:-57.36, Z:-0.80 [[ 9.77812366e-01 2.09476089e-01 1.65663442e-03 3.78302423e+02] [-2.09475819e-01 9.77813769e-01 -3.37000835e-04 -5.73564790e+01] [-1.69047356e-03 -1.75012677e-05 9.99998571e-01 -8.02872686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.33576923100003 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:378.33, Y:-57.36, Z:-0.80 [[ 9.77690258e-01 2.10045267e-01 1.65666205e-03 3.78329834e+02] [-2.10044998e-01 9.77691662e-01 -3.36864941e-04 -5.73597255e+01] [-1.69046156e-03 -1.86240050e-05 9.99998571e-01 -8.02660657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36576923100006 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:378.36, Y:-57.36, Z:-0.80 [[ 9.77521063e-01 2.10831275e-01 1.65668643e-03 3.78357399e+02] [-2.10831007e-01 9.77522467e-01 -3.36744996e-04 -5.73624792e+01] [-1.69044458e-03 -2.01055416e-05 9.99998571e-01 -8.02610049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39576923100003 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:378.38, Y:-57.37, Z:-0.80 [[ 9.77339718e-01 2.11670338e-01 1.65671078e-03 3.78384580e+02] [-2.11670071e-01 9.77341121e-01 -3.36625159e-04 -5.73657881e+01] [-1.69042513e-03 -2.16789504e-05 9.99998571e-01 -8.02488723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42576923100006 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:378.41, Y:-57.37, Z:-0.80 [[ 9.77216451e-01 2.12238693e-01 1.65675073e-03 3.78412243e+02] [-2.12238427e-01 9.77217855e-01 -3.36428431e-04 -5.73685730e+01] [-1.69040952e-03 -2.28627711e-05 9.99998571e-01 -8.00437113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45576923100003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:378.44, Y:-57.37, Z:-0.80 [[ 9.77354897e-01 2.11600238e-01 1.65677033e-03 3.78439884e+02] [-2.11599971e-01 9.77356301e-01 -3.36331885e-04 -5.73733587e+01] [-1.69042282e-03 -2.18569388e-05 9.99998571e-01 -8.00803695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48576923100006 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:378.47, Y:-57.38, Z:-0.80 [[ 9.77369820e-01 2.11531299e-01 1.65679403e-03 3.78467838e+02] [-2.11531033e-01 9.77371224e-01 -3.36215088e-04 -5.73788914e+01] [-1.69042282e-03 -2.18568726e-05 9.99998571e-01 -8.00851867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51576923100004 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:378.50, Y:-57.38, Z:-0.80 [[ 9.77667575e-01 2.10150822e-01 1.65681773e-03 3.78495626e+02] [-2.10150554e-01 9.77668979e-01 -3.36098224e-04 -5.73839022e+01] [-1.69045062e-03 -1.95888299e-05 9.99998571e-01 -8.02863633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54576923100007 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:378.52, Y:-57.39, Z:-0.81 [[ 9.78621034e-01 2.05665083e-01 1.65684149e-03 3.78522719e+02] [-2.05664809e-01 9.78622437e-01 -3.35981075e-04 -5.73892036e+01] [-1.69052183e-03 -1.19558410e-05 9.99998571e-01 -8.06730321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57576923100004 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:378.55, Y:-57.40, Z:-0.81 [[ 9.79273495e-01 2.02535616e-01 1.65686123e-03 3.78549893e+02] [-2.02535338e-01 9.79274897e-01 -3.35883711e-04 -5.73955968e+01] [-1.69055102e-03 -6.65093358e-06 9.99998571e-01 -8.06199231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60576923100007 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:378.58, Y:-57.40, Z:-0.80 [[ 9.79963792e-01 1.99168825e-01 1.65688479e-03 3.78577357e+02] [-1.99168542e-01 9.79965193e-01 -3.35767461e-04 -5.74030286e+01] [-1.69056383e-03 -9.59373221e-07 9.99998571e-01 -8.04479379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63576923100004 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:378.60, Y:-57.41, Z:-0.80 [[ 9.81003604e-01 1.93982432e-01 1.65690093e-03 3.78604878e+02] [-1.93982142e-01 9.81005003e-01 -3.35687760e-04 -5.74125672e+01] [-1.69054563e-03 7.90171055e-06 9.99998571e-01 -8.03225981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66576923100007 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:378.63, Y:-57.42, Z:-0.80 [[ 9.81315093e-01 1.92400474e-01 1.65691722e-03 3.78631737e+02] [-1.92400181e-01 9.81316492e-01 -3.35607366e-04 -5.74196597e+01] [-1.69053121e-03 1.05454007e-05 9.99998571e-01 -8.04588306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69576923100004 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:378.66, Y:-57.43, Z:-0.81 [[ 9.81527174e-01 1.91315607e-01 1.65694123e-03 3.78659296e+02] [-1.91315314e-01 9.81528572e-01 -3.35488786e-04 -5.74268247e+01] [-1.69051940e-03 1.22931296e-05 9.99998571e-01 -8.06089922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7257692310001 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:378.69, Y:-57.43, Z:-0.81 [[ 9.81680354e-01 1.90528049e-01 1.65695704e-03 3.78685935e+02] [-1.90527755e-01 9.81681752e-01 -3.35410657e-04 -5.74335912e+01] [-1.69050963e-03 1.35697476e-05 9.99998571e-01 -8.07635339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75576923100004 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:378.71, Y:-57.44, Z:-0.81 [[ 9.81814455e-01 1.89835800e-01 1.65698461e-03 3.78712893e+02] [-1.89835504e-01 9.81815853e-01 -3.35274418e-04 -5.74420578e+01] [-1.69050084e-03 1.46227608e-05 9.99998571e-01 -8.07527228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7857692310001 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:378.74, Y:-57.45, Z:-0.81 [[ 9.81806000e-01 1.89879520e-01 1.65700792e-03 3.78740593e+02] [-1.89879224e-01 9.81807399e-01 -3.35159196e-04 -5.74490654e+01] [-1.69050250e-03 1.44299323e-05 9.99998571e-01 -8.06053777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81576923100005 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:378.77, Y:-57.46, Z:-0.81 [[ 9.81753223e-01 1.90152210e-01 1.65702389e-03 3.78766892e+02] [-1.90151915e-01 9.81754622e-01 -3.35080210e-04 -5.74550292e+01] [-1.69050710e-03 1.38798105e-05 9.99998571e-01 -8.05407372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8457692310001 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:378.79, Y:-57.46, Z:-0.80 [[ 9.81570170e-01 1.91094884e-01 1.65705166e-03 3.78793847e+02] [-1.91094591e-01 9.81571569e-01 -3.34942808e-04 -5.74606177e+01] [-1.69052066e-03 1.21162606e-05 9.99998571e-01 -8.04576273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87576923100005 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:378.82, Y:-57.47, Z:-0.80 [[ 9.80942687e-01 1.94290246e-01 1.65707524e-03 3.78822581e+02] [-1.94289958e-01 9.80944086e-01 -3.34826128e-04 -5.74654529e+01] [-1.69055160e-03 6.49216369e-06 9.99998571e-01 -8.01628262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9057692310001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:378.85, Y:-57.47, Z:-0.80 [[ 9.80619694e-01 1.95913937e-01 1.65709087e-03 3.78849906e+02] [-1.95913651e-01 9.80621094e-01 -3.34748743e-04 -5.74708821e+01] [-1.69056020e-03 3.61448704e-06 9.99998571e-01 -8.00393296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93576923100005 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:378.88, Y:-57.48, Z:-0.80 [[ 9.80316526e-01 1.97425334e-01 1.65711535e-03 3.78876785e+02] [-1.97425050e-01 9.80317927e-01 -3.34627494e-04 -5.74761145e+01] [-1.69056383e-03 8.84780635e-07 9.99998571e-01 -8.00423592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9657692310001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:378.90, Y:-57.48, Z:-0.80 [[ 9.80069116e-01 1.98649897e-01 1.65714381e-03 3.78904728e+02] [-1.98649616e-01 9.80070517e-01 -3.34486512e-04 -5.74810510e+01] [-1.69056350e-03 -1.37108089e-06 9.99998571e-01 -8.01245645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99576923100005 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:378.93, Y:-57.49, Z:-0.80 [[ 9.80107410e-01 1.98460875e-01 1.65716860e-03 3.78931256e+02] [-1.98460594e-01 9.80108811e-01 -3.34363657e-04 -5.74864416e+01] [-1.69056365e-03 -1.17036593e-06 9.99998571e-01 -8.03811482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0257692310001 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:378.96, Y:-57.49, Z:-0.81 [[ 9.80259017e-01 1.97710682e-01 1.65719734e-03 3.78959479e+02] [-1.97710399e-01 9.80260418e-01 -3.34221133e-04 -5.74923195e+01] [-1.69056405e-03 -2.18683337e-08 9.99998571e-01 -8.07808108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05576923100006 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:378.99, Y:-57.50, Z:-0.81 [[ 9.80343330e-01 1.97292192e-01 1.65721299e-03 3.78987847e+02] [-1.97291909e-01 9.80344731e-01 -3.34143530e-04 -5.74990026e+01] [-1.69056393e-03 6.20666292e-07 9.99998571e-01 -8.10138275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.08576923100003 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:379.02, Y:-57.51, Z:-0.81 [[ 9.80235943e-01 1.97825049e-01 1.65722903e-03 3.79015004e+02] [-1.97824767e-01 9.80237344e-01 -3.34063960e-04 -5.75057094e+01] [-1.69056400e-03 -3.79445800e-07 9.99998571e-01 -8.10158144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11576923100006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:379.04, Y:-57.51, Z:-0.81 [[ 9.80020060e-01 1.98891767e-01 1.65724898e-03 3.79043552e+02] [-1.98891487e-01 9.80021461e-01 -3.33964972e-04 -5.75110239e+01] [-1.69056245e-03 -2.32034104e-06 9.99998571e-01 -8.08227202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14576923100003 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:379.07, Y:-57.52, Z:-0.81 [[ 9.79682291e-01 2.00548901e-01 1.65726488e-03 3.79070511e+02] [-2.00548623e-01 9.79683693e-01 -3.33886052e-04 -5.75158095e+01] [-1.69055586e-03 -5.25993609e-06 9.99998571e-01 -8.05883104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17576923100006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:379.10, Y:-57.52, Z:-0.80 [[ 9.79158590e-01 2.03090395e-01 1.65728464e-03 3.79097893e+02] [-2.03090121e-01 9.79159993e-01 -3.33787903e-04 -5.75203317e+01] [-1.69053594e-03 -9.74684668e-06 9.99998571e-01 -8.02756898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20576923100003 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:379.12, Y:-57.53, Z:-0.80 [[ 9.78990211e-01 2.03900515e-01 1.65730421e-03 3.79124802e+02] [-2.03900242e-01 9.78991614e-01 -3.33690748e-04 -5.75253325e+01] [-1.69052664e-03 -1.12447537e-05 9.99998571e-01 -8.01116601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23576923100006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:379.15, Y:-57.53, Z:-0.80 [[ 9.78932985e-01 2.04175084e-01 1.65733136e-03 3.79152262e+02] [-2.04174812e-01 9.78934387e-01 -3.33555849e-04 -5.75302565e+01] [-1.69052245e-03 -1.18564949e-05 9.99998571e-01 -7.99268607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26576923100004 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:379.18, Y:-57.53, Z:-0.80 [[ 9.79004243e-01 2.03833133e-01 1.65735433e-03 3.79179767e+02] [-2.03832860e-01 9.79005646e-01 -3.33441677e-04 -5.75345133e+01] [-1.69052570e-03 -1.13824564e-05 9.99998571e-01 -7.98699295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29576923100007 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:379.21, Y:-57.54, Z:-0.80 [[ 9.79276746e-01 2.02519897e-01 1.65737824e-03 3.79206714e+02] [-2.02519623e-01 9.79278148e-01 -3.33322777e-04 -5.75370930e+01] [-1.69053879e-03 -9.23637123e-06 9.99998571e-01 -8.01792140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32576923100004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:379.23, Y:-57.54, Z:-0.80 [[ 9.79500715e-01 2.01433866e-01 1.65740602e-03 3.79233253e+02] [-2.01433590e-01 9.79502117e-01 -3.33184605e-04 -5.75409408e+01] [-1.69054736e-03 -7.50268538e-06 9.99998571e-01 -8.03945583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35576923100007 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:379.26, Y:-57.55, Z:-0.80 [[ 9.79755931e-01 2.00188831e-01 1.65743250e-03 3.79261041e+02] [-2.00188554e-01 9.79757333e-01 -3.33052788e-04 -5.75451095e+01] [-1.69055510e-03 -5.48857185e-06 9.99998571e-01 -8.04880480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:379.29, Y:-57.55, Z:-0.81 [[ 9.80051847e-01 1.98735075e-01 1.65745509e-03 3.79287624e+02] [-1.98734796e-01 9.80053249e-01 -3.32940323e-04 -5.75488572e+01] [-1.69056117e-03 -3.09522087e-06 9.99998571e-01 -8.05412842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41576923100007 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:379.31, Y:-57.55, Z:-0.81 [[ 9.80708092e-01 1.95470948e-01 1.65748129e-03 3.79314904e+02] [-1.95470665e-01 9.80709492e-01 -3.32809853e-04 -5.75520199e+01] [-1.69056229e-03 2.40034558e-06 9.99998571e-01 -8.05552608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44576923100004 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:379.34, Y:-57.56, Z:-0.81 [[ 9.81056201e-01 1.93716244e-01 1.65750734e-03 3.79342883e+02] [-1.93715958e-01 9.81057601e-01 -3.32680057e-04 -5.75566079e+01] [-1.69055571e-03 5.29221027e-06 9.99998571e-01 -8.05407991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4757692310001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:379.37, Y:-57.56, Z:-0.81 [[ 9.81307409e-01 1.92439659e-01 1.65752961e-03 3.79369966e+02] [-1.92439372e-01 9.81308808e-01 -3.32569092e-04 -5.75617670e+01] [-1.69054789e-03 7.37855698e-06 9.99998571e-01 -8.05190271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:379.40, Y:-57.57, Z:-0.81 [[ 9.81528854e-01 1.91306982e-01 1.65755179e-03 3.79396234e+02] [-1.91306694e-01 9.81530253e-01 -3.32458496e-04 -5.75669160e+01] [-1.69053886e-03 9.21685403e-06 9.99998571e-01 -8.05973764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:379.42, Y:-57.57, Z:-0.81 [[ 9.81509090e-01 1.91408358e-01 1.65757756e-03 3.79424030e+02] [-1.91408070e-01 9.81510489e-01 -3.32329971e-04 -5.75714567e+01] [-1.69054049e-03 8.91116665e-06 9.99998571e-01 -8.05704695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:379.45, Y:-57.58, Z:-0.80 [[ 9.81440210e-01 1.91761224e-01 1.65760106e-03 3.79451837e+02] [-1.91760937e-01 9.81441609e-01 -3.32212728e-04 -5.75758594e+01] [-1.69054417e-03 8.18379825e-06 9.99998571e-01 -8.04969218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:379.48, Y:-57.58, Z:-0.80 [[ 9.80987991e-01 1.94061365e-01 1.65762053e-03 3.79480161e+02] [-1.94061081e-01 9.80989392e-01 -3.32115527e-04 -5.75803722e+01] [-1.69055895e-03 4.12171240e-06 9.99998571e-01 -7.99022660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.51, Y:-57.59, Z:-0.80 [[ 9.80627967e-01 1.95872514e-01 1.65763638e-03 3.79508196e+02] [-1.95872233e-01 9.80629368e-01 -3.32036423e-04 -5.75851642e+01] [-1.69056372e-03 9.19264618e-07 9.99998571e-01 -7.98225396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6557692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:379.54, Y:-57.59, Z:-0.80 [[ 9.80259746e-01 1.97707064e-01 1.65766007e-03 3.79535848e+02] [-1.97706786e-01 9.80261147e-01 -3.31918085e-04 -5.75887295e+01] [-1.69056231e-03 -2.36470701e-06 9.99998571e-01 -7.98904546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:379.56, Y:-57.59, Z:-0.80 [[ 9.79277711e-01 2.02515227e-01 1.65768367e-03 3.79563297e+02] [-2.02514955e-01 9.79279114e-01 -3.31800174e-04 -5.75872447e+01] [-1.69052959e-03 -1.07812194e-05 9.99998571e-01 -8.01463331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7157692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:379.59, Y:-57.59, Z:-0.80 [[ 9.78621433e-01 2.05663177e-01 1.65771103e-03 3.79591166e+02] [-2.05662910e-01 9.78622837e-01 -3.31663423e-04 -5.75891190e+01] [-1.69048483e-03 -1.63567413e-05 9.99998571e-01 -8.01921749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:379.62, Y:-57.59, Z:-0.80 [[ 9.77870596e-01 2.09204086e-01 1.65773456e-03 3.79617909e+02] [-2.09203824e-01 9.77872001e-01 -3.31545787e-04 -5.75910335e+01] [-1.69041294e-03 -2.25955335e-05 9.99998571e-01 -8.02099452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:379.65, Y:-57.59, Z:-0.80 [[ 9.77231600e-01 2.12168925e-01 1.65776182e-03 3.79646138e+02] [-2.12168668e-01 9.77233005e-01 -3.31409437e-04 -5.75926454e+01] [-1.69033435e-03 -2.78613421e-05 9.99998571e-01 -8.01255311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:379.67, Y:-57.59, Z:-0.80 [[ 9.76822776e-01 2.14043258e-01 1.65778502e-03 3.79674489e+02] [-2.14043003e-01 9.76824182e-01 -3.31293339e-04 -5.75937299e+01] [-1.69027560e-03 -3.12224053e-05 9.99998571e-01 -8.01660913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:379.70, Y:-57.59, Z:-0.80 [[ 9.76826933e-01 2.14024286e-01 1.65780805e-03 3.79703280e+02] [-2.14024032e-01 9.76828339e-01 -3.31178031e-04 -5.75909079e+01] [-1.69027403e-03 -3.13071443e-05 9.99998571e-01 -8.03668667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:379.73, Y:-57.59, Z:-0.80 [[ 9.77295354e-01 2.11875063e-01 1.65783137e-03 3.79731004e+02] [-2.11874806e-01 9.77296760e-01 -3.31061265e-04 -5.75937675e+01] [-1.69033685e-03 -2.77080637e-05 9.99998571e-01 -8.04662744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.76, Y:-57.60, Z:-0.81 [[ 9.77979552e-01 2.08694149e-01 1.65785470e-03 3.79759352e+02] [-2.08693888e-01 9.77980957e-01 -3.30944393e-04 -5.75972731e+01] [-1.69041649e-03 -2.23272952e-05 9.99998571e-01 -8.05235123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:379.79, Y:-57.60, Z:-0.80 [[ 9.79598724e-01 2.00956689e-01 1.65787803e-03 3.79786655e+02] [-2.00956417e-01 9.79600127e-01 -3.30827486e-04 -5.75981388e+01] [-1.69053953e-03 -9.08304561e-06 9.99998571e-01 -8.04892743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:379.81, Y:-57.60, Z:-0.81 [[ 9.80362793e-01 1.97195449e-01 1.65790513e-03 3.79814092e+02] [-1.97195172e-01 9.80364195e-01 -3.30691621e-04 -5.76018019e+01] [-1.69056171e-03 -2.73312502e-06 9.99998571e-01 -8.05008617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:379.84, Y:-57.61, Z:-0.80 [[ 9.81088304e-01 1.93553586e-01 1.65792859e-03 3.79840545e+02] [-1.93553304e-01 9.81089705e-01 -3.30573939e-04 -5.76059251e+01] [-1.69056045e-03 3.42466801e-06 9.99998571e-01 -8.04632395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.87, Y:-57.61, Z:-0.80 [[ 9.82031148e-01 1.88711620e-01 1.65795572e-03 3.79866942e+02] [-1.88711331e-01 9.82032547e-01 -3.30437827e-04 -5.76112402e+01] [-1.69052394e-03 1.16252069e-05 9.99998571e-01 -8.04116036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:379.89, Y:-57.62, Z:-0.80 [[ 9.82121732e-01 1.88239622e-01 1.65799712e-03 3.79894175e+02] [-1.88239333e-01 9.82123131e-01 -3.30229989e-04 -5.76166450e+01] [-1.69051969e-03 1.22257780e-05 9.99998571e-01 -8.02931410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:379.92, Y:-57.62, Z:-0.80 [[ 9.82045038e-01 1.88639323e-01 1.65802042e-03 3.79922787e+02] [-1.88639035e-01 9.82046438e-01 -3.30112935e-04 -5.76218976e+01] [-1.69052533e-03 1.14183975e-05 9.99998571e-01 -8.01390840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:379.95, Y:-57.63, Z:-0.80 [[ 9.81902543e-01 1.89379638e-01 1.65803619e-03 3.79949098e+02] [-1.89379351e-01 9.81903943e-01 -3.30033712e-04 -5.76270031e+01] [-1.69053394e-03 1.00631233e-05 9.99998571e-01 -7.99381311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:379.98, Y:-57.63, Z:-0.80 [[ 9.81605631e-01 1.90912638e-01 1.65807914e-03 3.79975531e+02] [-1.90912354e-01 9.81607032e-01 -3.29817796e-04 -5.76326203e+01] [-1.69054853e-03 7.20321418e-06 9.99998571e-01 -7.95281765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:380.00, Y:-57.64, Z:-0.79 [[ 9.81589160e-01 1.90997306e-01 1.65810633e-03 3.80001913e+02] [-1.90997022e-01 9.81590561e-01 -3.29681059e-04 -5.76385847e+01] [-1.69054972e-03 6.91798271e-06 9.99998571e-01 -7.94713973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:380.03, Y:-57.64, Z:-0.80 [[ 9.81677752e-01 1.90541446e-01 1.65813229e-03 3.80029707e+02] [-1.90541161e-01 9.81679152e-01 -3.29550433e-04 -5.76448600e+01] [-1.69054692e-03 7.56987542e-06 9.99998571e-01 -7.96332999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.06, Y:-57.65, Z:-0.80 [[ 9.82046937e-01 1.88629438e-01 1.65815468e-03 3.80056716e+02] [-1.88629151e-01 9.82048336e-01 -3.29437726e-04 -5.76523719e+01] [-1.69052970e-03 1.07469996e-05 9.99998571e-01 -7.98501097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:380.08, Y:-57.66, Z:-0.80 [[ 9.82222621e-01 1.87712474e-01 1.65817734e-03 3.80083100e+02] [-1.87712186e-01 9.82224021e-01 -3.29323666e-04 -5.76587256e+01] [-1.69051977e-03 1.22090628e-05 9.99998571e-01 -7.99118608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:380.11, Y:-57.66, Z:-0.80 [[ 9.82400918e-01 1.86777106e-01 1.65820351e-03 3.80110059e+02] [-1.86776816e-01 9.82402317e-01 -3.29191823e-04 -5.76647942e+01] [-1.69050847e-03 1.36843766e-05 9.99998571e-01 -8.00349127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31576923100005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:380.14, Y:-57.67, Z:-0.80 [[ 9.82491403e-01 1.86300544e-01 1.65822483e-03 3.80138321e+02] [-1.86300254e-01 9.82492803e-01 -3.29084377e-04 -5.76713354e+01] [-1.69050256e-03 1.43948639e-05 9.99998571e-01 -8.02062294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.17, Y:-57.68, Z:-0.81 [[ 9.82508387e-01 1.86210957e-01 1.65824037e-03 3.80165127e+02] [-1.86210667e-01 9.82509786e-01 -3.29006051e-04 -5.76808703e+01] [-1.69050193e-03 1.44691583e-05 9.99998571e-01 -8.05851580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.19, Y:-57.69, Z:-0.81 [[ 9.82529292e-01 1.86100620e-01 1.65825970e-03 3.80190738e+02] [-1.86100330e-01 9.82530691e-01 -3.28908638e-04 -5.76880607e+01] [-1.69050115e-03 1.45596940e-05 9.99998571e-01 -8.06864584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.22, Y:-57.69, Z:-0.81 [[ 9.82541885e-01 1.86034124e-01 1.65830045e-03 3.80218715e+02] [-1.86033834e-01 9.82543284e-01 -3.28703050e-04 -5.76934628e+01] [-1.69050195e-03 1.44645239e-05 9.99998571e-01 -8.06912755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.25, Y:-57.70, Z:-0.81 [[ 9.82558049e-01 1.85948732e-01 1.65832269e-03 3.80246521e+02] [-1.85948442e-01 9.82559448e-01 -3.28590817e-04 -5.77005775e+01] [-1.69050167e-03 1.44970326e-05 9.99998571e-01 -8.05934508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.27, Y:-57.71, Z:-0.80 [[ 9.82501342e-01 1.86248120e-01 1.65833752e-03 3.80274296e+02] [-1.86247831e-01 9.82502742e-01 -3.28515928e-04 -5.77074763e+01] [-1.69050664e-03 1.39055740e-05 9.99998571e-01 -8.04246348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:380.30, Y:-57.72, Z:-0.80 [[ 9.82271493e-01 1.87456566e-01 1.65835239e-03 3.80302556e+02] [-1.87456279e-01 9.82272893e-01 -3.28440843e-04 -5.77156322e+01] [-1.69052299e-03 1.17495094e-05 9.99998571e-01 -7.98535988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.33, Y:-57.72, Z:-0.80 [[ 9.82117279e-01 1.88262848e-01 1.65836725e-03 3.80328779e+02] [-1.88262562e-01 9.82118679e-01 -3.28365828e-04 -5.77219934e+01] [-1.69053253e-03 1.02852875e-05 9.99998571e-01 -7.98979935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.36, Y:-57.73, Z:-0.80 [[ 9.81900356e-01 1.89390972e-01 1.65839309e-03 3.80355819e+02] [-1.89390687e-01 9.81901757e-01 -3.28235251e-04 -5.77283597e+01] [-1.69054388e-03 8.21010241e-06 9.99998571e-01 -8.00925377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:380.38, Y:-57.73, Z:-0.80 [[ 9.81257502e-01 1.92693964e-01 1.65841617e-03 3.80383994e+02] [-1.92693684e-01 9.81258904e-01 -3.28118581e-04 -5.77347056e+01] [-1.69056211e-03 2.40249625e-06 9.99998571e-01 -8.04322201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:380.41, Y:-57.74, Z:-0.80 [[ 9.80994843e-01 1.94026719e-01 1.65842777e-03 3.80409966e+02] [-1.94026442e-01 9.80996245e-01 -3.28059937e-04 -5.77399272e+01] [-1.69056381e-03 4.62663808e-08 9.99998571e-01 -8.04371713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64576923100003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:380.44, Y:-57.75, Z:-0.80 [[ 9.80791788e-01 1.95050555e-01 1.65845872e-03 3.80438425e+02] [-1.95050279e-01 9.80793190e-01 -3.27903432e-04 -5.77461488e+01] [-1.69056276e-03 -1.87784272e-06 9.99998571e-01 -8.01763456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.46, Y:-57.75, Z:-0.80 [[ 9.80554861e-01 1.96238157e-01 1.65847439e-03 3.80464393e+02] [-1.96237883e-01 9.80556264e-01 -3.27824138e-04 -5.77519256e+01] [-1.69055906e-03 -4.00595116e-06 9.99998571e-01 -7.98318725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.49, Y:-57.76, Z:-0.80 [[ 9.80351099e-01 1.97253575e-01 1.65850167e-03 3.80492265e+02] [-1.97253303e-01 9.80352501e-01 -3.27686078e-04 -5.77568369e+01] [-1.69055351e-03 -5.89752618e-06 9.99998571e-01 -7.97383678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.52, Y:-57.76, Z:-0.80 [[ 9.80103350e-01 1.98480911e-01 1.65852475e-03 3.80519227e+02] [-1.98480641e-01 9.80104754e-01 -3.27569198e-04 -5.77609192e+01] [-1.69054423e-03 -8.13338664e-06 9.99998571e-01 -7.97955407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.55, Y:-57.76, Z:-0.80 [[ 9.79503062e-01 2.01422444e-01 1.65856612e-03 3.80547725e+02] [-2.01422178e-01 9.79504466e-01 -3.27359620e-04 -5.77619848e+01] [-1.69051049e-03 -1.34222500e-05 9.99998571e-01 -8.00434427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.57, Y:-57.76, Z:-0.80 [[ 9.79197954e-01 2.02900505e-01 1.65858896e-03 3.80574243e+02] [-2.02900242e-01 9.79199359e-01 -3.27243871e-04 -5.77647678e+01] [-1.69048719e-03 -1.60915713e-05 9.99998571e-01 -8.01371848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.60, Y:-57.76, Z:-0.80 [[ 9.78416041e-01 2.06638089e-01 1.65861545e-03 3.80602962e+02] [-2.06637832e-01 9.78417446e-01 -3.27109547e-04 -5.77647500e+01] [-1.69041158e-03 -2.26834720e-05 9.99998571e-01 -7.98218346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.63, Y:-57.77, Z:-0.80 [[ 9.77968334e-01 2.08746704e-01 1.65863793e-03 3.80630406e+02] [-2.08746450e-01 9.77969740e-01 -3.26995494e-04 -5.77660544e+01] [-1.69035694e-03 -2.64435417e-05 9.99998571e-01 -7.96591222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.66, Y:-57.77, Z:-0.80 [[ 9.77539881e-01 2.10743989e-01 1.65866400e-03 3.80658639e+02] [-2.10743738e-01 9.77541288e-01 -3.26863190e-04 -5.77676594e+01] [-1.69029700e-03 -3.00312488e-05 9.99998571e-01 -7.97727760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.69, Y:-57.77, Z:-0.80 [[ 9.77325584e-01 2.11735568e-01 1.65868627e-03 3.80686271e+02] [-2.11735319e-01 9.77326991e-01 -3.26750146e-04 -5.77691700e+01] [-1.69026349e-03 -3.18611889e-05 9.99998571e-01 -8.00031755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:380.71, Y:-57.77, Z:-0.80 [[ 9.77737213e-01 2.09826573e-01 1.65871203e-03 3.80714826e+02] [-2.09826321e-01 9.77738620e-01 -3.26619354e-04 -5.77673422e+01] [-1.69032023e-03 -2.86935446e-05 9.99998571e-01 -8.01782801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.74, Y:-57.77, Z:-0.80 [[ 9.78215194e-01 2.07586807e-01 1.65877415e-03 3.80741565e+02] [-2.07586552e-01 9.78216600e-01 -3.26303581e-04 -5.77693184e+01] [-1.69037672e-03 -2.51440844e-05 9.99998571e-01 -8.00370699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.77, Y:-57.77, Z:-0.80 [[ 9.78757645e-01 2.05013952e-01 1.65880112e-03 3.80768652e+02] [-2.05013693e-01 9.78759051e-01 -3.26166416e-04 -5.77720689e+01] [-1.69043527e-03 -2.08390695e-05 9.99998571e-01 -7.97657921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.80, Y:-57.77, Z:-0.80 [[ 9.79873134e-01 1.99614353e-01 1.65884144e-03 3.80797013e+02] [-1.99614087e-01 9.79874538e-01 -3.25961190e-04 -5.77737024e+01] [-1.69052302e-03 -1.17275081e-05 9.99998571e-01 -7.95240801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:380.82, Y:-57.78, Z:-0.80 [[ 9.80387471e-01 1.97072713e-01 1.65890398e-03 3.80824571e+02] [-1.97072444e-01 9.80388875e-01 -3.25642603e-04 -5.77766835e+01] [-1.69054628e-03 -7.66833466e-06 9.99998571e-01 -7.97247788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:380.85, Y:-57.78, Z:-0.80 [[ 9.80828037e-01 1.94868183e-01 1.65896606e-03 3.80852585e+02] [-1.94867912e-01 9.80829440e-01 -3.25326035e-04 -5.77796305e+01] [-1.69055845e-03 -4.19035461e-06 9.99998571e-01 -8.00422489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.88, Y:-57.78, Z:-0.81 [[ 9.81495054e-01 1.91480305e-01 1.65898940e-03 3.80880974e+02] [-1.91480029e-01 9.81496456e-01 -3.25206979e-04 -5.77824709e+01] [-1.69056295e-03 1.52570358e-06 9.99998571e-01 -8.05485452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1557692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.91, Y:-57.79, Z:-0.81 [[ 9.81692557e-01 1.90465142e-01 1.65900507e-03 3.80907691e+02] [-1.90464865e-01 9.81693959e-01 -3.25127030e-04 -5.77869366e+01] [-1.69056062e-03 3.19260964e-06 9.99998571e-01 -8.05813430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.93, Y:-57.79, Z:-0.80 [[ 9.81805096e-01 1.89884176e-01 1.65904784e-03 3.80934832e+02] [-1.89883898e-01 9.81806498e-01 -3.24908643e-04 -5.77912598e+01] [-1.69055896e-03 3.97049156e-06 9.99998571e-01 -8.02884251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.96, Y:-57.80, Z:-0.80 [[ 9.81966139e-01 1.89049594e-01 1.65906630e-03 3.80963547e+02] [-1.89049315e-01 9.81967541e-01 -3.24814340e-04 -5.77953506e+01] [-1.69055527e-03 5.31133632e-06 9.99998571e-01 -8.00159475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:-57.80, Z:-0.80 [[ 9.82424089e-01 1.86655182e-01 1.65908146e-03 3.80991292e+02] [-1.86654900e-01 9.82425490e-01 -3.24736878e-04 -5.77990858e+01] [-1.69053774e-03 9.35364806e-06 9.99998571e-01 -8.00138673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.02, Y:-57.80, Z:-0.80 [[ 9.82701618e-01 1.85188493e-01 1.65910419e-03 3.81017534e+02] [-1.85188209e-01 9.82703018e-01 -3.24620720e-04 -5.78049750e+01] [-1.69052271e-03 1.17587738e-05 9.99998571e-01 -8.01427956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.04, Y:-57.81, Z:-0.80 [[ 9.82955186e-01 1.83837837e-01 1.65913048e-03 3.81043918e+02] [-1.83837551e-01 9.82956586e-01 -3.24486272e-04 -5.78109180e+01] [-1.69050609e-03 1.39449791e-05 9.99998571e-01 -8.03132434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.07, Y:-57.82, Z:-0.80 [[ 9.83446608e-01 1.81190551e-01 1.65917150e-03 3.81071137e+02] [-1.81190261e-01 9.83448008e-01 -3.24276415e-04 -5.78176329e+01] [-1.69046473e-03 1.82828235e-05 9.99998571e-01 -8.03639933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:381.10, Y:-57.82, Z:-0.80 [[ 9.83750149e-01 1.79535207e-01 1.65919429e-03 3.81097500e+02] [-1.79534916e-01 9.83751548e-01 -3.24159763e-04 -5.78233280e+01] [-1.69043304e-03 2.10089077e-05 9.99998571e-01 -8.02414324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.12, Y:-57.83, Z:-0.80 [[ 9.84054674e-01 1.77858497e-01 1.65922070e-03 3.81124966e+02] [-1.77858203e-01 9.84056073e-01 -3.24024507e-04 -5.78300803e+01] [-1.69039672e-03 2.37518183e-05 9.99998571e-01 -8.01456316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.15, Y:-57.84, Z:-0.80 [[ 9.84661707e-01 1.74466527e-01 1.65924291e-03 3.81150835e+02] [-1.74466229e-01 9.84663105e-01 -3.23910772e-04 -5.78395469e+01] [-1.69030686e-03 2.94606816e-05 9.99998571e-01 -8.02540241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.18, Y:-57.85, Z:-0.80 [[ 9.85061754e-01 1.72193459e-01 1.65926864e-03 3.81177639e+02] [-1.72193158e-01 9.85063151e-01 -3.23778915e-04 -5.78468620e+01] [-1.69023700e-03 3.32275198e-05 9.99998571e-01 -8.03202820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.20, Y:-57.85, Z:-0.80 [[ 9.85502820e-01 1.69650930e-01 1.65929140e-03 3.81204069e+02] [-1.69650626e-01 9.85504216e-01 -3.23662223e-04 -5.78544500e+01] [-1.69014827e-03 3.74702105e-05 9.99998571e-01 -8.02740736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:381.23, Y:-57.87, Z:-0.80 [[ 9.86134736e-01 1.65938331e-01 1.65931782e-03 3.81230460e+02] [-1.65938021e-01 9.86136131e-01 -3.23526719e-04 -5.78671970e+01] [-1.68999874e-03 4.36970201e-05 9.99998571e-01 -7.98291966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:381.26, Y:-57.88, Z:-0.80 [[ 9.86394102e-01 1.64389546e-01 1.65934026e-03 3.81256109e+02] [-1.64389234e-01 9.86395496e-01 -3.23411570e-04 -5.78767796e+01] [-1.68993124e-03 4.62335910e-05 9.99998571e-01 -7.97189745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.28, Y:-57.89, Z:-0.80 [[ 9.86592155e-01 1.63196709e-01 1.65936622e-03 3.81282670e+02] [-1.63196396e-01 9.86593550e-01 -3.23278318e-04 -5.78873159e+01] [-1.68987797e-03 4.81412665e-05 9.99998571e-01 -7.97747454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.31, Y:-57.90, Z:-0.80 [[ 9.86812188e-01 1.61860905e-01 1.65938829e-03 3.81308291e+02] [-1.61860590e-01 9.86813582e-01 -3.23164969e-04 -5.78971148e+01] [-1.68981468e-03 5.03135619e-05 9.99998571e-01 -7.99743134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.33, Y:-57.91, Z:-0.80 [[ 9.86889892e-01 1.61386455e-01 1.65941392e-03 3.81333947e+02] [-1.61386140e-01 9.86891285e-01 -3.23033329e-04 -5.79124861e+01] [-1.68979434e-03 5.09919191e-05 9.99998571e-01 -8.01691444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.36, Y:-57.92, Z:-0.80 [[ 9.86752562e-01 1.62224002e-01 1.65943567e-03 3.81360620e+02] [-1.62223688e-01 9.86753957e-01 -3.22921562e-04 -5.79233948e+01] [-1.68984034e-03 4.94439043e-05 9.99998571e-01 -8.00838461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69576923100004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:381.39, Y:-57.93, Z:-0.80 [[ 9.86500638e-01 1.63749005e-01 1.65945741e-03 3.81387404e+02] [-1.63748693e-01 9.86502033e-01 -3.22809794e-04 -5.79340931e+01] [-1.68991789e-03 4.67180847e-05 9.99998571e-01 -7.98646606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.41, Y:-57.95, Z:-0.80 [[ 9.85718132e-01 1.68395400e-01 1.65947906e-03 3.81412835e+02] [-1.68395095e-01 9.85719528e-01 -3.22698472e-04 -5.79504470e+01] [-1.69012185e-03 3.86416010e-05 9.99998571e-01 -8.04969026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.44, Y:-57.96, Z:-0.81 [[ 9.85163221e-01 1.71611987e-01 1.65949699e-03 3.81439082e+02] [-1.71611687e-01 9.85164618e-01 -3.22606228e-04 -5.79603114e+01] [-1.69024082e-03 3.30307120e-05 9.99998571e-01 -8.06124557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.47, Y:-57.97, Z:-0.81 [[ 9.84449934e-01 1.75657549e-01 1.65951486e-03 3.81465995e+02] [-1.75657255e-01 9.84451332e-01 -3.22514298e-04 -5.79699790e+01] [-1.69036368e-03 2.59933553e-05 9.99998571e-01 -8.06015720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.49, Y:-57.98, Z:-0.81 [[ 9.82940353e-01 1.83917124e-01 1.65953633e-03 3.81492073e+02] [-1.83916842e-01 9.82941754e-01 -3.22403757e-04 -5.79824066e+01] [-1.69052313e-03 1.16869815e-05 9.99998571e-01 -8.08265373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.52, Y:-57.99, Z:-0.81 [[ 9.82306383e-01 1.87273637e-01 1.65955415e-03 3.81519616e+02] [-1.87273359e-01 9.82307785e-01 -3.22312002e-04 -5.79910671e+01] [-1.69055351e-03 5.81885527e-06 9.99998571e-01 -8.09404285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.55, Y:-58.00, Z:-0.81 [[ 9.81729647e-01 1.90273873e-01 1.65956831e-03 3.81546592e+02] [-1.90273600e-01 9.81731049e-01 -3.22239070e-04 -5.79998450e+01] [-1.69056342e-03 5.79610263e-07 9.99998571e-01 -8.09126320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.57, Y:-58.01, Z:-0.81 [[ 9.80862723e-01 1.94693515e-01 1.65958963e-03 3.81573327e+02] [-1.94693248e-01 9.80864127e-01 -3.22129241e-04 -5.80108464e+01] [-1.69054841e-03 -7.14633148e-06 9.99998571e-01 -8.06356491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.60, Y:-58.02, Z:-0.80 [[ 9.80476136e-01 1.96631108e-01 1.65960781e-03 3.81600750e+02] [-1.96630844e-01 9.80477540e-01 -3.22035559e-04 -5.80179613e+01] [-1.69053039e-03 -1.05819042e-05 9.99998571e-01 -8.04112070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:381.63, Y:-58.02, Z:-0.80 [[ 9.80046059e-01 1.98763599e-01 1.65962590e-03 3.81627866e+02] [-1.98763339e-01 9.80047464e-01 -3.21942328e-04 -5.80240760e+01] [-1.69050257e-03 -1.43544758e-05 9.99998571e-01 -8.01950862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.65, Y:-58.03, Z:-0.80 [[ 9.78677803e-01 2.05394748e-01 1.65964739e-03 3.81654505e+02] [-2.05394498e-01 9.78679210e-01 -3.21831497e-04 -5.80291242e+01] [-1.69036489e-03 -2.59130987e-05 9.99998571e-01 -8.02323349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.68, Y:-58.03, Z:-0.80 [[ 9.77856322e-01 2.09270781e-01 1.65967235e-03 3.81682425e+02] [-2.09270537e-01 9.77857729e-01 -3.21702743e-04 -5.80325533e+01] [-1.69024642e-03 -3.27414616e-05 9.99998571e-01 -8.02233338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.71, Y:-58.04, Z:-0.80 [[ 9.76933619e-01 2.13536764e-01 1.65969563e-03 3.81709608e+02] [-2.13536526e-01 9.76935028e-01 -3.21582545e-04 -5.80350378e+01] [-1.69008450e-03 -4.02408399e-05 9.99998571e-01 -8.02335167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.74, Y:-58.04, Z:-0.80 [[ 9.75373352e-01 2.20554007e-01 1.65972261e-03 3.81738456e+02] [-2.20553779e-01 9.75374763e-01 -3.21443284e-04 -5.80354056e+01] [-1.68974715e-03 -5.25308793e-05 9.99998571e-01 -8.03906297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.77, Y:-58.04, Z:-0.81 [[ 9.74875353e-01 2.22744902e-01 1.65974346e-03 3.81765517e+02] [-2.22744678e-01 9.74876764e-01 -3.21335595e-04 -5.80387024e+01] [-1.68962119e-03 -5.64368692e-05 9.99998571e-01 -8.05497455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.79, Y:-58.04, Z:-0.81 [[ 9.74692501e-01 2.23543675e-01 1.65976766e-03 3.81793733e+02] [-2.23543452e-01 9.74693912e-01 -3.21210532e-04 -5.80420035e+01] [-1.68957001e-03 -5.79486948e-05 9.99998571e-01 -8.06108830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.82, Y:-58.04, Z:-0.80 [[ 9.74925455e-01 2.22525510e-01 1.65978831e-03 3.81822106e+02] [-2.22525285e-01 9.74926866e-01 -3.21103777e-04 -5.80427559e+01] [-1.68962600e-03 -5.62926216e-05 9.99998571e-01 -8.03452940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.85, Y:-58.05, Z:-0.80 [[ 9.75120249e-01 2.21670353e-01 1.65981087e-03 3.81849089e+02] [-2.21670127e-01 9.75121660e-01 -3.20987113e-04 -5.80452192e+01] [-1.68967086e-03 -5.49294534e-05 9.99998571e-01 -8.03482424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.88, Y:-58.04, Z:-0.80 [[ 9.75217872e-01 2.21240473e-01 1.65983698e-03 3.81876567e+02] [-2.21240247e-01 9.75219283e-01 -3.20852057e-04 -5.80436748e+01] [-1.68969049e-03 -5.43220833e-05 9.99998571e-01 -8.04018316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.90, Y:-58.05, Z:-0.80 [[ 9.75188924e-01 2.21368038e-01 1.65986067e-03 3.81904430e+02] [-2.21367812e-01 9.75190335e-01 -3.20729445e-04 -5.80450873e+01] [-1.68967933e-03 -5.46679234e-05 9.99998571e-01 -8.02725038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.93, Y:-58.05, Z:-0.80 [[ 9.75204269e-01 2.21300425e-01 1.65988295e-03 3.81932434e+02] [-2.21300199e-01 9.75205680e-01 -3.20614086e-04 -5.80503602e+01] [-1.68967932e-03 -5.46682022e-05 9.99998571e-01 -8.02773210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.96, Y:-58.05, Z:-0.80 [[ 9.75183795e-01 2.21390631e-01 1.65990517e-03 3.81959892e+02] [-2.21390406e-01 9.75185206e-01 -3.20499000e-04 -5.80510675e+01] [-1.68967044e-03 -5.49416488e-05 9.99998571e-01 -8.01758092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:381.99, Y:-58.05, Z:-0.80 [[ 9.75310126e-01 2.20833428e-01 1.65993095e-03 3.81988934e+02] [-2.20833202e-01 9.75311537e-01 -3.20365433e-04 -5.80492570e+01] [-1.68969721e-03 -5.41122168e-05 9.99998571e-01 -8.01941833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.02, Y:-58.05, Z:-0.80 [[ 9.75483360e-01 2.20066942e-01 1.65995392e-03 3.82016477e+02] [-2.20066716e-01 9.75484771e-01 -3.20246382e-04 -5.80510367e+01] [-1.68973541e-03 -5.29055907e-05 9.99998571e-01 -8.02409145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.05, Y:-58.05, Z:-0.80 [[ 9.75681425e-01 2.19187139e-01 1.65998063e-03 3.82045147e+02] [-2.19186911e-01 9.75682835e-01 -3.20107869e-04 -5.80527342e+01] [-1.68977814e-03 -5.15227253e-05 9.99998571e-01 -8.01809357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.07, Y:-58.05, Z:-0.80 [[ 9.75932472e-01 2.18066628e-01 1.66000220e-03 3.82073606e+02] [-2.18066399e-01 9.75933883e-01 -3.19995976e-04 -5.80543427e+01] [-1.68983284e-03 -4.96962387e-05 9.99998571e-01 -8.01173200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.10, Y:-58.06, Z:-0.80 [[ 9.76281049e-01 2.16500712e-01 1.66002420e-03 3.82101198e+02] [-2.16500481e-01 9.76282459e-01 -3.19881827e-04 -5.80560072e+01] [-1.68990715e-03 -4.71014716e-05 9.99998571e-01 -8.00955016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.13, Y:-58.05, Z:-0.80 [[ 9.77100321e-01 2.12772667e-01 1.66004972e-03 3.82129593e+02] [-2.12772430e-01 9.77101730e-01 -3.19749297e-04 -5.80543762e+01] [-1.69007137e-03 -4.07856732e-05 9.99998571e-01 -8.00754744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.16, Y:-58.06, Z:-0.80 [[ 9.77424328e-01 2.11279261e-01 1.66007124e-03 3.82157426e+02] [-2.11279023e-01 9.77425737e-01 -3.19637554e-04 -5.80554025e+01] [-1.69012914e-03 -3.83167080e-05 9.99998571e-01 -8.01625409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.19, Y:-58.05, Z:-0.80 [[ 9.77782183e-01 2.09616905e-01 1.66009333e-03 3.82185409e+02] [-2.09616665e-01 9.77783591e-01 -3.19522759e-04 -5.80523507e+01] [-1.69018939e-03 -3.55595670e-05 9.99998571e-01 -8.04813903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.21, Y:-58.05, Z:-0.81 [[ 9.77898258e-01 2.09074724e-01 1.66011532e-03 3.82213840e+02] [-2.09074483e-01 9.77899667e-01 -3.19408497e-04 -5.80541041e+01] [-1.69020646e-03 -3.47387389e-05 9.99998571e-01 -8.05714865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.24, Y:-58.06, Z:-0.81 [[ 9.78084188e-01 2.08203180e-01 1.66017498e-03 3.82241407e+02] [-2.08202938e-01 9.78085597e-01 -3.19098100e-04 -5.80552657e+01] [-1.69023047e-03 -3.35485022e-05 9.99998571e-01 -8.06051488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.27, Y:-58.06, Z:-0.81 [[ 9.78423887e-01 2.06600922e-01 1.66020090e-03 3.82269928e+02] [-2.06600678e-01 9.78425295e-01 -3.18963171e-04 -5.80559256e+01] [-1.69028064e-03 -3.09174474e-05 9.99998571e-01 -8.05215493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.30, Y:-58.05, Z:-0.80 [[ 9.79248928e-01 2.02654340e-01 1.66025870e-03 3.82298205e+02] [-2.02654091e-01 9.79250335e-01 -3.18662051e-04 -5.80529958e+01] [-1.69038713e-03 -2.44087452e-05 9.99998571e-01 -8.01687127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.33, Y:-58.06, Z:-0.80 [[ 9.79750081e-01 2.00217437e-01 1.66028562e-03 3.82325658e+02] [-2.00217184e-01 9.79751488e-01 -3.18521714e-04 -5.80551533e+01] [-1.69044091e-03 -2.03460371e-05 9.99998571e-01 -8.00407020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.35, Y:-58.06, Z:-0.80 [[ 9.80244872e-01 1.97780771e-01 1.66032704e-03 3.82352429e+02] [-1.97780516e-01 9.80246278e-01 -3.18305672e-04 -5.80575863e+01] [-1.69048414e-03 -1.63628353e-05 9.99998571e-01 -8.00485809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.38, Y:-58.06, Z:-0.80 [[ 9.81293410e-01 1.92511002e-01 1.66035245e-03 3.82381021e+02] [-1.92510740e-01 9.81294815e-01 -3.18173047e-04 -5.80582665e+01] [-1.69054707e-03 -7.41456483e-06 9.99998571e-01 -8.01501273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.41, Y:-58.06, Z:-0.80 [[ 9.81876335e-01 1.89515448e-01 1.66037400e-03 3.82407415e+02] [-1.89515181e-01 9.81877739e-01 -3.18060579e-04 -5.80615423e+01] [-1.69056166e-03 -2.36992423e-06 9.99998571e-01 -8.01587815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.44, Y:-58.06, Z:-0.80 [[ 9.83178776e-01 1.82638267e-01 1.66039900e-03 3.82435415e+02] [-1.82637991e-01 9.83180178e-01 -3.17929999e-04 -5.80646937e+01] [-1.69053757e-03 9.33008937e-06 9.99998571e-01 -8.03268780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.46, Y:-58.07, Z:-0.80 [[ 9.83893961e-01 1.78745397e-01 1.66042155e-03 3.82462505e+02] [-1.78745115e-01 9.83895362e-01 -3.17812213e-04 -5.80701211e+01] [-1.69048853e-03 1.59012774e-05 9.99998571e-01 -8.03847410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.49, Y:-58.08, Z:-0.80 [[ 9.84528871e-01 1.75214570e-01 1.66044415e-03 3.82488513e+02] [-1.75214283e-01 9.84530271e-01 -3.17694065e-04 -5.80766108e+01] [-1.69042216e-03 2.18454475e-05 9.99998571e-01 -8.03315107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.52, Y:-58.08, Z:-0.80 [[ 9.85134806e-01 1.71775017e-01 1.66047027e-03 3.82515697e+02] [-1.71774725e-01 9.85136205e-01 -3.17557502e-04 -5.80840393e+01] [-1.69033782e-03 2.76101235e-05 9.99998571e-01 -8.03971854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:382.54, Y:-58.10, Z:-0.81 [[ 9.86260641e-01 1.65188350e-01 1.66049226e-03 3.82542440e+02] [-1.65188049e-01 9.86262038e-01 -3.17442445e-04 -5.80952350e+01] [-1.69011828e-03 3.87875114e-05 9.99998571e-01 -8.05674036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:382.57, Y:-58.10, Z:-0.81 [[ 9.86735237e-01 1.62329343e-01 1.66051434e-03 3.82569370e+02] [-1.62329039e-01 9.86736633e-01 -3.17326941e-04 -5.81031131e+01] [-1.69000180e-03 4.35679779e-05 9.99998571e-01 -8.05695715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:382.60, Y:-58.11, Z:-0.81 [[ 9.87028003e-01 1.60539604e-01 1.66053663e-03 3.82595360e+02] [-1.60539298e-01 9.87029398e-01 -3.17210266e-04 -5.81112380e+01] [-1.68992328e-03 4.65140318e-05 9.99998571e-01 -8.05676143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:382.62, Y:-58.12, Z:-0.81 [[ 9.87141243e-01 1.59841827e-01 1.66056252e-03 3.82620645e+02] [-1.59841519e-01 9.87142638e-01 -3.17074669e-04 -5.81229603e+01] [-1.68989386e-03 4.75706469e-05 9.99998571e-01 -8.05196341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.65, Y:-58.13, Z:-0.80 [[ 9.86934327e-01 1.61114480e-01 1.66058788e-03 3.82647646e+02] [-1.61114175e-01 9.86935723e-01 -3.16941793e-04 -5.81310962e+01] [-1.68995741e-03 4.52564893e-05 9.99998571e-01 -8.04038530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.67, Y:-58.14, Z:-0.80 [[ 9.86277351e-01 1.65088550e-01 1.66060800e-03 3.82674430e+02] [-1.65088250e-01 9.86278748e-01 -3.16836308e-04 -5.81411250e+01] [-1.69012843e-03 3.83416044e-05 9.99998571e-01 -8.04436543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.70, Y:-58.15, Z:-0.81 [[ 9.85910655e-01 1.67264531e-01 1.66062969e-03 3.82700728e+02] [-1.67264234e-01 9.85912053e-01 -3.16722615e-04 -5.81486685e+01] [-1.69021128e-03 3.44962477e-05 9.99998571e-01 -8.07965167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.73, Y:-58.16, Z:-0.81 [[ 9.85589960e-01 1.69143939e-01 1.66065490e-03 3.82728907e+02] [-1.69143645e-01 9.85591359e-01 -3.16590347e-04 -5.81565969e+01] [-1.69027646e-03 3.11390436e-05 9.99998571e-01 -8.09646419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.76, Y:-58.17, Z:-0.81 [[ 9.84954463e-01 1.72806102e-01 1.66066930e-03 3.82756011e+02] [-1.72805814e-01 9.84955862e-01 -3.16514811e-04 -5.81656079e+01] [-1.69038165e-03 2.47793657e-05 9.99998571e-01 -8.08414145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.78, Y:-58.17, Z:-0.81 [[ 9.84527868e-01 1.75220205e-01 1.66068726e-03 3.82781929e+02] [-1.75219920e-01 9.84529268e-01 -3.16420549e-04 -5.81716437e+01] [-1.69043849e-03 2.05393586e-05 9.99998571e-01 -8.06456964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.81, Y:-58.18, Z:-0.81 [[ 9.84100183e-01 1.77606510e-01 1.66071227e-03 3.82809280e+02] [-1.77606229e-01 9.84101584e-01 -3.16289260e-04 -5.81771356e+01] [-1.69048460e-03 1.63074753e-05 9.99998571e-01 -8.06101537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.84, Y:-58.18, Z:-0.81 [[ 9.83144817e-01 1.82820980e-01 1.66073357e-03 3.82837171e+02] [-1.82820707e-01 9.83146220e-01 -3.16177340e-04 -5.81822337e+01] [-1.69054779e-03 7.23162722e-06 9.99998571e-01 -8.08912789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.86, Y:-58.19, Z:-0.81 [[ 9.82631310e-01 1.85561178e-01 1.66074464e-03 3.82864205e+02] [-1.85560909e-01 9.82632713e-01 -3.16119194e-04 -5.81871087e+01] [-1.69056146e-03 2.45933242e-06 9.99998571e-01 -8.09703317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.89, Y:-58.19, Z:-0.81 [[ 9.81722571e-01 1.90310365e-01 1.66077047e-03 3.82891271e+02] [-1.90310103e-01 9.81723976e-01 -3.15983458e-04 -5.81909638e+01] [-1.69055311e-03 -5.85330510e-06 9.99998571e-01 -8.07752879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.92, Y:-58.20, Z:-0.81 [[ 9.81377758e-01 1.92080548e-01 1.66080926e-03 3.82918852e+02] [-1.92080289e-01 9.81379164e-01 -3.15779423e-04 -5.81951019e+01] [-1.69053869e-03 -9.10981995e-06 9.99998571e-01 -8.06299396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:382.95, Y:-58.20, Z:-0.80 [[ 9.80783678e-01 1.95091310e-01 1.66083027e-03 3.82947452e+02] [-1.95091055e-01 9.80785084e-01 -3.15668897e-04 -5.81970891e+01] [-1.69050181e-03 -1.44102287e-05 9.99998571e-01 -8.03773292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.97, Y:-58.20, Z:-0.80 [[ 9.80488467e-01 1.96569601e-01 1.66084515e-03 3.82974277e+02] [-1.96569348e-01 9.80489873e-01 -3.15590584e-04 -5.82003961e+01] [-1.69047737e-03 -1.70383203e-05 9.99998571e-01 -8.04067609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.00, Y:-58.20, Z:-0.80 [[ 9.80324686e-01 1.97384781e-01 1.66087106e-03 3.83001767e+02] [-1.97384530e-01 9.80326093e-01 -3.15454148e-04 -5.82041365e+01] [-1.69046109e-03 -1.85827663e-05 9.99998571e-01 -8.04925608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.03, Y:-58.21, Z:-0.81 [[ 9.80204380e-01 1.97981348e-01 1.66089356e-03 3.83028403e+02] [-1.97981098e-01 9.80205787e-01 -3.15335646e-04 -5.82077474e+01] [-1.69044806e-03 -1.97321496e-05 9.99998571e-01 -8.05706243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.06, Y:-58.21, Z:-0.81 [[ 9.80224191e-01 1.97883242e-01 1.66091968e-03 3.83055384e+02] [-1.97882992e-01 9.80225598e-01 -3.15198009e-04 -5.82110150e+01] [-1.69044839e-03 -1.97030421e-05 9.99998571e-01 -8.05571233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.08, Y:-58.21, Z:-0.80 [[ 9.80630990e-01 1.95857351e-01 1.66096017e-03 3.83083275e+02] [-1.95857098e-01 9.80632397e-01 -3.14984516e-04 -5.82133265e+01] [-1.69048338e-03 -1.64272612e-05 9.99998571e-01 -8.02517254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.11, Y:-58.22, Z:-0.80 [[ 9.80991790e-01 1.94042132e-01 1.66098254e-03 3.83109955e+02] [-1.94041877e-01 9.80993196e-01 -3.14866510e-04 -5.82170810e+01] [-1.69050994e-03 -1.34187083e-05 9.99998571e-01 -8.02940934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.14, Y:-58.22, Z:-0.81 [[ 9.81607297e-01 1.90904047e-01 1.66100851e-03 3.83137503e+02] [-1.90903787e-01 9.81608703e-01 -3.14729448e-04 -5.82205584e+01] [-1.69054353e-03 -8.15209219e-06 9.99998571e-01 -8.06489494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.16, Y:-58.22, Z:-0.81 [[ 9.81884696e-01 1.89472120e-01 1.66102991e-03 3.83164918e+02] [-1.89471859e-01 9.81886101e-01 -3.14616441e-04 -5.82249979e+01] [-1.69055323e-03 -5.80135690e-06 9.99998571e-01 -8.07096066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.19, Y:-58.23, Z:-0.81 [[ 9.82169941e-01 1.87987893e-01 1.66105181e-03 3.83192604e+02] [-1.87987629e-01 9.82171346e-01 -3.14500797e-04 -5.82294920e+01] [-1.69055983e-03 -3.36396324e-06 9.99998571e-01 -8.06567540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.22, Y:-58.24, Z:-0.80 [[ 9.82718828e-01 1.85097127e-01 1.66107385e-03 3.83219184e+02] [-1.85096860e-01 9.82720232e-01 -3.14384325e-04 -5.82350877e+01] [-1.69056252e-03 1.49184103e-06 9.99998571e-01 -8.04991194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.25, Y:-58.24, Z:-0.80 [[ 9.83017337e-01 1.83505194e-01 1.66109934e-03 3.83246534e+02] [-1.83504925e-01 9.83018740e-01 -3.14249598e-04 -5.82411712e+01] [-1.69055822e-03 4.09289241e-06 9.99998571e-01 -8.04210689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.27, Y:-58.25, Z:-0.80 [[ 9.83314256e-01 1.81907432e-01 1.66112113e-03 3.83273133e+02] [-1.81907161e-01 9.83315659e-01 -3.14134358e-04 -5.82470359e+01] [-1.69054980e-03 6.72296322e-06 9.99998571e-01 -8.04378691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.30, Y:-58.25, Z:-0.80 [[ 9.83854468e-01 1.78962641e-01 1.66114642e-03 3.83300778e+02] [-1.78962366e-01 9.83855870e-01 -3.14000611e-04 -5.82536609e+01] [-1.69052303e-03 1.16482108e-05 9.99998571e-01 -8.04644885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.33, Y:-58.26, Z:-0.81 [[ 9.84078518e-01 1.77726507e-01 1.66116846e-03 3.83328219e+02] [-1.77726231e-01 9.84079920e-01 -3.13883932e-04 -5.82598560e+01] [-1.69050802e-03 1.36532246e-05 9.99998571e-01 -8.05222930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.36, Y:-58.27, Z:-0.81 [[ 9.84217945e-01 1.76952754e-01 1.66119031e-03 3.83355631e+02] [-1.76952476e-01 9.84219347e-01 -3.13768285e-04 -5.82667089e+01] [-1.69049780e-03 1.48646390e-05 9.99998571e-01 -8.05073142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.38, Y:-58.27, Z:-0.81 [[ 9.84359382e-01 1.76164261e-01 1.66121210e-03 3.83381451e+02] [-1.76163983e-01 9.84360784e-01 -3.13652842e-04 -5.82740895e+01] [-1.69048647e-03 1.61013775e-05 9.99998571e-01 -8.05427726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.41, Y:-58.28, Z:-0.81 [[ 9.84395749e-01 1.75960934e-01 1.66123737e-03 3.83408764e+02] [-1.75960655e-01 9.84397150e-01 -3.13518979e-04 -5.82799661e+01] [-1.69048442e-03 1.63143343e-05 9.99998571e-01 -8.06232519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.44, Y:-58.29, Z:-0.81 [[ 9.84468661e-01 1.75552546e-01 1.66125935e-03 3.83436419e+02] [-1.75552267e-01 9.84470062e-01 -3.13402430e-04 -5.82854936e+01] [-1.69047869e-03 1.68970247e-05 9.99998571e-01 -8.08002679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.46, Y:-58.29, Z:-0.81 [[ 9.84562864e-01 1.75023447e-01 1.66128149e-03 3.83463304e+02] [-1.75023167e-01 9.84564265e-01 -3.13285033e-04 -5.82924842e+01] [-1.69047062e-03 1.76860607e-05 9.99998571e-01 -8.12378761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.49, Y:-58.30, Z:-0.81 [[ 9.84528382e-01 1.75217310e-01 1.66130803e-03 3.83490453e+02] [-1.75217031e-01 9.84529783e-01 -3.13144263e-04 -5.82978701e+01] [-1.69047553e-03 1.72099552e-05 9.99998571e-01 -8.12596300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.52, Y:-58.30, Z:-0.81 [[ 9.84428094e-01 1.75779886e-01 1.66133023e-03 3.83517111e+02] [-1.75779608e-01 9.84429495e-01 -3.13026446e-04 -5.83022307e+01] [-1.69048623e-03 1.61240521e-05 9.99998571e-01 -8.13034736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.55, Y:-58.30, Z:-0.81 [[ 9.83929097e-01 1.78551872e-01 1.66135595e-03 3.83545503e+02] [-1.78551599e-01 9.83930500e-01 -3.12889848e-04 -5.83046873e+01] [-1.69052586e-03 1.12236645e-05 9.99998571e-01 -8.10858042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.57, Y:-58.31, Z:-0.81 [[ 9.83697800e-01 1.79821796e-01 1.66137064e-03 3.83572865e+02] [-1.79821524e-01 9.83699203e-01 -3.12811845e-04 -5.83087044e+01] [-1.69053936e-03 8.96212320e-06 9.99998571e-01 -8.09991851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.60, Y:-58.31, Z:-0.81 [[ 9.83549366e-01 1.80631905e-01 1.66139300e-03 3.83600817e+02] [-1.80631635e-01 9.83550769e-01 -3.12693058e-04 -5.83125333e+01] [-1.69054670e-03 7.44892582e-06 9.99998571e-01 -8.06703820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.63, Y:-58.32, Z:-0.81 [[ 9.83660607e-01 1.80025139e-01 1.66141152e-03 3.83628217e+02] [-1.80024868e-01 9.83662010e-01 -3.12594603e-04 -5.83169699e+01] [-1.69054228e-03 8.39160718e-06 9.99998571e-01 -8.05843232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.66, Y:-58.32, Z:-0.81 [[ 9.84019963e-01 1.78050419e-01 1.66143362e-03 3.83655685e+02] [-1.78050145e-01 9.84021366e-01 -3.12477097e-04 -5.83224638e+01] [-1.69052286e-03 1.16652044e-05 9.99998571e-01 -8.07497142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.68, Y:-58.33, Z:-0.81 [[ 9.84032505e-01 1.77981092e-01 1.66145573e-03 3.83683712e+02] [-1.77980818e-01 9.84033907e-01 -3.12359484e-04 -5.83275948e+01] [-1.69052286e-03 1.16646344e-05 9.99998571e-01 -8.07545313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.71, Y:-58.33, Z:-0.81 [[ 9.84183564e-01 1.77143873e-01 1.66147773e-03 3.83711371e+02] [-1.77143598e-01 9.84184966e-01 -3.12242429e-04 -5.83328384e+01] [-1.69051324e-03 1.29837231e-05 9.99998571e-01 -8.08143747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.74, Y:-58.34, Z:-0.81 [[ 9.84174360e-01 1.77194999e-01 1.66149965e-03 3.83737817e+02] [-1.77194725e-01 9.84175763e-01 -3.12125726e-04 -5.83373470e+01] [-1.69051481e-03 1.27771629e-05 9.99998571e-01 -8.07717507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.77, Y:-58.34, Z:-0.81 [[ 9.84182292e-01 1.77150937e-01 1.66152504e-03 3.83765650e+02] [-1.77150663e-01 9.84183695e-01 -3.11990523e-04 -5.83412789e+01] [-1.69051527e-03 1.27152857e-05 9.99998571e-01 -8.07023383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.79, Y:-58.35, Z:-0.81 [[ 9.84210066e-01 1.76996571e-01 1.66154671e-03 3.83793770e+02] [-1.76996297e-01 9.84211468e-01 -3.11875088e-04 -5.83451878e+01] [-1.69051415e-03 1.28629869e-05 9.99998571e-01 -8.05145491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.82, Y:-58.35, Z:-0.80 [[ 9.84237349e-01 1.76844792e-01 1.66156113e-03 3.83819940e+02] [-1.76844517e-01 9.84238751e-01 -3.11798264e-04 -5.83501181e+01] [-1.69051275e-03 1.30455217e-05 9.99998571e-01 -8.03810914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.85, Y:-58.36, Z:-0.80 [[ 9.84311211e-01 1.76433212e-01 1.66158615e-03 3.83847672e+02] [-1.76432938e-01 9.84312614e-01 -3.11664834e-04 -5.83554324e+01] [-1.69050824e-03 1.36166639e-05 9.99998571e-01 -8.02370224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.87, Y:-58.36, Z:-0.81 [[ 9.84753774e-01 1.73946092e-01 1.66160801e-03 3.83873377e+02] [-1.73945814e-01 9.84755176e-01 -3.11548260e-04 -5.83620729e+01] [-1.69046969e-03 1.77685670e-05 9.99998571e-01 -8.06324224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.90, Y:-58.37, Z:-0.81 [[ 9.85158792e-01 1.71637388e-01 1.66163328e-03 3.83900869e+02] [-1.71637107e-01 9.85160193e-01 -3.11413417e-04 -5.83688432e+01] [-1.69042515e-03 2.15937358e-05 9.99998571e-01 -8.09534563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.93, Y:-58.38, Z:-0.81 [[ 9.85562422e-01 1.69304317e-01 1.66165433e-03 3.83928478e+02] [-1.69304033e-01 9.85563822e-01 -3.11301048e-04 -5.83760009e+01] [-1.69037101e-03 2.54818356e-05 9.99998571e-01 -8.10470935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.96, Y:-58.38, Z:-0.81 [[ 9.85865922e-01 1.67527977e-01 1.66167526e-03 3.83955844e+02] [-1.67527690e-01 9.85867322e-01 -3.11189330e-04 -5.83826429e+01] [-1.69032425e-03 2.84143373e-05 9.99998571e-01 -8.09458988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.98, Y:-58.39, Z:-0.80 [[ 9.85991894e-01 1.66784961e-01 1.66169606e-03 3.83984401e+02] [-1.66784673e-01 9.85993294e-01 -3.11078173e-04 -5.83893244e+01] [-1.69030434e-03 2.95751220e-05 9.99998571e-01 -8.03321731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.01, Y:-58.39, Z:-0.80 [[ 9.85836885e-01 1.67698760e-01 1.66171037e-03 3.84011274e+02] [-1.67698474e-01 9.85838286e-01 -3.11001726e-04 -5.83943382e+01] [-1.69033231e-03 2.79306804e-05 9.99998571e-01 -8.02073697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.04, Y:-58.40, Z:-0.80 [[ 9.85541651e-01 1.69425182e-01 1.66173521e-03 3.84038624e+02] [-1.69424898e-01 9.85543052e-01 -3.10868946e-04 -5.84003006e+01] [-1.69038062e-03 2.48349755e-05 9.99998571e-01 -8.03195262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.07, Y:-58.41, Z:-0.81 [[ 9.85232724e-01 1.71212492e-01 1.66175572e-03 3.84066044e+02] [-1.71212211e-01 9.85234126e-01 -3.10759281e-04 -5.84055552e+01] [-1.69042431e-03 2.16573419e-05 9.99998571e-01 -8.06160499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.09, Y:-58.41, Z:-0.81 [[ 9.84445637e-01 1.75681604e-01 1.66177610e-03 3.84093380e+02] [-1.75681330e-01 9.84447040e-01 -3.10650283e-04 -5.84099779e+01] [-1.69050610e-03 1.38752808e-05 9.99998571e-01 -8.10823015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.12, Y:-58.41, Z:-0.81 [[ 9.84029368e-01 1.77998429e-01 1.66179303e-03 3.84120789e+02] [-1.77998159e-01 9.84030771e-01 -3.10559653e-04 -5.84138168e+01] [-1.69053461e-03 9.80371846e-06 9.99998571e-01 -8.11192710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.15, Y:-58.42, Z:-0.81 [[ 9.83594852e-01 1.80384052e-01 1.66181405e-03 3.84148218e+02] [-1.80383785e-01 9.83596255e-01 -3.10447147e-04 -5.84175968e+01] [-1.69055379e-03 5.58990638e-06 9.99998571e-01 -8.10770128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.18, Y:-58.42, Z:-0.81 [[ 9.82687885e-01 1.85261324e-01 1.66183499e-03 3.84175530e+02] [-1.85261064e-01 9.82689291e-01 -3.10335026e-04 -5.84206060e+01] [-1.69056052e-03 -2.91084737e-06 9.99998571e-01 -8.09576218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.20, Y:-58.42, Z:-0.81 [[ 9.82428767e-01 1.86630533e-01 1.66185237e-03 3.84201897e+02] [-1.86630275e-01 9.82430173e-01 -3.10241909e-04 -5.84239051e+01] [-1.69055453e-03 -5.36138840e-06 9.99998571e-01 -8.09507436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:384.23, Y:-58.43, Z:-0.81 [[ 9.82308028e-01 1.87264989e-01 1.66187661e-03 3.84229679e+02] [-1.87264732e-01 9.82309434e-01 -3.10112028e-04 -5.84275454e+01] [-1.69055020e-03 -6.58534320e-06 9.99998571e-01 -8.10226401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.26, Y:-58.43, Z:-0.82 [[ 9.82432433e-01 1.86611234e-01 1.66189725e-03 3.84257457e+02] [-1.86610977e-01 9.82433839e-01 -3.10001366e-04 -5.84308819e+01] [-1.69055383e-03 -5.57287311e-06 9.99998571e-01 -8.15395384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.29, Y:-58.44, Z:-0.81 [[ 9.82511299e-01 1.86195556e-01 1.66191438e-03 3.84285049e+02] [-1.86195299e-01 9.82512705e-01 -3.09909510e-04 -5.84355650e+01] [-1.69055577e-03 -4.95104923e-06 9.99998571e-01 -8.14160621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.31, Y:-58.44, Z:-0.81 [[ 9.82547788e-01 1.86002907e-01 1.66193600e-03 3.84312712e+02] [-1.86002649e-01 9.82549194e-01 -3.09793535e-04 -5.84404086e+01] [-1.69055637e-03 -4.73754641e-06 9.99998571e-01 -8.12599564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.34, Y:-58.45, Z:-0.81 [[ 9.82584683e-01 1.85807910e-01 1.66195388e-03 3.84341196e+02] [-1.85807652e-01 9.82586088e-01 -3.09697568e-04 -5.84453501e+01] [-1.69055702e-03 -4.49966232e-06 9.99998571e-01 -8.09832723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.37, Y:-58.45, Z:-0.81 [[ 9.82526246e-01 1.86116666e-01 1.66196857e-03 3.84367717e+02] [-1.86116408e-01 9.82527652e-01 -3.09618705e-04 -5.84506979e+01] [-1.69055528e-03 -5.11111776e-06 9.99998571e-01 -8.09957297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.39, Y:-58.46, Z:-0.81 [[ 9.82555115e-01 1.85964200e-01 1.66199413e-03 3.84394040e+02] [-1.85963943e-01 9.82556521e-01 -3.09481438e-04 -5.84560297e+01] [-1.69055564e-03 -4.98841245e-06 9.99998571e-01 -8.11221135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.42, Y:-58.46, Z:-0.81 [[ 9.82639233e-01 1.85519205e-01 1.66203221e-03 3.84421658e+02] [-1.85518947e-01 9.82640639e-01 -3.09276804e-04 -5.84613915e+01] [-1.69055718e-03 -4.43094456e-06 9.99998571e-01 -8.11319992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.45, Y:-58.47, Z:-0.81 [[ 9.82738025e-01 1.84995169e-01 1.66205311e-03 3.84448925e+02] [-1.84994911e-01 9.82739430e-01 -3.09164476e-04 -5.84661754e+01] [-1.69055906e-03 -3.64368009e-06 9.99998571e-01 -8.10121468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.48, Y:-58.47, Z:-0.81 [[ 9.82635966e-01 1.85536506e-01 1.66207409e-03 3.84477290e+02] [-1.85536249e-01 9.82637372e-01 -3.09051631e-04 -5.84717481e+01] [-1.69055648e-03 -4.68974415e-06 9.99998571e-01 -8.06817612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.50, Y:-58.48, Z:-0.81 [[ 9.82587057e-01 1.85795350e-01 1.66208843e-03 3.84503245e+02] [-1.85795093e-01 9.82588463e-01 -3.08974493e-04 -5.84772147e+01] [-1.69055494e-03 -5.21353674e-06 9.99998571e-01 -8.06988181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.53, Y:-58.48, Z:-0.81 [[ 9.82894915e-01 1.84159779e-01 1.66211329e-03 3.84529629e+02] [-1.84159520e-01 9.82896320e-01 -3.08840678e-04 -5.84819502e+01] [-1.69056107e-03 -2.53605472e-06 9.99998571e-01 -8.09886503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.56, Y:-58.49, Z:-0.81 [[ 9.83222383e-01 1.82403354e-01 1.66213728e-03 3.84556933e+02] [-1.82403093e-01 9.83223788e-01 -3.08711547e-04 -5.84865983e+01] [-1.69056293e-03 3.53122488e-07 9.99998571e-01 -8.11479942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.59, Y:-58.49, Z:-0.81 [[ 9.83640718e-01 1.80133767e-01 1.66215867e-03 3.84585697e+02] [-1.80133503e-01 9.83642123e-01 -3.08596336e-04 -5.84918487e+01] [-1.69055790e-03 4.13745834e-06 9.99998571e-01 -8.13844033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:-58.50, Z:-0.82 [[ 9.84123128e-01 1.77479312e-01 1.66217323e-03 3.84612889e+02] [-1.77479044e-01 9.84124532e-01 -3.08517895e-04 -5.84976481e+01] [-1.69054099e-03 8.61868055e-06 9.99998571e-01 -8.16204072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.64, Y:-58.50, Z:-0.82 [[ 9.84645149e-01 1.74559923e-01 1.66219128e-03 3.84640416e+02] [-1.74559651e-01 9.84646552e-01 -3.08420601e-04 -5.85038238e+01] [-1.69050879e-03 1.35333187e-05 9.99998571e-01 -8.17354620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.67, Y:-58.51, Z:-0.82 [[ 9.85710478e-01 1.68440167e-01 1.66221269e-03 3.84668491e+02] [-1.68439886e-01 9.85711880e-01 -3.08305183e-04 -5.85110951e+01] [-1.69039377e-03 2.39167331e-05 9.99998571e-01 -8.16779401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.70, Y:-58.52, Z:-0.82 [[ 9.86149676e-01 1.65849491e-01 1.66222687e-03 3.84696942e+02] [-1.65849207e-01 9.86151076e-01 -3.08228691e-04 -5.85179144e+01] [-1.69032639e-03 2.82806150e-05 9.99998571e-01 -8.15475293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.72, Y:-58.53, Z:-0.81 [[ 9.86480317e-01 1.63871354e-01 1.66224097e-03 3.84724825e+02] [-1.63871068e-01 9.86481717e-01 -3.08152646e-04 -5.85252568e+01] [-1.69026772e-03 3.15933180e-05 9.99998571e-01 -8.13841909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.75, Y:-58.54, Z:-0.81 [[ 9.86672165e-01 1.62712248e-01 1.66225498e-03 3.84750320e+02] [-1.62711960e-01 9.86673565e-01 -3.08077043e-04 -5.85366447e+01] [-1.69023096e-03 3.35022774e-05 9.99998571e-01 -8.13469564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.78, Y:-58.55, Z:-0.82 [[ 9.86663755e-01 1.62763239e-01 1.66227942e-03 3.84778224e+02] [-1.62762951e-01 9.86665154e-01 -3.07945140e-04 -5.85456587e+01] [-1.69023533e-03 3.32808043e-05 9.99998571e-01 -8.15273594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.80, Y:-58.55, Z:-0.82 [[ 9.86594117e-01 1.63184818e-01 1.66229327e-03 3.84804815e+02] [-1.63184530e-01 9.86595517e-01 -3.07870354e-04 -5.85544538e+01] [-1.69025085e-03 3.24825339e-05 9.99998571e-01 -8.17639150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.83, Y:-58.56, Z:-0.82 [[ 9.86440275e-01 1.64112217e-01 1.66231050e-03 3.84831704e+02] [-1.64111931e-01 9.86441676e-01 -3.07777267e-04 -5.85635184e+01] [-1.69028237e-03 3.07989050e-05 9.99998571e-01 -8.19671401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.86, Y:-58.58, Z:-0.82 [[ 9.85946777e-01 1.67051461e-01 1.66232771e-03 3.84858078e+02] [-1.67051179e-01 9.85948178e-01 -3.07684288e-04 -5.85763955e+01] [-1.69036809e-03 2.56665276e-05 9.99998571e-01 -8.18588744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.88, Y:-58.58, Z:-0.82 [[ 9.85606327e-01 1.69048527e-01 1.66234865e-03 3.84884434e+02] [-1.69048249e-01 9.85607729e-01 -3.07571131e-04 -5.85848475e+01] [-1.69041812e-03 2.21269244e-05 9.99998571e-01 -8.17655235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.91, Y:-58.59, Z:-0.82 [[ 9.85150594e-01 1.71684431e-01 1.66236960e-03 3.84912058e+02] [-1.71684156e-01 9.85151996e-01 -3.07457871e-04 -5.85932995e+01] [-1.69047246e-03 1.74897825e-05 9.99998571e-01 -8.16057858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.94, Y:-58.60, Z:-0.82 [[ 9.84084402e-01 1.77693913e-01 1.66238333e-03 3.84937931e+02] [-1.77693647e-01 9.84085806e-01 -3.07383611e-04 -5.86047354e+01] [-1.69054803e-03 7.09646117e-06 9.99998571e-01 -8.16952632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.96, Y:-58.61, Z:-0.82 [[ 9.83600722e-01 1.80352032e-01 1.66240393e-03 3.84964696e+02] [-1.80351770e-01 9.83602127e-01 -3.07272123e-04 -5.86126129e+01] [-1.69056120e-03 2.41558936e-06 9.99998571e-01 -8.17889040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.99, Y:-58.62, Z:-0.82 [[ 9.83113939e-01 1.82986935e-01 1.66242450e-03 3.84992401e+02] [-1.82986677e-01 9.83115345e-01 -3.07160830e-04 -5.86206509e+01] [-1.69056145e-03 -2.22744164e-06 9.99998571e-01 -8.18511735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.02, Y:-58.63, Z:-0.82 [[ 9.82128578e-01 1.88203857e-01 1.66243824e-03 3.85018802e+02] [-1.88203607e-01 9.82129985e-01 -3.07086422e-04 -5.86293226e+01] [-1.69052530e-03 -1.12785227e-05 9.99998571e-01 -8.16747624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.05, Y:-58.64, Z:-0.82 [[ 9.81523580e-01 1.91333997e-01 1.66246153e-03 3.85047270e+02] [-1.91333751e-01 9.81524988e-01 -3.06960303e-04 -5.86355262e+01] [-1.69047947e-03 -1.67962259e-05 9.99998571e-01 -8.15290207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.08, Y:-58.64, Z:-0.81 [[ 9.80972594e-01 1.94139139e-01 1.66247511e-03 3.85075838e+02] [-1.94138898e-01 9.80974003e-01 -3.06886753e-04 -5.86410018e+01] [-1.69042359e-03 -2.17035896e-05 9.99998571e-01 -8.13198568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.10, Y:-58.65, Z:-0.81 [[ 9.80457254e-01 1.96725212e-01 1.66248865e-03 3.85102459e+02] [-1.96724975e-01 9.80458663e-01 -3.06813390e-04 -5.86456466e+01] [-1.69035932e-03 -2.62356232e-05 9.99998571e-01 -8.12137305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.13, Y:-58.65, Z:-0.81 [[ 9.80030274e-01 1.98841390e-01 1.66252124e-03 3.85129684e+02] [-1.98841156e-01 9.80031684e-01 -3.06636661e-04 -5.86507160e+01] [-1.69029555e-03 -3.00644343e-05 9.99998571e-01 -8.11980450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.16, Y:-58.66, Z:-0.82 [[ 9.79542105e-01 2.01232452e-01 1.66254263e-03 3.85156600e+02] [-2.01232222e-01 9.79543516e-01 -3.06520636e-04 -5.86555729e+01] [-1.69021476e-03 -3.43072782e-05 9.99998571e-01 -8.16806443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.18, Y:-58.66, Z:-0.82 [[ 9.79574084e-01 2.01076726e-01 1.66256036e-03 3.85183856e+02] [-2.01076495e-01 9.79575494e-01 -3.06424432e-04 -5.86603724e+01] [-1.69021821e-03 -3.41363783e-05 9.99998571e-01 -8.17687055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.21, Y:-58.67, Z:-0.82 [[ 9.79773846e-01 2.00101093e-01 1.66258002e-03 3.85211171e+02] [-2.00100861e-01 9.79775256e-01 -3.06317766e-04 -5.86660513e+01] [-1.69024928e-03 -3.25615575e-05 9.99998571e-01 -8.17431169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.24, Y:-58.67, Z:-0.82 [[ 9.80048473e-01 1.98751669e-01 1.66259964e-03 3.85237165e+02] [-1.98751435e-01 9.80049883e-01 -3.06211240e-04 -5.86717740e+01] [-1.69029057e-03 -3.03422058e-05 9.99998571e-01 -8.18062651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.26, Y:-58.68, Z:-0.82 [[ 9.80612374e-01 1.95950523e-01 1.66262245e-03 3.85264440e+02] [-1.95950286e-01 9.80613783e-01 -3.06087294e-04 -5.86796709e+01] [-1.69036846e-03 -2.56383570e-05 9.99998571e-01 -8.19788924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.29, Y:-58.69, Z:-0.82 [[ 9.80761299e-01 1.95203764e-01 1.66263860e-03 3.85291877e+02] [-1.95203525e-01 9.80762708e-01 -3.05999591e-04 -5.86850563e+01] [-1.69038620e-03 -2.44403587e-05 9.99998571e-01 -8.19195755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.32, Y:-58.69, Z:-0.81 [[ 9.80443988e-01 1.96791316e-01 1.66265800e-03 3.85319754e+02] [-1.96791080e-01 9.80445397e-01 -3.05894127e-04 -5.86893657e+01] [-1.69034269e-03 -2.72842058e-05 9.99998571e-01 -8.14902168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.35, Y:-58.69, Z:-0.81 [[ 9.80070223e-01 1.98644391e-01 1.66267413e-03 3.85348007e+02] [-1.98644158e-01 9.80071633e-01 -3.05806422e-04 -5.86939754e+01] [-1.69028648e-03 -3.05687347e-05 9.99998571e-01 -8.12655208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.37, Y:-58.70, Z:-0.81 [[ 9.79645641e-01 2.00727807e-01 1.66268814e-03 3.85374318e+02] [-2.00727577e-01 9.79647052e-01 -3.05730224e-04 -5.86985502e+01] [-1.69021609e-03 -3.42400813e-05 9.99998571e-01 -8.13130132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.40, Y:-58.70, Z:-0.81 [[ 9.79658147e-01 2.00666766e-01 1.66271244e-03 3.85402372e+02] [-2.00666536e-01 9.79659557e-01 -3.05598022e-04 -5.87035569e+01] [-1.69021550e-03 -3.42691548e-05 9.99998571e-01 -8.13178302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.43, Y:-58.71, Z:-0.81 [[ 9.79284020e-01 2.02484675e-01 1.66273147e-03 3.85431290e+02] [-2.02484448e-01 9.79285431e-01 -3.05494419e-04 -5.87084743e+01] [-1.69014665e-03 -3.75114619e-05 9.99998571e-01 -8.14743528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.46, Y:-58.71, Z:-0.82 [[ 9.78835797e-01 2.04640460e-01 1.66274099e-03 3.85459807e+02] [-2.04640236e-01 9.78837208e-01 -3.05442623e-04 -5.87131870e+01] [-1.69005867e-03 -4.12855352e-05 9.99998571e-01 -8.17915228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.49, Y:-58.72, Z:-0.82 [[ 9.78789035e-01 2.04864006e-01 1.66275368e-03 3.85487212e+02] [-2.04863783e-01 9.78790446e-01 -3.05373517e-04 -5.87179405e+01] [-1.69004746e-03 -4.17417594e-05 9.99998571e-01 -8.16915479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.52, Y:-58.72, Z:-0.82 [[ 9.78920481e-01 2.04234982e-01 1.66277392e-03 3.85515604e+02] [-2.04234758e-01 9.78921892e-01 -3.05263264e-04 -5.87229104e+01] [-1.69007123e-03 -4.07677684e-05 9.99998571e-01 -8.15466282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.54, Y:-58.73, Z:-0.81 [[ 9.79170653e-01 2.03032184e-01 1.66278829e-03 3.85542177e+02] [-2.03031958e-01 9.79172064e-01 -3.05185000e-04 -5.87276954e+01] [-1.69011822e-03 -3.87709657e-05 9.99998571e-01 -8.14702479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.57, Y:-58.73, Z:-0.81 [[ 9.79698287e-01 2.00470700e-01 1.66281336e-03 3.85570471e+02] [-2.00470471e-01 9.79699697e-01 -3.05048320e-04 -5.87329459e+01] [-1.69021100e-03 -3.44896616e-05 9.99998571e-01 -8.12675530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.60, Y:-58.74, Z:-0.81 [[ 9.79850584e-01 1.99724982e-01 1.66282772e-03 3.85597473e+02] [-1.99724752e-01 9.79851994e-01 -3.04970033e-04 -5.87380132e+01] [-1.69023519e-03 -3.32827882e-05 9.99998571e-01 -8.11730675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.62, Y:-58.74, Z:-0.81 [[ 9.79918446e-01 1.99391762e-01 1.66285277e-03 3.85624270e+02] [-1.99391531e-01 9.79919856e-01 -3.04833396e-04 -5.87432573e+01] [-1.69024371e-03 -3.28468916e-05 9.99998571e-01 -8.12515932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.65, Y:-58.75, Z:-0.81 [[ 9.80007821e-01 1.98952020e-01 1.66287748e-03 3.85650414e+02] [-1.98951790e-01 9.80009231e-01 -3.04698525e-04 -5.87477384e+01] [-1.69025567e-03 -3.22255127e-05 9.99998571e-01 -8.14389751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.68, Y:-58.75, Z:-0.82 [[ 9.80340967e-01 1.97303888e-01 1.66290147e-03 3.85677923e+02] [-1.97303655e-01 9.80342376e-01 -3.04567559e-04 -5.87515744e+01] [-1.69030514e-03 -2.95164823e-05 9.99998571e-01 -8.15761254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.71, Y:-58.76, Z:-0.82 [[ 9.80716689e-01 1.95427765e-01 1.66292083e-03 3.85705733e+02] [-1.95427529e-01 9.80718098e-01 -3.04461815e-04 -5.87563058e+01] [-1.69035684e-03 -2.63897263e-05 9.99998571e-01 -8.15256388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.73, Y:-58.76, Z:-0.82 [[ 9.81864583e-01 1.89576302e-01 1.66294201e-03 3.85733455e+02] [-1.89576058e-01 9.81865992e-01 -3.04346070e-04 -5.87639670e+01] [-1.69048301e-03 -1.64273643e-05 9.99998571e-01 -8.16834923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.76, Y:-58.77, Z:-0.82 [[ 9.82604841e-01 1.85701267e-01 1.66295630e-03 3.85760261e+02] [-1.85701018e-01 9.82606248e-01 -3.04267993e-04 -5.87713913e+01] [-1.69053420e-03 -9.83747427e-06 9.99998571e-01 -8.18530754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.79, Y:-58.78, Z:-0.82 [[ 9.83307885e-01 1.81941855e-01 1.66297414e-03 3.85787344e+02] [-1.81941601e-01 9.83309291e-01 -3.04170418e-04 -5.87787436e+01] [-1.69055926e-03 -3.47100725e-06 9.99998571e-01 -8.19539663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.82, Y:-58.79, Z:-0.82 [[ 9.83887461e-01 1.78781150e-01 1.66299153e-03 3.85815433e+02] [-1.78780891e-01 9.83888866e-01 -3.04075314e-04 -5.87858330e+01] [-1.69056179e-03 1.86478041e-06 9.99998571e-01 -8.19077395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.84, Y:-58.79, Z:-0.82 [[ 9.84400371e-01 1.75935057e-01 1.66300574e-03 3.85843151e+02] [-1.75934795e-01 9.84401776e-01 -3.03997600e-04 -5.87945617e+01] [-1.69054964e-03 6.67477658e-06 9.99998571e-01 -8.15496300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.87, Y:-58.80, Z:-0.81 [[ 9.84454402e-01 1.75632472e-01 1.66301990e-03 3.85869917e+02] [-1.75632210e-01 9.84455806e-01 -3.03920092e-04 -5.88012340e+01] [-1.69054784e-03 7.11561173e-06 9.99998571e-01 -8.13988611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.90, Y:-58.81, Z:-0.81 [[ 9.84423251e-01 1.75806989e-01 1.66303754e-03 3.85896995e+02] [-1.75806727e-01 9.84424656e-01 -3.03823578e-04 -5.88084079e+01] [-1.69054946e-03 6.71780837e-06 9.99998571e-01 -8.14950668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.92, Y:-58.82, Z:-0.82 [[ 9.84342787e-01 1.76256949e-01 1.66305496e-03 3.85924282e+02] [-1.76256687e-01 9.84344192e-01 -3.03728189e-04 -5.88189084e+01] [-1.69055269e-03 5.84809439e-06 9.99998571e-01 -8.18222375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.95, Y:-58.83, Z:-0.82 [[ 9.84307086e-01 1.76456214e-01 1.66306894e-03 3.85951030e+02] [-1.76455953e-01 9.84308491e-01 -3.03651591e-04 -5.88264455e+01] [-1.69055409e-03 5.42799758e-06 9.99998571e-01 -8.19615648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.98, Y:-58.83, Z:-0.82 [[ 9.84215220e-01 1.76967892e-01 1.66308638e-03 3.85979406e+02] [-1.76967632e-01 9.84216625e-01 -3.03556064e-04 -5.88342530e+01] [-1.69055694e-03 4.45204093e-06 9.99998571e-01 -8.19403618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.01, Y:-58.84, Z:-0.82 [[ 9.83899241e-01 1.78716304e-01 1.66310017e-03 3.86005457e+02] [-1.78716046e-01 9.83900647e-01 -3.03480483e-04 -5.88438217e+01] [-1.69056224e-03 1.37153073e-06 9.99998571e-01 -8.16826912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.03, Y:-58.85, Z:-0.82 [[ 9.83562207e-01 1.80561954e-01 1.66311191e-03 3.86033668e+02] [-1.80561699e-01 9.83563613e-01 -3.03416131e-04 -5.88511010e+01] [-1.69056177e-03 -1.86567229e-06 9.99998571e-01 -8.15021993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.06, Y:-58.86, Z:-0.81 [[ 9.83094521e-01 1.83091225e-01 1.66312557e-03 3.86060411e+02] [-1.83090974e-01 9.83095928e-01 -3.03341244e-04 -5.88579252e+01] [-1.69055110e-03 -6.29016534e-06 9.99998571e-01 -8.13585137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.09, Y:-58.87, Z:-0.81 [[ 9.81715696e-01 1.90345807e-01 1.66314248e-03 3.86088299e+02] [-1.90345566e-01 9.81717105e-01 -3.03248531e-04 -5.88650238e+01] [-1.69045750e-03 -1.88679536e-05 9.99998571e-01 -8.12662113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.12, Y:-58.87, Z:-0.81 [[ 9.80885034e-01 1.94581047e-01 1.66315595e-03 3.86116175e+02] [-1.94580813e-01 9.80886444e-01 -3.03174596e-04 -5.88700360e+01] [-1.69035916e-03 -2.62388125e-05 9.99998571e-01 -8.12792329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:386.14, Y:-58.88, Z:-0.81 [[ 9.80009188e-01 1.98945284e-01 1.66317270e-03 3.86144980e+02] [-1.98945056e-01 9.80010598e-01 -3.03082671e-04 -5.88754138e+01] [-1.69022375e-03 -3.38561848e-05 9.99998571e-01 -8.13511125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.17, Y:-58.88, Z:-0.81 [[ 9.79256014e-01 2.02620070e-01 1.66318600e-03 3.86171987e+02] [-2.02619847e-01 9.79257426e-01 -3.03009683e-04 -5.88799363e+01] [-1.69008309e-03 -4.02704389e-05 9.99998571e-01 -8.14245274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.20, Y:-58.88, Z:-0.81 [[ 9.78645318e-01 2.05549447e-01 1.66320245e-03 3.86200413e+02] [-2.05549228e-01 9.78646730e-01 -3.02919381e-04 -5.88845900e+01] [-1.68995255e-03 -4.54193465e-05 9.99998571e-01 -8.13247502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.23, Y:-58.89, Z:-0.81 [[ 9.78208026e-01 2.07620547e-01 1.66321655e-03 3.86228184e+02] [-2.07620332e-01 9.78209439e-01 -3.02841938e-04 -5.88887710e+01] [-1.68985034e-03 -4.90751572e-05 9.99998571e-01 -8.11966141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.26, Y:-58.89, Z:-0.81 [[ 9.77642504e-01 2.10267375e-01 1.66323409e-03 3.86256596e+02] [-2.10267164e-01 9.77643917e-01 -3.02745557e-04 -5.88910501e+01] [-1.68970821e-03 -5.37465909e-05 9.99998571e-01 -8.08770087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.28, Y:-58.89, Z:-0.81 [[ 9.77360088e-01 2.11576210e-01 1.66325413e-03 3.86284317e+02] [-2.11576001e-01 9.77361501e-01 -3.02635458e-04 -5.88942971e+01] [-1.68963101e-03 -5.61208390e-05 9.99998571e-01 -8.08567207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.31, Y:-58.90, Z:-0.81 [[ 9.77088613e-01 2.12826398e-01 1.66327073e-03 3.86311687e+02] [-2.12826191e-01 9.77090027e-01 -3.02544167e-04 -5.88969560e+01] [-1.68955463e-03 -5.83751146e-05 9.99998571e-01 -8.09789738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.34, Y:-58.90, Z:-0.81 [[ 9.76522614e-01 2.15408490e-01 1.66329316e-03 3.86341271e+02] [-2.15408287e-01 9.76524029e-01 -3.02420804e-04 -5.88966290e+01] [-1.68938975e-03 -6.29663760e-05 9.99998571e-01 -8.14136748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.37, Y:-58.90, Z:-0.82 [[ 9.76302237e-01 2.16405119e-01 1.66330701e-03 3.86369195e+02] [-2.16404917e-01 9.76303652e-01 -3.02344619e-04 -5.88987741e+01] [-1.68932163e-03 -6.47680882e-05 9.99998571e-01 -8.15921949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.40, Y:-58.90, Z:-0.82 [[ 9.76118931e-01 2.17230445e-01 1.66332425e-03 3.86397100e+02] [-2.17230245e-01 9.76120346e-01 -3.02249719e-04 -5.89006560e+01] [-1.68926249e-03 -6.62926621e-05 9.99998571e-01 -8.16843416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.42, Y:-58.90, Z:-0.82 [[ 9.75987432e-01 2.17820490e-01 1.66334463e-03 3.86424755e+02] [-2.17820291e-01 9.75988847e-01 -3.02137563e-04 -5.88998791e+01] [-1.68921756e-03 -6.74277463e-05 9.99998571e-01 -8.17386034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.45, Y:-58.90, Z:-0.82 [[ 9.76239650e-01 2.16687284e-01 1.66336828e-03 3.86452601e+02] [-2.16687084e-01 9.76241065e-01 -3.02007309e-04 -5.89021139e+01] [-1.68928956e-03 -6.55989115e-05 9.99998571e-01 -8.17395904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.48, Y:-58.90, Z:-0.82 [[ 9.76622920e-01 2.14953261e-01 1.66338874e-03 3.86480677e+02] [-2.14953058e-01 9.76624335e-01 -3.01894539e-04 -5.89041694e+01] [-1.68939914e-03 -6.27133712e-05 9.99998571e-01 -8.16542426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.51, Y:-58.91, Z:-0.81 [[ 9.77139742e-01 2.12591526e-01 1.66340917e-03 3.86508422e+02] [-2.12591320e-01 9.77141156e-01 -3.01781963e-04 -5.89060450e+01] [-1.68954185e-03 -5.87432018e-05 9.99998571e-01 -8.14917502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.54, Y:-58.91, Z:-0.81 [[ 9.78367980e-01 2.06865487e-01 1.66342612e-03 3.86536605e+02] [-2.06865272e-01 9.78369392e-01 -3.01688468e-04 -5.89062534e+01] [-1.68985414e-03 -4.89427615e-05 9.99998571e-01 -8.11122959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.56, Y:-58.91, Z:-0.81 [[ 9.79017660e-01 2.03768630e-01 1.66344287e-03 3.86563610e+02] [-2.03768411e-01 9.79019072e-01 -3.01596132e-04 -5.89095945e+01] [-1.68999812e-03 -4.36891711e-05 9.99998571e-01 -8.10538287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.59, Y:-58.91, Z:-0.81 [[ 9.79664327e-01 2.00636583e-01 1.66347513e-03 3.86591139e+02] [-2.00636360e-01 9.79665739e-01 -3.01418097e-04 -5.89132899e+01] [-1.69012509e-03 -3.84650376e-05 9.99998571e-01 -8.11129996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.62, Y:-58.92, Z:-0.81 [[ 9.80269588e-01 1.97658209e-01 1.66349517e-03 3.86618640e+02] [-1.97657982e-01 9.80270999e-01 -3.01307422e-04 -5.89173461e+01] [-1.69023196e-03 -3.34405959e-05 9.99998571e-01 -8.12485808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.65, Y:-58.92, Z:-0.82 [[ 9.81103696e-01 1.93475504e-01 1.66351519e-03 3.86645605e+02] [-1.93475271e-01 9.81105106e-01 -3.01196839e-04 -5.89210358e+01] [-1.69035746e-03 -2.63437216e-05 9.99998571e-01 -8.15934395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.67, Y:-58.93, Z:-0.82 [[ 9.81271540e-01 1.92622421e-01 1.66353845e-03 3.86673524e+02] [-1.92622187e-01 9.81272950e-01 -3.01068321e-04 -5.89261155e+01] [-1.69037779e-03 -2.50046404e-05 9.99998571e-01 -8.15934437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.70, Y:-58.93, Z:-0.82 [[ 9.81301458e-01 1.92469951e-01 1.66355975e-03 3.86699688e+02] [-1.92469717e-01 9.81302867e-01 -3.00950591e-04 -5.89306482e+01] [-1.69037990e-03 -2.48616207e-05 9.99998571e-01 -8.17111376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.73, Y:-58.93, Z:-0.82 [[ 9.80926120e-01 1.94373812e-01 1.66358445e-03 3.86727409e+02] [-1.94373582e-01 9.80927531e-01 -3.00814008e-04 -5.89333706e+01] [-1.69032615e-03 -2.82805505e-05 9.99998571e-01 -8.15157470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.75, Y:-58.94, Z:-0.82 [[ 9.80502147e-01 1.96501329e-01 1.66360538e-03 3.86754101e+02] [-1.96501102e-01 9.80503558e-01 -3.00698193e-04 -5.89359391e+01] [-1.69025859e-03 -3.20650671e-05 9.99998571e-01 -8.16128222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.78, Y:-58.94, Z:-0.82 [[ 9.79915929e-01 1.99404124e-01 1.66362961e-03 3.86782106e+02] [-1.99403901e-01 9.79917340e-01 -3.00564092e-04 -5.89385407e+01] [-1.69015322e-03 -3.72066929e-05 9.99998571e-01 -8.15917078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.81, Y:-58.94, Z:-0.82 [[ 9.79205402e-01 2.02864520e-01 1.66365111e-03 3.86809037e+02] [-2.02864302e-01 9.79206814e-01 -3.00445069e-04 -5.89410473e+01] [-1.69000814e-03 -4.32979861e-05 9.99998571e-01 -8.16203747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.84, Y:-58.94, Z:-0.82 [[ 9.77793972e-01 2.09561880e-01 1.66367592e-03 3.86838244e+02] [-2.09561672e-01 9.77795385e-01 -3.00307616e-04 -5.89396284e+01] [-1.68966766e-03 -5.50037298e-05 9.99998571e-01 -8.15052430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.87, Y:-58.94, Z:-0.82 [[ 9.77194434e-01 2.12339988e-01 1.66369714e-03 3.86866654e+02] [-2.12339785e-01 9.77195848e-01 -3.00190015e-04 -5.89406767e+01] [-1.68950028e-03 -5.99250799e-05 9.99998571e-01 -8.15514096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.89, Y:-58.94, Z:-0.82 [[ 9.76855171e-01 2.13895318e-01 1.66371839e-03 3.86893943e+02] [-2.13895117e-01 9.76856586e-01 -3.00072200e-04 -5.89409704e+01] [-1.68939830e-03 -6.27341576e-05 9.99998571e-01 -8.17673755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.92, Y:-58.94, Z:-0.82 [[ 9.76832450e-01 2.13999058e-01 1.66374294e-03 3.86924259e+02] [-2.13998857e-01 9.76833865e-01 -2.99936017e-04 -5.89366237e+01] [-1.68938647e-03 -6.30518533e-05 9.99998571e-01 -8.15645220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.95, Y:-58.94, Z:-0.81 [[ 9.77085827e-01 2.12839185e-01 1.66375627e-03 3.86952129e+02] [-2.12838982e-01 9.77087242e-01 -2.99862036e-04 -5.89368397e+01] [-1.68945742e-03 -6.11212461e-05 9.99998571e-01 -8.13789366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.98, Y:-58.94, Z:-0.81 [[ 9.77449259e-01 2.11163867e-01 1.66377288e-03 3.86980340e+02] [-2.11163662e-01 9.77450673e-01 -2.99769843e-04 -5.89372907e+01] [-1.68955648e-03 -5.83185628e-05 9.99998571e-01 -8.11837408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.01, Y:-58.93, Z:-0.81 [[ 9.78244842e-01 2.07447009e-01 1.66379295e-03 3.87009430e+02] [-2.07446799e-01 9.78246255e-01 -2.99658386e-04 -5.89340415e+01] [-1.68976246e-03 -5.20092525e-05 9.99998571e-01 -8.11794562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.04, Y:-58.94, Z:-0.81 [[ 9.78765604e-01 2.04975910e-01 1.66381347e-03 3.87037691e+02] [-2.04975696e-01 9.78767017e-01 -2.99544407e-04 -5.89350184e+01] [-1.68988514e-03 -4.78575630e-05 9.99998571e-01 -8.14224081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.07, Y:-58.94, Z:-0.82 [[ 9.79307137e-01 2.02372830e-01 1.66383428e-03 3.87066374e+02] [-2.02372613e-01 9.79308550e-01 -2.99428782e-04 -5.89356118e+01] [-1.69000339e-03 -4.34817482e-05 9.99998571e-01 -8.15425910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.09, Y:-58.94, Z:-0.82 [[ 9.79813178e-01 1.99908397e-01 1.66385510e-03 3.87093478e+02] [-1.99908177e-01 9.79814590e-01 -2.99313045e-04 -5.89360482e+01] [-1.69010470e-03 -3.93473746e-05 9.99998571e-01 -8.15897486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.12, Y:-58.94, Z:-0.82 [[ 9.80168228e-01 1.98160231e-01 1.66387925e-03 3.87122098e+02] [-1.98160008e-01 9.80169639e-01 -2.99178769e-04 -5.89372198e+01] [-1.69016926e-03 -3.64688018e-05 9.99998571e-01 -8.16014747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.15, Y:-58.94, Z:-0.81 [[ 9.80708819e-01 1.95467247e-01 1.66389959e-03 3.87149944e+02] [-1.95467021e-01 9.80710230e-01 -2.99065604e-04 -5.89361725e+01] [-1.69026088e-03 -3.19412196e-05 9.99998571e-01 -8.14480813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.18, Y:-58.94, Z:-0.81 [[ 9.80722122e-01 1.95400489e-01 1.66391991e-03 3.87178012e+02] [-1.95400263e-01 9.80723533e-01 -2.98952475e-04 -5.89410697e+01] [-1.69026088e-03 -3.19410819e-05 9.99998571e-01 -8.14528984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.21, Y:-58.94, Z:-0.81 [[ 9.80988284e-01 1.94059829e-01 1.66394025e-03 3.87205354e+02] [-1.94059601e-01 9.80989695e-01 -2.98839210e-04 -5.89435193e+01] [-1.69030093e-03 -2.97458183e-05 9.99998571e-01 -8.13512356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.23, Y:-58.95, Z:-0.81 [[ 9.81247971e-01 1.92742446e-01 1.66396386e-03 3.87233725e+02] [-1.92742217e-01 9.81249382e-01 -2.98707742e-04 -5.89458424e+01] [-1.69033716e-03 -2.76097158e-05 9.99998571e-01 -8.12922498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.26, Y:-58.95, Z:-0.81 [[ 9.81713842e-01 1.90355361e-01 1.66398401e-03 3.87262463e+02] [-1.90355128e-01 9.81715252e-01 -2.98595417e-04 -5.89463295e+01] [-1.69039772e-03 -2.36126359e-05 9.99998571e-01 -8.14079814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.29, Y:-58.95, Z:-0.81 [[ 9.81989718e-01 1.88927038e-01 1.66400427e-03 3.87289842e+02] [-1.88926803e-01 9.81991127e-01 -2.98482501e-04 -5.89502635e+01] [-1.69042884e-03 -2.12682595e-05 9.99998571e-01 -8.14295637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.32, Y:-58.95, Z:-0.81 [[ 9.82307617e-01 1.87267126e-01 1.66402541e-03 3.87316130e+02] [-1.87266890e-01 9.82309026e-01 -2.98364591e-04 -5.89547187e+01] [-1.69046106e-03 -1.85310517e-05 9.99998571e-01 -8.14135838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.34, Y:-58.96, Z:-0.81 [[ 9.82675176e-01 1.85328708e-01 1.66404983e-03 3.87343636e+02] [-1.85328469e-01 9.82676584e-01 -2.98228336e-04 -5.89594475e+01] [-1.69049307e-03 -1.53342245e-05 9.99998571e-01 -8.11409716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.37, Y:-58.96, Z:-0.81 [[ 9.82647818e-01 1.85473710e-01 1.66407115e-03 3.87370940e+02] [-1.85473471e-01 9.82649227e-01 -2.98109316e-04 -5.89632321e+01] [-1.69048967e-03 -1.57045828e-05 9.99998571e-01 -8.11651407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.40, Y:-58.97, Z:-0.81 [[ 9.82507912e-01 1.86213409e-01 1.66409224e-03 3.87397697e+02] [-1.86213171e-01 9.82509321e-01 -2.97991516e-04 -5.89668871e+01] [-1.69047616e-03 -1.70968717e-05 9.99998571e-01 -8.14372217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.43, Y:-58.97, Z:-0.82 [[ 9.82299896e-01 1.87307623e-01 1.66411674e-03 3.87425673e+02] [-1.87307387e-01 9.82301305e-01 -2.97854643e-04 -5.89711173e+01] [-1.69045449e-03 -1.91187732e-05 9.99998571e-01 -8.18181140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.45, Y:-58.98, Z:-0.82 [[ 9.82201603e-01 1.87822368e-01 1.66417307e-03 3.87453210e+02] [-1.87822133e-01 9.82203012e-01 -2.97539613e-04 -5.89750296e+01] [-1.69044039e-03 -2.03246504e-05 9.99998571e-01 -8.20509953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.48, Y:-58.98, Z:-0.82 [[ 9.82446088e-01 1.86539309e-01 1.66422919e-03 3.87480523e+02] [-1.86539073e-01 9.82447498e-01 -2.97225373e-04 -5.89788383e+01] [-1.69046202e-03 -1.84358649e-05 9.99998571e-01 -8.17935538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.51, Y:-58.98, Z:-0.81 [[ 9.82856269e-01 1.84365899e-01 1.66424665e-03 3.87509298e+02] [-1.84365660e-01 9.82857678e-01 -2.97127574e-04 -5.89839376e+01] [-1.69049779e-03 -1.47962323e-05 9.99998571e-01 -8.14279838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.54, Y:-58.99, Z:-0.81 [[ 9.83318035e-01 1.81886978e-01 1.66426136e-03 3.87535311e+02] [-1.81886736e-01 9.83319443e-01 -2.97045149e-04 -5.89891480e+01] [-1.69052920e-03 -1.06172145e-05 9.99998571e-01 -8.12377295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.56, Y:-59.00, Z:-0.82 [[ 9.84210983e-01 1.76991443e-01 1.66428687e-03 3.87561454e+02] [-1.76991194e-01 9.84212390e-01 -2.96902150e-04 -5.89966743e+01] [-1.69056090e-03 -2.34976459e-06 9.99998571e-01 -8.15477492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.59, Y:-59.00, Z:-0.82 [[ 9.84617680e-01 1.74714782e-01 1.66431087e-03 3.87588840e+02] [-1.74714530e-01 9.84619086e-01 -2.96767566e-04 -5.90026241e+01] [-1.69056193e-03 1.42330077e-06 9.99998571e-01 -8.17649484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.62, Y:-59.01, Z:-0.82 [[ 9.84968176e-01 1.72727887e-01 1.66433110e-03 3.87615953e+02] [-1.72727632e-01 9.84969582e-01 -2.96654046e-04 -5.90081887e+01] [-1.69055594e-03 4.71882414e-06 9.99998571e-01 -8.18381217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.64, Y:-59.02, Z:-0.82 [[ 9.85367017e-01 1.70437883e-01 1.66435136e-03 3.87642614e+02] [-1.70437625e-01 9.85368422e-01 -2.96540358e-04 -5.90150032e+01] [-1.69054098e-03 8.53299481e-06 9.99998571e-01 -8.18253409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.67, Y:-59.02, Z:-0.82 [[ 9.85463424e-01 1.69879574e-01 1.66437478e-03 3.87669927e+02] [-1.69879315e-01 9.85464830e-01 -2.96408858e-04 -5.90219557e+01] [-1.69053662e-03 9.35724031e-06 9.99998571e-01 -8.18157883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.70, Y:-59.03, Z:-0.82 [[ 9.85479545e-01 1.69786033e-01 1.66439558e-03 3.87695906e+02] [-1.69785775e-01 9.85480950e-01 -2.96292017e-04 -5.90293555e+01] [-1.69053638e-03 9.39902917e-06 9.99998571e-01 -8.18735509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.72, Y:-59.04, Z:-0.82 [[ 9.85406600e-01 1.70208881e-01 1.66441979e-03 3.87722800e+02] [-1.70208623e-01 9.85408005e-01 -2.96155937e-04 -5.90368392e+01] [-1.69054096e-03 8.53541333e-06 9.99998571e-01 -8.17834130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.75, Y:-59.05, Z:-0.82 [[ 9.85225643e-01 1.71253212e-01 1.66444049e-03 3.87748876e+02] [-1.71252956e-01 9.85227049e-01 -2.96039541e-04 -5.90455639e+01] [-1.69054952e-03 6.62539179e-06 9.99998571e-01 -8.17755880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.77, Y:-59.05, Z:-0.82 [[ 9.85154408e-01 1.71662522e-01 1.66446454e-03 3.87774817e+02] [-1.71662267e-01 9.85155814e-01 -2.95904302e-04 -5.90522988e+01] [-1.69055259e-03 5.78567096e-06 9.99998571e-01 -8.19179893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.80, Y:-59.06, Z:-0.82 [[ 9.85019564e-01 1.72434591e-01 1.66448760e-03 3.87802340e+02] [-1.72434337e-01 9.85020970e-01 -2.95774514e-04 -5.90595074e+01] [-1.69055695e-03 4.32886760e-06 9.99998571e-01 -8.20360522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.83, Y:-59.07, Z:-0.82 [[ 9.84567669e-01 1.74996385e-01 1.66450771e-03 3.87829504e+02] [-1.74996135e-01 9.84569076e-01 -2.95661278e-04 -5.90680823e+01] [-1.69056248e-03 -1.83882093e-07 9.99998571e-01 -8.20297665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.86, Y:-59.07, Z:-0.82 [[ 9.84331027e-01 1.76322597e-01 1.66452775e-03 3.87856603e+02] [-1.76322349e-01 9.84332435e-01 -2.95548424e-04 -5.90740162e+01] [-1.69056052e-03 -2.57595937e-06 9.99998571e-01 -8.18532974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.88, Y:-59.08, Z:-0.82 [[ 9.84079170e-01 1.77722866e-01 1.66454438e-03 3.87882784e+02] [-1.77722620e-01 9.84080578e-01 -2.95454761e-04 -5.90792639e+01] [-1.69055486e-03 -5.07631171e-06 9.99998571e-01 -8.16017155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.91, Y:-59.09, Z:-0.82 [[ 9.83804933e-01 1.79234717e-01 1.66456688e-03 3.87909451e+02] [-1.79234473e-01 9.83806341e-01 -2.95327915e-04 -5.90865405e+01] [-1.69054447e-03 -7.80270842e-06 9.99998571e-01 -8.18328457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.94, Y:-59.09, Z:-0.82 [[ 9.83833205e-01 1.79079460e-01 1.66458675e-03 3.87936480e+02] [-1.79079217e-01 9.83834614e-01 -2.95215868e-04 -5.90922572e+01] [-1.69054516e-03 -7.64971828e-06 9.99998571e-01 -8.20402918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.96, Y:-59.10, Z:-0.82 [[ 9.83893485e-01 1.78747977e-01 1.66460661e-03 3.87964089e+02] [-1.78747734e-01 9.83894893e-01 -2.95103858e-04 -5.90967914e+01] [-1.69054716e-03 -7.19389550e-06 9.99998571e-01 -8.21179043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.99, Y:-59.10, Z:-0.82 [[ 9.83908741e-01 1.78663980e-01 1.66462646e-03 3.87993041e+02] [-1.78663737e-01 9.83910149e-01 -2.94991867e-04 -5.91007485e+01] [-1.69054729e-03 -7.16330605e-06 9.99998571e-01 -8.19897383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:388.02, Y:-59.10, Z:-0.82 [[ 9.83610579e-01 1.80298248e-01 1.66463970e-03 3.88021496e+02] [-1.80298007e-01 9.83611987e-01 -2.94917105e-04 -5.91035642e+01] [-1.69053260e-03 -1.00476371e-05 9.99998571e-01 -8.16293978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.05, Y:-59.11, Z:-0.82 [[ 9.83391187e-01 1.81491053e-01 1.66465360e-03 3.88048687e+02] [-1.81490814e-01 9.83392596e-01 -2.94838640e-04 -5.91075215e+01] [-1.69051860e-03 -1.21776169e-05 9.99998571e-01 -8.16377269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.08, Y:-59.11, Z:-0.82 [[ 9.83217436e-01 1.82429990e-01 1.66478609e-03 3.88076128e+02] [-1.82429754e-01 9.83218846e-01 -2.94089906e-04 -5.91105278e+01] [-1.69049988e-03 -1.45521944e-05 9.99998571e-01 -8.16582976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.10, Y:-59.11, Z:-0.82 [[ 9.82938217e-01 1.83928490e-01 1.66472445e-03 3.88103424e+02] [-1.83928255e-01 9.82939627e-01 -2.94438413e-04 -5.91132373e+01] [-1.69047925e-03 -1.67750959e-05 9.99998571e-01 -8.17981333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.13, Y:-59.11, Z:-0.82 [[ 9.82450971e-01 1.86513587e-01 1.66476209e-03 3.88132462e+02] [-1.86513357e-01 9.82452381e-01 -2.94225478e-04 -5.91138281e+01] [-1.69042653e-03 -2.14382583e-05 9.99998571e-01 -8.21136477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.16, Y:-59.12, Z:-0.82 [[ 9.82352977e-01 1.87029029e-01 1.66477563e-03 3.88160618e+02] [-1.87028799e-01 9.82354387e-01 -2.94148848e-04 -5.91171473e+01] [-1.69041401e-03 -2.24029891e-05 9.99998571e-01 -8.21385809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.19, Y:-59.12, Z:-0.82 [[ 9.82422750e-01 1.86662179e-01 1.66479618e-03 3.88187797e+02] [-1.86661949e-01 9.82424160e-01 -2.94032459e-04 -5.91208203e+01] [-1.69042073e-03 -2.18899224e-05 9.99998571e-01 -8.20372668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.22, Y:-59.12, Z:-0.82 [[ 9.83025789e-01 1.83459878e-01 1.66481320e-03 3.88215539e+02] [-1.83459643e-01 9.83027198e-01 -2.93936072e-04 -5.91231127e+01] [-1.69048213e-03 -1.64792962e-05 9.99998571e-01 -8.17691677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.24, Y:-59.13, Z:-0.82 [[ 9.83404195e-01 1.81420554e-01 1.66483393e-03 3.88243836e+02] [-1.81420317e-01 9.83405604e-01 -2.93818643e-04 -5.91265355e+01] [-1.69051175e-03 -1.30922119e-05 9.99998571e-01 -8.19397001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.27, Y:-59.13, Z:-0.82 [[ 9.83706666e-01 1.79773258e-01 1.66485491e-03 3.88270512e+02] [-1.79773018e-01 9.83708074e-01 -2.93699709e-04 -5.91301312e+01] [-1.69053057e-03 -1.03816301e-05 9.99998571e-01 -8.21435164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.30, Y:-59.13, Z:-0.82 [[ 9.83849696e-01 1.78988840e-01 1.66487926e-03 3.88297476e+02] [-1.78988599e-01 9.83851104e-01 -2.93561620e-04 -5.91345414e+01] [-1.69053755e-03 -9.17389553e-06 9.99998571e-01 -8.23216457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.33, Y:-59.14, Z:-0.82 [[ 9.83995142e-01 1.78187507e-01 1.66490332e-03 3.88325343e+02] [-1.78187266e-01 9.83996551e-01 -2.93425097e-04 -5.91387176e+01] [-1.69054381e-03 -7.93569976e-06 9.99998571e-01 -8.23509648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.35, Y:-59.14, Z:-0.82 [[ 9.84039777e-01 1.77940846e-01 1.66492418e-03 3.88353708e+02] [-1.77940605e-01 9.84041186e-01 -2.93306663e-04 -5.91431590e+01] [-1.69054520e-03 -7.63219208e-06 9.99998571e-01 -8.22833646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.38, Y:-59.15, Z:-0.82 [[ 9.84126659e-01 1.77459706e-01 1.66493813e-03 3.88382294e+02] [-1.77459464e-01 9.84128067e-01 -2.93227444e-04 -5.91478461e+01] [-1.69054840e-03 -6.88608420e-06 9.99998571e-01 -8.21512193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.41, Y:-59.15, Z:-0.82 [[ 9.84266529e-01 1.76682281e-01 1.66495204e-03 3.88409008e+02] [-1.76682038e-01 9.84267937e-01 -2.93148467e-04 -5.91541258e+01] [-1.69055305e-03 -5.63089494e-06 9.99998571e-01 -8.21017180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.44, Y:-59.16, Z:-0.82 [[ 9.84434094e-01 1.75746246e-01 1.66497617e-03 3.88436184e+02] [-1.75746001e-01 9.84435502e-01 -2.93011363e-04 -5.91592438e+01] [-1.69055729e-03 -4.16252828e-06 9.99998571e-01 -8.21854923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.46, Y:-59.16, Z:-0.82 [[ 9.84680977e-01 1.74357679e-01 1.66499485e-03 3.88463990e+02] [-1.74357433e-01 9.84682385e-01 -2.92905143e-04 -5.91642688e+01] [-1.69056136e-03 -1.88610673e-06 9.99998571e-01 -8.22444288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.49, Y:-59.17, Z:-0.82 [[ 9.85863255e-01 1.67543634e-01 1.66501562e-03 3.88491224e+02] [-1.67543379e-01 9.85864661e-01 -2.92787032e-04 -5.91702630e+01] [-1.69053467e-03 9.68563312e-06 9.99998571e-01 -8.22519896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.52, Y:-59.18, Z:-0.82 [[ 9.86643060e-01 1.62888613e-01 1.66503638e-03 3.88517955e+02] [-1.62888351e-01 9.86644465e-01 -2.92668919e-04 -5.91770145e+01] [-1.69047137e-03 1.75447270e-05 9.99998571e-01 -8.21855500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.55, Y:-59.19, Z:-0.82 [[ 9.87338519e-01 1.58618651e-01 1.66505708e-03 3.88545204e+02] [-1.58618384e-01 9.87339923e-01 -2.92551124e-04 -5.91852138e+01] [-1.69038139e-03 2.47383305e-05 9.99998571e-01 -8.21412098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.57, Y:-59.20, Z:-0.82 [[ 9.88502159e-01 1.51197583e-01 1.66507767e-03 3.88570290e+02] [-1.51197305e-01 9.88503561e-01 -2.92433880e-04 -5.91970805e+01] [-1.69015050e-03 3.73162654e-05 9.99998571e-01 -8.19558314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.60, Y:-59.21, Z:-0.82 [[ 9.88973952e-01 1.48080215e-01 1.66510150e-03 3.88596172e+02] [-1.48079933e-01 9.88975353e-01 -2.92298145e-04 -5.92051825e+01] [-1.69002791e-03 4.25071332e-05 9.99998571e-01 -8.19153643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.62, Y:-59.21, Z:-0.82 [[ 9.89322991e-01 1.45730048e-01 1.66512508e-03 3.88622963e+02] [-1.45729762e-01 9.89324391e-01 -2.92163723e-04 -5.92143801e+01] [-1.68992589e-03 4.63860062e-05 9.99998571e-01 -8.20493786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.65, Y:-59.23, Z:-0.83 [[ 9.89717375e-01 1.43027080e-01 1.66514536e-03 3.88648512e+02] [-1.43026790e-01 9.89718774e-01 -2.92048141e-04 -5.92284837e+01] [-1.68979641e-03 5.08847232e-05 9.99998571e-01 -8.25485336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.68, Y:-59.24, Z:-0.83 [[ 9.89782116e-01 1.42578363e-01 1.66516216e-03 3.88675726e+02] [-1.42578074e-01 9.89783516e-01 -2.91952327e-04 -5.92388969e+01] [-1.68977614e-03 5.15535796e-05 9.99998571e-01 -8.25850388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.70, Y:-59.25, Z:-0.82 [[ 9.89794611e-01 1.42491599e-01 1.66517547e-03 3.88703220e+02] [-1.42491309e-01 9.89796010e-01 -2.91876388e-04 -5.92498468e+01] [-1.68977397e-03 5.16246437e-05 9.99998571e-01 -8.23989604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.73, Y:-59.26, Z:-0.82 [[ 9.89734329e-01 1.42909707e-01 1.66518896e-03 3.88730015e+02] [-1.42909418e-01 9.89735729e-01 -2.91799396e-04 -5.92609189e+01] [-1.68979797e-03 5.08326940e-05 9.99998571e-01 -8.21277172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.76, Y:-59.28, Z:-0.82 [[ 9.89509935e-01 1.44455239e-01 1.66520572e-03 3.88755810e+02] [-1.44454952e-01 9.89511335e-01 -2.91703722e-04 -5.92778640e+01] [-1.68987806e-03 4.80965182e-05 9.99998571e-01 -8.18570467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.78, Y:-59.29, Z:-0.82 [[ 9.89300237e-01 1.45884432e-01 1.66522213e-03 3.88781796e+02] [-1.45884148e-01 9.89301638e-01 -2.91610015e-04 -5.92882233e+01] [-1.68994834e-03 4.55603455e-05 9.99998571e-01 -8.19739137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.81, Y:-59.30, Z:-0.82 [[ 9.88978314e-01 1.48051079e-01 1.66523969e-03 3.88809561e+02] [-1.48050798e-01 9.88979715e-01 -2.91509681e-04 -5.92982115e+01] [-1.69004660e-03 4.17566872e-05 9.99998571e-01 -8.19410408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.84, Y:-59.31, Z:-0.82 [[ 9.87937284e-01 1.54845566e-01 1.66525297e-03 3.88836787e+02] [-1.54845295e-01 9.87938687e-01 -2.91433784e-04 -5.93111003e+01] [-1.69029507e-03 3.00617130e-05 9.99998571e-01 -8.16855169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.86, Y:-59.32, Z:-0.82 [[ 9.87231475e-01 1.59283524e-01 1.66526710e-03 3.88863460e+02] [-1.59283259e-01 9.87232880e-01 -2.91353059e-04 -5.93186219e+01] [-1.69041417e-03 2.23837407e-05 9.99998571e-01 -8.16113398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.89, Y:-59.32, Z:-0.82 [[ 9.87238579e-01 1.59239487e-01 1.66528475e-03 3.88892370e+02] [-1.59239222e-01 9.87239984e-01 -2.91252147e-04 -5.93235818e+01] [-1.69041453e-03 2.23567085e-05 9.99998571e-01 -8.16162979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.92, Y:-59.33, Z:-0.82 [[ 9.86472583e-01 1.63917874e-01 1.66529773e-03 3.88920795e+02] [-1.63917616e-01 9.86473989e-01 -2.91177865e-04 -5.93311854e+01] [-1.69050216e-03 1.42673458e-05 9.99998571e-01 -8.16516190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.95, Y:-59.34, Z:-0.82 [[ 9.85778998e-01 1.68038666e-01 1.66531089e-03 3.88948168e+02] [-1.68038414e-01 9.85780405e-01 -2.91102620e-04 -5.93381006e+01] [-1.69054734e-03 7.12664959e-06 9.99998571e-01 -8.17819454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.98, Y:-59.35, Z:-0.82 [[ 9.84647096e-01 1.74548913e-01 1.66532726e-03 3.88975739e+02] [-1.74548671e-01 9.84648504e-01 -2.91008938e-04 -5.93456769e+01] [-1.69055729e-03 -4.13955331e-06 9.99998571e-01 -8.20605261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.00, Y:-59.35, Z:-0.82 [[ 9.84346076e-01 1.76238559e-01 1.66534019e-03 3.89003868e+02] [-1.76238319e-01 9.84347485e-01 -2.90934930e-04 -5.93513736e+01] [-1.69054738e-03 -7.11609784e-06 9.99998571e-01 -8.22072093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.03, Y:-59.36, Z:-0.83 [[ 9.84126252e-01 1.77461961e-01 1.66535325e-03 3.89031691e+02] [-1.77461723e-01 9.84127661e-01 -2.90860160e-04 -5.93580912e+01] [-1.69053681e-03 -9.29333691e-06 9.99998571e-01 -8.26122480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.06, Y:-59.36, Z:-0.83 [[ 9.84083102e-01 1.77701084e-01 1.66536690e-03 3.89059500e+02] [-1.77700846e-01 9.84084511e-01 -2.90781991e-04 -5.93639010e+01] [-1.69053404e-03 -9.78346247e-06 9.99998571e-01 -8.29496602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.09, Y:-59.37, Z:-0.83 [[ 9.83948908e-01 1.78442632e-01 1.66538070e-03 3.89088216e+02] [-1.78442396e-01 9.83950317e-01 -2.90702895e-04 -5.93687768e+01] [-1.69052566e-03 -1.11377261e-05 9.99998571e-01 -8.30750733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.12, Y:-59.37, Z:-0.83 [[ 9.83732676e-01 1.79630866e-01 1.66539482e-03 3.89115829e+02] [-1.79630632e-01 9.83734086e-01 -2.90621968e-04 -5.93722221e+01] [-1.69051033e-03 -1.32615979e-05 9.99998571e-01 -8.27672213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.14, Y:-59.38, Z:-0.83 [[ 9.83603237e-01 1.80338283e-01 1.66599604e-03 3.89144972e+02] [-1.80338055e-01 9.83604648e-01 -2.87174051e-04 -5.93755748e+01] [-1.69046993e-03 -1.79771604e-05 9.99998571e-01 -8.25437695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.17, Y:-59.38, Z:-0.82 [[ 9.83270171e-01 1.82145540e-01 1.66542344e-03 3.89172848e+02] [-1.82145310e-01 9.83271581e-01 -2.90457239e-04 -5.93789873e+01] [-1.69046903e-03 -1.77511296e-05 9.99998571e-01 -8.22316405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.20, Y:-59.38, Z:-0.82 [[ 9.82533414e-01 1.86078790e-01 1.66544085e-03 3.89202148e+02] [-1.86078565e-01 9.82534825e-01 -2.90357398e-04 -5.93814894e+01] [-1.69038299e-03 -2.46169974e-05 9.99998571e-01 -8.20452453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.23, Y:-59.39, Z:-0.82 [[ 9.82315531e-01 1.87225595e-01 1.66545394e-03 3.89230441e+02] [-1.87225372e-01 9.82316943e-01 -2.90282277e-04 -5.93852111e+01] [-1.69035189e-03 -2.66664450e-05 9.99998571e-01 -8.22049205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.26, Y:-59.39, Z:-0.82 [[ 9.82292225e-01 1.87347834e-01 1.66546763e-03 3.89258623e+02] [-1.87347611e-01 9.82293637e-01 -2.90203724e-04 -5.93893706e+01] [-1.69034729e-03 -2.69565188e-05 9.99998571e-01 -8.23180478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.29, Y:-59.39, Z:-0.82 [[ 9.82816585e-01 1.84577316e-01 1.66548135e-03 3.89286221e+02] [-1.84577089e-01 9.82817996e-01 -2.90124936e-04 -5.93935423e+01] [-1.69041553e-03 -2.22701008e-05 9.99998571e-01 -8.21821901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.31, Y:-59.40, Z:-0.82 [[ 9.83299772e-01 1.81985671e-01 1.66549843e-03 3.89314639e+02] [-1.81985441e-01 9.83301182e-01 -2.90026888e-04 -5.93978638e+01] [-1.69046731e-03 -1.79130926e-05 9.99998571e-01 -8.19562753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.34, Y:-59.40, Z:-0.82 [[ 9.83784194e-01 1.79348503e-01 1.66551197e-03 3.89343539e+02] [-1.79348270e-01 9.83785604e-01 -2.89949083e-04 -5.94016307e+01] [-1.69050863e-03 -1.34593650e-05 9.99998571e-01 -8.16760966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.37, Y:-59.41, Z:-0.81 [[ 9.84100740e-01 1.77603380e-01 1.66552555e-03 3.89371928e+02] [-1.77603143e-01 9.84102149e-01 -2.89871047e-04 -5.94051142e+01] [-1.69052935e-03 -1.05402622e-05 9.99998571e-01 -8.14935454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.40, Y:-59.41, Z:-0.82 [[ 9.84359917e-01 1.76161232e-01 1.66553970e-03 3.89398973e+02] [-1.76160994e-01 9.84361326e-01 -2.89789759e-04 -5.94074925e+01] [-1.69054259e-03 -8.14570563e-06 9.99998571e-01 -8.15762777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.43, Y:-59.41, Z:-0.82 [[ 9.84463748e-01 1.75580048e-01 1.66581732e-03 3.89426180e+02] [-1.75579812e-01 9.84465158e-01 -2.88192551e-04 -5.94112738e+01] [-1.69053997e-03 -8.76877131e-06 9.99998571e-01 -8.18683744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.46, Y:-59.42, Z:-0.82 [[ 9.84464285e-01 1.75577043e-01 1.66559273e-03 3.89455148e+02] [-1.75576805e-01 9.84465694e-01 -2.89484718e-04 -5.94152374e+01] [-1.69054578e-03 -7.45208470e-06 9.99998571e-01 -8.22667622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.48, Y:-59.42, Z:-0.82 [[ 9.84367143e-01 1.76120847e-01 1.66560636e-03 3.89483015e+02] [-1.76120609e-01 9.84368553e-01 -2.89406305e-04 -5.94185829e+01] [-1.69054100e-03 -8.46554885e-06 9.99998571e-01 -8.23567439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.51, Y:-59.42, Z:-0.83 [[ 9.83951389e-01 1.78428951e-01 1.66557775e-03 3.89511629e+02] [-1.78428717e-01 9.83952798e-01 -2.89570971e-04 -5.94211489e+01] [-1.69051774e-03 -1.22631423e-05 9.99998571e-01 -8.25649372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.54, Y:-59.42, Z:-0.82 [[ 9.83721281e-01 1.79693259e-01 1.66563018e-03 3.89539513e+02] [-1.79693027e-01 9.83722691e-01 -2.89269096e-04 -5.94247847e+01] [-1.69049791e-03 -1.47419640e-05 9.99998571e-01 -8.24441491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.57, Y:-59.43, Z:-0.82 [[ 9.83493793e-01 1.80934199e-01 1.66564669e-03 3.89567753e+02] [-1.80933969e-01 9.83495204e-01 -2.89174006e-04 -5.94280013e+01] [-1.69047700e-03 -1.69712255e-05 9.99998571e-01 -8.22305537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:389.60, Y:-59.43, Z:-0.82 [[ 9.83070401e-01 1.83220664e-01 1.66566629e-03 3.89595611e+02] [-1.83220437e-01 9.83071812e-01 -2.89061052e-04 -5.94283480e+01] [-1.69043154e-03 -2.10167417e-05 9.99998571e-01 -8.23059084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.62, Y:-59.43, Z:-0.83 [[ 9.82838807e-01 1.84458951e-01 1.66568598e-03 3.89623766e+02] [-1.84458726e-01 9.82840218e-01 -2.88947569e-04 -5.94310104e+01] [-1.69040214e-03 -2.32614282e-05 9.99998571e-01 -8.25145228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.65, Y:-59.43, Z:-0.83 [[ 9.82684793e-01 1.85277693e-01 1.66570509e-03 3.89651834e+02] [-1.85277470e-01 9.82686204e-01 -2.88837324e-04 -5.94341706e+01] [-1.69038053e-03 -2.47815788e-05 9.99998571e-01 -8.26108212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.68, Y:-59.44, Z:-0.82 [[ 9.82443115e-01 1.86554952e-01 1.66572595e-03 3.89680829e+02] [-1.86554731e-01 9.82444527e-01 -2.88716989e-04 -5.94353254e+01] [-1.69034493e-03 -2.71010390e-05 9.99998571e-01 -8.24307386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.71, Y:-59.44, Z:-0.82 [[ 9.82342969e-01 1.87081576e-01 1.66573982e-03 3.89707517e+02] [-1.87081356e-01 9.82344381e-01 -2.88636931e-04 -5.94369321e+01] [-1.69032881e-03 -2.80884043e-05 9.99998571e-01 -8.23321495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.74, Y:-59.44, Z:-0.82 [[ 9.82277070e-01 1.87427274e-01 1.66576399e-03 3.89735337e+02] [-1.87427054e-01 9.82278482e-01 -2.88497379e-04 -5.94390559e+01] [-1.69031640e-03 -2.88248786e-05 9.99998571e-01 -8.22755552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.76, Y:-59.44, Z:-0.82 [[ 9.82309869e-01 1.87255296e-01 1.66578449e-03 3.89763037e+02] [-1.87255076e-01 9.82311281e-01 -2.88378999e-04 -5.94397626e+01] [-1.69031939e-03 -2.86490646e-05 9.99998571e-01 -8.23134525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.79, Y:-59.44, Z:-0.82 [[ 9.82427361e-01 1.86637901e-01 1.66580834e-03 3.89790887e+02] [-1.86637681e-01 9.82428773e-01 -2.88241130e-04 -5.94421752e+01] [-1.69033477e-03 -2.77266327e-05 9.99998571e-01 -8.22782259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.82, Y:-59.44, Z:-0.82 [[ 9.82529756e-01 1.86098102e-01 1.66582850e-03 3.89819457e+02] [-1.86097881e-01 9.82531168e-01 -2.88124565e-04 -5.94441415e+01] [-1.69034786e-03 -2.69161953e-05 9.99998571e-01 -8.22572823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.85, Y:-59.44, Z:-0.82 [[ 9.82428039e-01 1.86634328e-01 1.66584892e-03 3.89848220e+02] [-1.86634108e-01 9.82429451e-01 -2.88006461e-04 -5.94448603e+01] [-1.69033094e-03 -2.79586051e-05 9.99998571e-01 -8.24348709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.88, Y:-59.45, Z:-0.83 [[ 9.82469689e-01 1.86414952e-01 1.66586965e-03 3.89875436e+02] [-1.86414731e-01 9.82471101e-01 -2.87886514e-04 -5.94486769e+01] [-1.69033514e-03 -2.77028699e-05 9.99998571e-01 -8.25248221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.90, Y:-59.45, Z:-0.83 [[ 9.82641292e-01 1.85508262e-01 1.66589369e-03 3.89903473e+02] [-1.85508041e-01 9.82642704e-01 -2.87747333e-04 -5.94526348e+01] [-1.69035779e-03 -2.62842650e-05 9.99998571e-01 -8.25015172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.93, Y:-59.46, Z:-0.83 [[ 9.83160174e-01 1.82738330e-01 1.66591336e-03 3.89931466e+02] [-1.82738105e-01 9.83161585e-01 -2.87633408e-04 -5.94554202e+01] [-1.69042367e-03 -2.16361392e-05 9.99998571e-01 -8.25256677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.96, Y:-59.46, Z:-0.83 [[ 9.83473991e-01 1.81041804e-01 1.66593016e-03 3.89957743e+02] [-1.81041576e-01 9.83475401e-01 -2.87536098e-04 -5.94593340e+01] [-1.69045738e-03 -1.88183480e-05 9.99998571e-01 -8.25353955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.99, Y:-59.46, Z:-0.82 [[ 9.83754085e-01 1.79513579e-01 1.66595367e-03 3.89985115e+02] [-1.79513350e-01 9.83755495e-01 -2.87399809e-04 -5.94638827e+01] [-1.69048325e-03 -1.63301885e-05 9.99998571e-01 -8.24810610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.01, Y:-59.47, Z:-0.82 [[ 9.83931371e-01 1.78539300e-01 1.66597392e-03 3.90012706e+02] [-1.78539070e-01 9.83932781e-01 -2.87282372e-04 -5.94688658e+01] [-1.69049755e-03 -1.47752964e-05 9.99998571e-01 -8.23729661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.04, Y:-59.47, Z:-0.82 [[ 9.83989522e-01 1.78218530e-01 1.66599425e-03 3.90040553e+02] [-1.78218300e-01 9.83990932e-01 -2.87164437e-04 -5.94725145e+01] [-1.69050126e-03 -1.43438652e-05 9.99998571e-01 -8.20197717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.07, Y:-59.48, Z:-0.82 [[ 9.83904923e-01 1.78684992e-01 1.66601499e-03 3.90068001e+02] [-1.78684762e-01 9.83906334e-01 -2.87044080e-04 -5.94763109e+01] [-1.69049317e-03 -1.52674073e-05 9.99998571e-01 -8.19338809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.09, Y:-59.48, Z:-0.82 [[ 9.83729460e-01 1.79648473e-01 1.66603602e-03 3.90094950e+02] [-1.79648245e-01 9.83730871e-01 -2.86921916e-04 -5.94806903e+01] [-1.69047615e-03 -1.70469068e-05 9.99998571e-01 -8.19829233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.12, Y:-59.48, Z:-0.82 [[ 9.83285946e-01 1.82060355e-01 1.66606044e-03 3.90122642e+02] [-1.82060130e-01 9.83287357e-01 -2.86780054e-04 -5.94840512e+01] [-1.69042745e-03 -2.13363848e-05 9.99998571e-01 -8.22464145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.15, Y:-59.49, Z:-0.82 [[ 9.83118229e-01 1.82963857e-01 1.66608110e-03 3.90149866e+02] [-1.82963633e-01 9.83119640e-01 -2.86659981e-04 -5.94867575e+01] [-1.69040547e-03 -2.30115989e-05 9.99998571e-01 -8.22558457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.18, Y:-59.49, Z:-0.82 [[ 9.83015988e-01 1.83512374e-01 1.66610507e-03 3.90177838e+02] [-1.83512152e-01 9.83017400e-01 -2.86520616e-04 -5.94893644e+01] [-1.69039035e-03 -2.40961804e-05 9.99998571e-01 -8.22282727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.21, Y:-59.49, Z:-0.82 [[ 9.82970959e-01 1.83753415e-01 1.66612556e-03 3.90205614e+02] [-1.83753193e-01 9.82972371e-01 -2.86401416e-04 -5.94928416e+01] [-1.69038263e-03 -2.46316174e-05 9.99998571e-01 -8.21825638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.23, Y:-59.50, Z:-0.82 [[ 9.83049102e-01 1.83334903e-01 1.66614590e-03 3.90232274e+02] [-1.83334681e-01 9.83050514e-01 -2.86283036e-04 -5.94956760e+01] [-1.69039126e-03 -2.40320460e-05 9.99998571e-01 -8.22661704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.26, Y:-59.50, Z:-0.82 [[ 9.83092833e-01 1.83100260e-01 1.66616953e-03 3.90258733e+02] [-1.83100038e-01 9.83094245e-01 -2.86145462e-04 -5.94984052e+01] [-1.69039498e-03 -2.37681510e-05 9.99998571e-01 -8.22052628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.29, Y:-59.50, Z:-0.82 [[ 9.83046140e-01 1.83350784e-01 1.66619208e-03 3.90286776e+02] [-1.83350563e-01 9.83047552e-01 -2.86014080e-04 -5.95004525e+01] [-1.69038695e-03 -2.43322181e-05 9.99998571e-01 -8.20491754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.32, Y:-59.50, Z:-0.82 [[ 9.82817002e-01 1.84575091e-01 1.66621135e-03 3.90315404e+02] [-1.84574871e-01 9.82818414e-01 -2.85901797e-04 -5.95011542e+01] [-1.69035354e-03 -2.65515973e-05 9.99998571e-01 -8.19851373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.34, Y:-59.50, Z:-0.82 [[ 9.82825149e-01 1.84531707e-01 1.66623130e-03 3.90343024e+02] [-1.84531488e-01 9.82826561e-01 -2.85785483e-04 -5.95041297e+01] [-1.69035286e-03 -2.65949804e-05 9.99998571e-01 -8.20784922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.37, Y:-59.51, Z:-0.82 [[ 9.82913997e-01 1.84057866e-01 1.66625135e-03 3.90371213e+02] [-1.84057646e-01 9.82915409e-01 -2.85668479e-04 -5.95077828e+01] [-1.69036366e-03 -2.58987550e-05 9.99998571e-01 -8.21442545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.40, Y:-59.51, Z:-0.82 [[ 9.83123300e-01 1.82936603e-01 1.66627170e-03 3.90398413e+02] [-1.82936382e-01 9.83124712e-01 -2.85549776e-04 -5.95115506e+01] [-1.69039039e-03 -2.40910772e-05 9.99998571e-01 -8.22991055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.43, Y:-59.52, Z:-0.82 [[ 9.83758963e-01 1.79486842e-01 1.66629531e-03 3.90425008e+02] [-1.79486616e-01 9.83760374e-01 -2.85411944e-04 -5.95157370e+01] [-1.69046298e-03 -1.83011482e-05 9.99998571e-01 -8.24022606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.45, Y:-59.52, Z:-0.83 [[ 9.84207746e-01 1.77009425e-01 1.66632875e-03 3.90451978e+02] [-1.77009196e-01 9.84209156e-01 -2.85216552e-04 -5.95209667e+01] [-1.69050203e-03 -1.42431727e-05 9.99998571e-01 -8.25063540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:-59.53, Z:-0.83 [[ 9.84728981e-01 1.74086348e-01 1.66636319e-03 3.90479373e+02] [-1.74086115e-01 9.84730391e-01 -2.85015211e-04 -5.95266295e+01] [-1.69053573e-03 -9.42795415e-06 9.99998571e-01 -8.25641772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.51, Y:-59.53, Z:-0.82 [[ 9.85701462e-01 1.68492882e-01 1.66638294e-03 3.90506899e+02] [-1.68492641e-01 9.85702870e-01 -2.84899676e-04 -5.95342998e+01] [-1.69056201e-03 5.27650695e-08 9.99998571e-01 -8.22402026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.53, Y:-59.54, Z:-0.82 [[ 9.86056687e-01 1.66401424e-01 1.66639658e-03 3.90534316e+02] [-1.66401181e-01 9.86058095e-01 -2.84819863e-04 -5.95397593e+01] [-1.69055827e-03 3.55817164e-06 9.99998571e-01 -8.20170077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.56, Y:-59.54, Z:-0.82 [[ 9.86349912e-01 1.64654409e-01 1.66641716e-03 3.90561382e+02] [-1.64654163e-01 9.86351320e-01 -2.84699393e-04 -5.95442563e+01] [-1.69054978e-03 6.43069766e-06 9.99998571e-01 -8.18215159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.59, Y:-59.55, Z:-0.82 [[ 9.86597398e-01 1.63164941e-01 1.66644104e-03 3.90588269e+02] [-1.63164693e-01 9.86598805e-01 -2.84559577e-04 -5.95491641e+01] [-1.69053888e-03 8.84139739e-06 9.99998571e-01 -8.18980525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.62, Y:-59.56, Z:-0.82 [[ 9.87165134e-01 1.59694151e-01 1.66646431e-03 3.90615505e+02] [-1.59693898e-01 9.87166540e-01 -2.84423255e-04 -5.95576487e+01] [-1.69049853e-03 1.46485386e-05 9.99998571e-01 -8.23760979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:-59.57, Z:-0.83 [[ 9.87484590e-01 1.57706714e-01 1.66648432e-03 3.90642552e+02] [-1.57706459e-01 9.87485996e-01 -2.84305952e-04 -5.95652020e+01] [-1.69046688e-03 1.79324063e-05 9.99998571e-01 -8.25328967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.67, Y:-59.57, Z:-0.83 [[ 9.87495688e-01 1.57637205e-01 1.66650429e-03 3.90670664e+02] [-1.57636950e-01 9.87497094e-01 -2.84188858e-04 -5.95698578e+01] [-1.69046688e-03 1.79326192e-05 9.99998571e-01 -8.25377138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:390.70, Y:-59.58, Z:-0.83 [[ 9.87746789e-01 1.56056088e-01 1.66652428e-03 3.90697597e+02] [-1.56055831e-01 9.87748195e-01 -2.84071553e-04 -5.95771400e+01] [-1.69043745e-03 2.05199334e-05 9.99998571e-01 -8.26982126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.72, Y:-59.59, Z:-0.83 [[ 9.87832733e-01 1.55511136e-01 1.66654085e-03 3.90724705e+02] [-1.55510878e-01 9.87834139e-01 -2.83974318e-04 -5.95872657e+01] [-1.69042711e-03 2.13538956e-05 9.99998571e-01 -8.27700591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.75, Y:-59.60, Z:-0.83 [[ 9.87673693e-01 1.56518046e-01 1.66655426e-03 3.90751369e+02] [-1.56517790e-01 9.87675099e-01 -2.83895594e-04 -5.95950616e+01] [-1.69044893e-03 1.95508204e-05 9.99998571e-01 -8.26087057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.78, Y:-59.60, Z:-0.82 [[ 9.87465390e-01 1.57826883e-01 1.66657091e-03 3.90778986e+02] [-1.57826629e-01 9.87466797e-01 -2.83797835e-04 -5.96032645e+01] [-1.69047436e-03 1.72112713e-05 9.99998571e-01 -8.24065839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.81, Y:-59.61, Z:-0.82 [[ 9.87223207e-01 1.59334747e-01 1.66658446e-03 3.90806012e+02] [-1.59334495e-01 9.87224614e-01 -2.83718226e-04 -5.96106990e+01] [-1.69049937e-03 1.45488229e-05 9.99998571e-01 -8.23114848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.83, Y:-59.62, Z:-0.82 [[ 9.86449275e-01 1.64058069e-01 1.66660135e-03 3.90833000e+02] [-1.64057824e-01 9.86450683e-01 -2.83618952e-04 -5.96185275e+01] [-1.69055002e-03 6.35671886e-06 9.99998571e-01 -8.24935048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.86, Y:-59.62, Z:-0.83 [[ 9.85959530e-01 1.66976128e-01 1.66663396e-03 3.90861201e+02] [-1.66975888e-01 9.85960939e-01 -2.83427201e-04 -5.96241822e+01] [-1.69056156e-03 1.16006483e-06 9.99998571e-01 -8.28223765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.89, Y:-59.63, Z:-0.83 [[ 9.85476416e-01 1.69804171e-01 1.66664719e-03 3.90889909e+02] [-1.69803934e-01 9.85477825e-01 -2.83349391e-04 -5.96298926e+01] [-1.69055776e-03 -3.76910804e-06 9.99998571e-01 -8.31296782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.92, Y:-59.63, Z:-0.83 [[ 9.85021088e-01 1.72425863e-01 1.66666055e-03 3.90916047e+02] [-1.72425631e-01 9.85022498e-01 -2.83270782e-04 -5.96347634e+01] [-1.69054135e-03 -8.34730325e-06 9.99998571e-01 -8.32535549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.94, Y:-59.64, Z:-0.83 [[ 9.84219111e-01 1.76946218e-01 1.66668379e-03 3.90944523e+02] [-1.76945992e-01 9.84220522e-01 -2.83133991e-04 -5.96383679e+01] [-1.69048388e-03 -1.62471322e-05 9.99998571e-01 -8.25655707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.97, Y:-59.64, Z:-0.82 [[ 9.83941600e-01 1.78482913e-01 1.66669774e-03 3.90971871e+02] [-1.78482690e-01 9.83943011e-01 -2.83051828e-04 -5.96412775e+01] [-1.69045551e-03 -1.89702285e-05 9.99998571e-01 -8.22388233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.00, Y:-59.64, Z:-0.82 [[ 9.83781016e-01 1.79365923e-01 1.66672198e-03 3.90998965e+02] [-1.79365701e-01 9.83782428e-01 -2.82909062e-04 -5.96436145e+01] [-1.69043604e-03 -2.06321903e-05 9.99998571e-01 -8.21080469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.03, Y:-59.64, Z:-0.82 [[ 9.83848734e-01 1.78994109e-01 1.66674590e-03 3.91026907e+02] [-1.78993887e-01 9.83850145e-01 -2.82768059e-04 -5.96430091e+01] [-1.69044201e-03 -2.01363295e-05 9.99998571e-01 -8.24426624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.05, Y:-59.65, Z:-0.83 [[ 9.84047303e-01 1.77899207e-01 1.66677573e-03 3.91054789e+02] [-1.77898984e-01 9.84048714e-01 -2.82592120e-04 -5.96452181e+01] [-1.69046143e-03 -1.84336952e-05 9.99998571e-01 -8.27014075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.08, Y:-59.65, Z:-0.83 [[ 9.84302372e-01 1.76482470e-01 1.66679591e-03 3.91081653e+02] [-1.76482245e-01 9.84303783e-01 -2.82473021e-04 -5.96476247e+01] [-1.69048506e-03 -1.61210188e-05 9.99998571e-01 -8.28808989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.11, Y:-59.65, Z:-0.83 [[ 9.84792441e-01 1.73726999e-01 1.66681938e-03 3.91108678e+02] [-1.73726770e-01 9.84793851e-01 -2.82334482e-04 -5.96484477e+01] [-1.69052260e-03 -1.15302839e-05 9.99998571e-01 -8.27772061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.14, Y:-59.65, Z:-0.83 [[ 9.85057798e-01 1.72216019e-01 1.66684167e-03 3.91136339e+02] [-1.72215788e-01 9.85059208e-01 -2.82202830e-04 -5.96515857e+01] [-1.69053758e-03 -9.07035197e-06 9.99998571e-01 -8.25629302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.16, Y:-59.65, Z:-0.82 [[ 9.85285424e-01 1.70908907e-01 1.66686212e-03 3.91163650e+02] [-1.70908675e-01 9.85286834e-01 -2.82081960e-04 -5.96543938e+01] [-1.69054762e-03 -6.94995312e-06 9.99998571e-01 -8.24186470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.19, Y:-59.65, Z:-0.82 [[ 9.85415093e-01 1.70159675e-01 1.66689233e-03 3.91191641e+02] [-1.70159442e-01 9.85416503e-01 -2.81903341e-04 -5.96547412e+01] [-1.69055179e-03 -5.84566061e-06 9.99998571e-01 -8.22218147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.22, Y:-59.66, Z:-0.82 [[ 9.85417821e-01 1.70143880e-01 1.66691233e-03 3.91220067e+02] [-1.70143647e-01 9.85419231e-01 -2.81785014e-04 -5.96569021e+01] [-1.69055146e-03 -5.93856892e-06 9.99998571e-01 -8.20012770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.25, Y:-59.66, Z:-0.82 [[ 9.85417807e-01 1.70143962e-01 1.66693234e-03 3.91247764e+02] [-1.70143729e-01 9.85419216e-01 -2.81666585e-04 -5.96587037e+01] [-1.69055103e-03 -6.05881691e-06 9.99998571e-01 -8.17751494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.28, Y:-59.66, Z:-0.82 [[ 9.85416075e-01 1.70153992e-01 1.66695231e-03 3.91275025e+02] [-1.70153759e-01 9.85417485e-01 -2.81548370e-04 -5.96603790e+01] [-1.69055053e-03 -6.19591264e-06 9.99998571e-01 -8.16921491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.30, Y:-59.66, Z:-0.82 [[ 9.85478471e-01 1.69792238e-01 1.66697552e-03 3.91304236e+02] [-1.69792005e-01 9.85479881e-01 -2.81410892e-04 -5.96601163e+01] [-1.69055222e-03 -5.71474005e-06 9.99998571e-01 -8.21359171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.33, Y:-59.66, Z:-0.82 [[ 9.85682510e-01 1.68603711e-01 1.66698880e-03 3.91331980e+02] [-1.68603477e-01 9.85683919e-01 -2.81332224e-04 -5.96616684e+01] [-1.69055771e-03 -3.75585411e-06 9.99998571e-01 -8.23897533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.36, Y:-59.66, Z:-0.82 [[ 9.86103425e-01 1.66124220e-01 1.66700860e-03 3.91360178e+02] [-1.66123982e-01 9.86104834e-01 -2.81214812e-04 -5.96635032e+01] [-1.69056183e-03 3.76782486e-07 9.99998571e-01 -8.24514469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.39, Y:-59.67, Z:-0.83 [[ 9.86625536e-01 1.62994703e-01 1.66702835e-03 3.91387985e+02] [-1.62994461e-01 9.86626944e-01 -2.81097721e-04 -5.96663051e+01] [-1.69055252e-03 5.62180292e-06 9.99998571e-01 -8.25273447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.42, Y:-59.67, Z:-0.83 [[ 9.87830690e-01 1.55524112e-01 1.66704797e-03 3.91415030e+02] [-1.55523859e-01 9.87832096e-01 -2.80981318e-04 -5.96695513e+01] [-1.69046286e-03 1.82962360e-05 9.99998571e-01 -8.28073358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.44, Y:-59.67, Z:-0.83 [[ 9.88390048e-01 1.51928715e-01 1.66707070e-03 3.91442974e+02] [-1.51928457e-01 9.88391453e-01 -2.80846391e-04 -5.96731894e+01] [-1.69038706e-03 2.43102989e-05 9.99998571e-01 -8.29685740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.47, Y:-59.68, Z:-0.83 [[ 9.88922674e-01 1.48422254e-01 1.66709002e-03 3.91471327e+02] [-1.48421991e-01 9.88924079e-01 -2.80731656e-04 -5.96760704e+01] [-1.69029229e-03 3.01890803e-05 9.99998571e-01 -8.30047791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.50, Y:-59.68, Z:-0.83 [[ 9.89347202e-01 1.45565566e-01 1.66710976e-03 3.91498548e+02] [-1.45565300e-01 9.89348606e-01 -2.80614382e-04 -5.96786049e+01] [-1.69020051e-03 3.49517226e-05 9.99998571e-01 -8.29304680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.53, Y:-59.68, Z:-0.83 [[ 9.89974065e-01 1.41239413e-01 1.66713260e-03 3.91526508e+02] [-1.41239141e-01 9.89975468e-01 -2.80478603e-04 -5.96820081e+01] [-1.69003501e-03 4.22021653e-05 9.99998571e-01 -8.25009055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.55, Y:-59.69, Z:-0.82 [[ 9.90168276e-01 1.39871392e-01 1.66714816e-03 3.91554351e+02] [-1.39871118e-01 9.90169678e-01 -2.80386066e-04 -5.96874084e+01] [-1.68997755e-03 4.44435097e-05 9.99998571e-01 -8.23558442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.58, Y:-59.69, Z:-0.82 [[ 9.90302567e-01 1.38917407e-01 1.66716692e-03 3.91580575e+02] [-1.38917132e-01 9.90303970e-01 -2.80274485e-04 -5.96917053e+01] [-1.68993703e-03 4.59584958e-05 9.99998571e-01 -8.23619498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.61, Y:-59.70, Z:-0.83 [[ 9.90422183e-01 1.38062014e-01 1.66718862e-03 3.91608762e+02] [-1.38061738e-01 9.90423585e-01 -2.80145367e-04 -5.96953827e+01] [-1.68990036e-03 4.72872279e-05 9.99998571e-01 -8.30348086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.64, Y:-59.70, Z:-0.83 [[ 9.90437221e-01 1.37954095e-01 1.66720099e-03 3.91635937e+02] [-1.37953819e-01 9.90438623e-01 -2.80071752e-04 -5.96999926e+01] [-1.68989729e-03 4.73967451e-05 9.99998571e-01 -8.33058543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.66, Y:-59.71, Z:-0.83 [[ 9.90439387e-01 1.37938540e-01 1.66721633e-03 3.91663750e+02] [-1.37938264e-01 9.90440789e-01 -2.79980369e-04 -5.97050299e+01] [-1.68989914e-03 4.73306576e-05 9.99998571e-01 -8.32610533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.69, Y:-59.71, Z:-0.83 [[ 9.90450876e-01 1.37856024e-01 1.66723523e-03 3.91690970e+02] [-1.37855748e-01 9.90452278e-01 -2.79867794e-04 -5.97098379e+01] [-1.68989839e-03 4.73573427e-05 9.99998571e-01 -8.30546496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.72, Y:-59.71, Z:-0.83 [[ 9.90515119e-01 1.37393662e-01 1.66725090e-03 3.91719707e+02] [-1.37393386e-01 9.90516521e-01 -2.79774381e-04 -5.97140925e+01] [-1.68987879e-03 4.80515074e-05 9.99998571e-01 -8.27606451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.75, Y:-59.72, Z:-0.83 [[ 9.90724430e-01 1.35876139e-01 1.66726337e-03 3.91746706e+02] [-1.35875860e-01 9.90725831e-01 -2.79700050e-04 -5.97173274e+01] [-1.68980545e-03 5.05648275e-05 9.99998571e-01 -8.27155367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.77, Y:-59.72, Z:-0.83 [[ 9.90899753e-01 1.34591605e-01 1.66728510e-03 3.91774718e+02] [-1.34591325e-01 9.90901154e-01 -2.79570477e-04 -5.97218761e+01] [-1.68974257e-03 5.26242059e-05 9.99998571e-01 -8.29250787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.80, Y:-59.73, Z:-0.83 [[ 9.91086813e-01 1.33207165e-01 1.66729702e-03 3.91802268e+02] [-1.33206883e-01 9.91088214e-01 -2.79499355e-04 -5.97268749e+01] [-1.68966975e-03 5.49126849e-05 9.99998571e-01 -8.29480787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.83, Y:-59.73, Z:-0.83 [[ 9.91327396e-01 1.31404773e-01 1.66731492e-03 3.91830247e+02] [-1.31404488e-01 9.91328796e-01 -2.79392526e-04 -5.97317831e+01] [-1.68957081e-03 5.78768009e-05 9.99998571e-01 -8.27865683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.86, Y:-59.74, Z:-0.82 [[ 9.91713282e-01 1.28460059e-01 1.66732676e-03 3.91858651e+02] [-1.28459770e-01 9.91714681e-01 -2.79321863e-04 -5.97392616e+01] [-1.68939413e-03 6.28227881e-05 9.99998571e-01 -8.24734972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.89, Y:-59.75, Z:-0.83 [[ 9.91897389e-01 1.27030662e-01 1.66733991e-03 3.91885693e+02] [-1.27030372e-01 9.91898789e-01 -2.79243369e-04 -5.97458157e+01] [-1.68930491e-03 6.51779602e-05 9.99998571e-01 -8.25312644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.91, Y:-59.75, Z:-0.83 [[ 9.92040018e-01 1.25911966e-01 1.66735618e-03 3.91913968e+02] [-1.25911674e-01 9.92041417e-01 -2.79146173e-04 -5.97531241e+01] [-1.68923423e-03 6.69845664e-05 9.99998571e-01 -8.25805007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.94, Y:-59.76, Z:-0.83 [[ 9.92179436e-01 1.24808602e-01 1.66736937e-03 3.91940463e+02] [-1.24808309e-01 9.92180834e-01 -2.79067394e-04 -5.97610567e+01] [-1.68916194e-03 6.87833784e-05 9.99998571e-01 -8.25623073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.97, Y:-59.77, Z:-0.82 [[ 9.92149375e-01 1.25047339e-01 1.66738581e-03 3.91967512e+02] [-1.25047047e-01 9.92150774e-01 -2.78969086e-04 -5.97666608e+01] [-1.68918247e-03 6.82773323e-05 9.99998571e-01 -8.24454035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.00, Y:-59.77, Z:-0.82 [[ 9.92101678e-01 1.25425200e-01 1.66740190e-03 3.91995873e+02] [-1.25424908e-01 9.92103077e-01 -2.78872915e-04 -5.97726599e+01] [-1.68921224e-03 6.75365574e-05 9.99998571e-01 -8.23760477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.02, Y:-59.78, Z:-0.83 [[ 9.92046755e-01 1.25858872e-01 1.66741475e-03 3.92023289e+02] [-1.25858581e-01 9.92048154e-01 -2.78796071e-04 -5.97821867e+01] [-1.68924468e-03 6.67202828e-05 9.99998571e-01 -8.26432409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.05, Y:-59.79, Z:-0.83 [[ 9.92060717e-01 1.25748773e-01 1.66742763e-03 3.92051224e+02] [-1.25748482e-01 9.92062116e-01 -2.78719022e-04 -5.97898921e+01] [-1.68924035e-03 6.68297008e-05 9.99998571e-01 -8.27586289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.08, Y:-59.80, Z:-0.83 [[ 9.92084803e-01 1.25558608e-01 1.66744055e-03 3.92078318e+02] [-1.25558317e-01 9.92086202e-01 -2.78641679e-04 -5.97974127e+01] [-1.68923062e-03 6.70751463e-05 9.99998571e-01 -8.28627168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.11, Y:-59.81, Z:-0.83 [[ 9.92166382e-01 1.24912329e-01 1.66745661e-03 3.92105453e+02] [-1.24912037e-01 9.92167781e-01 -2.78545538e-04 -5.98074282e+01] [-1.68919050e-03 6.80781164e-05 9.99998571e-01 -8.27560213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.13, Y:-59.81, Z:-0.83 [[ 9.92184914e-01 1.24765044e-01 1.66746971e-03 3.92132558e+02] [-1.24764752e-01 9.92186313e-01 -2.78467081e-04 -5.98146544e+01] [-1.68918358e-03 6.82493924e-05 9.99998571e-01 -8.27487369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.16, Y:-59.82, Z:-0.83 [[ 9.92166340e-01 1.24912663e-01 1.66748605e-03 3.92160905e+02] [-1.24912372e-01 9.92167739e-01 -2.78369214e-04 -5.98227939e+01] [-1.68919770e-03 6.78989271e-05 9.99998571e-01 -8.26590552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.19, Y:-59.83, Z:-0.83 [[ 9.92169931e-01 1.24884137e-01 1.66749876e-03 3.92188328e+02] [-1.24883845e-01 9.92171330e-01 -2.78293057e-04 -5.98309731e+01] [-1.68919885e-03 6.78703457e-05 9.99998571e-01 -8.26445721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.21, Y:-59.84, Z:-0.83 [[ 9.92108002e-01 1.25375164e-01 1.66751162e-03 3.92214704e+02] [-1.25374874e-01 9.92109401e-01 -2.78216005e-04 -5.98431633e+01] [-1.68923533e-03 6.69562662e-05 9.99998571e-01 -8.27034575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.24, Y:-59.85, Z:-0.83 [[ 9.92040682e-01 1.25906734e-01 1.66752764e-03 3.92242246e+02] [-1.25906444e-01 9.92042081e-01 -2.78119912e-04 -5.98518408e+01] [-1.68927476e-03 6.59537913e-05 9.99998571e-01 -8.27728389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.27, Y:-59.86, Z:-0.83 [[ 9.91965542e-01 1.26497360e-01 1.66754032e-03 3.92269443e+02] [-1.26497071e-01 9.91966942e-01 -2.78043870e-04 -5.98610273e+01] [-1.68931669e-03 6.48709719e-05 9.99998571e-01 -8.29078708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.30, Y:-59.88, Z:-0.83 [[ 9.91567068e-01 1.29583830e-01 1.66755308e-03 3.92296610e+02] [-1.29583545e-01 9.91568468e-01 -2.77967314e-04 -5.98762837e+01] [-1.68951313e-03 5.95357938e-05 9.99998571e-01 -8.30316283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.32, Y:-59.88, Z:-0.83 [[ 9.91241680e-01 1.32049808e-01 1.66756582e-03 3.92323288e+02] [-1.32049527e-01 9.91243081e-01 -2.77890913e-04 -5.98847293e+01] [-1.68965852e-03 5.52557783e-05 9.99998571e-01 -8.30307307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.35, Y:-59.89, Z:-0.83 [[ 9.90767679e-01 1.35560411e-01 1.66757850e-03 3.92350282e+02] [-1.35560135e-01 9.90769081e-01 -2.77814777e-04 -5.98923243e+01] [-1.68984590e-03 4.91927359e-05 9.99998571e-01 -8.29708759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.38, Y:-59.90, Z:-0.83 [[ 9.90179132e-01 1.39794513e-01 1.66759428e-03 3.92378133e+02] [-1.39794244e-01 9.90180535e-01 -2.77720047e-04 -5.98983956e+01] [-1.69004313e-03 4.18725147e-05 9.99998571e-01 -8.28033597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.41, Y:-59.90, Z:-0.83 [[ 9.90182286e-01 1.39772170e-01 1.66760682e-03 3.92407897e+02] [-1.39771901e-01 9.90183689e-01 -2.77644724e-04 -5.99033045e+01] [-1.69004408e-03 4.18343123e-05 9.99998571e-01 -8.28084590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.44, Y:-59.91, Z:-0.82 [[ 9.88680824e-01 1.50024822e-01 1.66761308e-03 3.92435016e+02] [-1.50024568e-01 9.88682230e-01 -2.77607095e-04 -5.99092806e+01] [-1.69038738e-03 2.42818802e-05 9.99998571e-01 -8.24920287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.46, Y:-59.91, Z:-0.83 [[ 9.87957403e-01 1.54717123e-01 1.66762556e-03 3.92463100e+02] [-1.54716875e-01 9.87958811e-01 -2.77532114e-04 -5.99144304e+01] [-1.69048434e-03 1.61800923e-05 9.99998571e-01 -8.25772442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.49, Y:-59.92, Z:-0.83 [[ 9.87332872e-01 1.58653772e-01 1.66763798e-03 3.92490795e+02] [-1.58653530e-01 9.87334280e-01 -2.77457454e-04 -5.99187532e+01] [-1.69053582e-03 9.36621213e-06 9.99998571e-01 -8.27956528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.52, Y:-59.92, Z:-0.83 [[ 9.86841704e-01 1.61680764e-01 1.66765346e-03 3.92519500e+02] [-1.61680526e-01 9.86843113e-01 -2.77364416e-04 -5.99226154e+01] [-1.69055682e-03 4.08768494e-06 9.99998571e-01 -8.29725548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.55, Y:-59.93, Z:-0.83 [[ 9.86432328e-01 1.64159928e-01 1.66766661e-03 3.92547369e+02] [-1.64159694e-01 9.86433737e-01 -2.77285288e-04 -5.99255902e+01] [-1.69056174e-03 -2.40469299e-07 9.99998571e-01 -8.31297779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.58, Y:-59.93, Z:-0.83 [[ 9.86013182e-01 1.66659002e-01 1.66768430e-03 3.92576858e+02] [-1.66658772e-01 9.86014593e-01 -2.77178880e-04 -5.99266615e+01] [-1.69055541e-03 -4.63218663e-06 9.99998571e-01 -8.26667389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.60, Y:-59.93, Z:-0.82 [[ 9.85921787e-01 1.67198828e-01 1.66769766e-03 3.92604774e+02] [-1.67198599e-01 9.85923198e-01 -2.77098490e-04 -5.99288264e+01] [-1.69055235e-03 -5.63927289e-06 9.99998571e-01 -8.24277446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.63, Y:-59.93, Z:-0.82 [[ 9.85874696e-01 1.67476272e-01 1.66771556e-03 3.92633677e+02] [-1.67476043e-01 9.85876107e-01 -2.76990691e-04 -5.99304814e+01] [-1.69055029e-03 -6.22428938e-06 9.99998571e-01 -8.23042459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.66, Y:-59.93, Z:-0.82 [[ 9.85882442e-01 1.67430671e-01 1.66772856e-03 3.92661454e+02] [-1.67430442e-01 9.85883852e-01 -2.76912406e-04 -5.99319016e+01] [-1.69055029e-03 -6.22545088e-06 9.99998571e-01 -8.22926001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.69, Y:-59.93, Z:-0.82 [[ 9.86112937e-01 1.66067741e-01 1.66774466e-03 3.92689523e+02] [-1.66067511e-01 9.86114347e-01 -2.76815420e-04 -5.99313944e+01] [-1.69055704e-03 -3.98693663e-06 9.99998571e-01 -8.23520923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.72, Y:-59.93, Z:-0.82 [[ 9.86302682e-01 1.64937074e-01 1.66776275e-03 3.92718428e+02] [-1.64936841e-01 9.86304092e-01 -2.76706338e-04 -5.99343888e+01] [-1.69056036e-03 -2.15931770e-06 9.99998571e-01 -8.23889612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.75, Y:-59.94, Z:-0.82 [[ 9.86512579e-01 1.63676970e-01 1.66777586e-03 3.92747550e+02] [-1.63676736e-01 9.86513989e-01 -2.76627348e-04 -5.99373625e+01] [-1.69056174e-03 -7.97498645e-08 9.99998571e-01 -8.23876651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.78, Y:-59.94, Z:-0.82 [[ 9.86879547e-01 1.61449613e-01 1.66778892e-03 3.92776672e+02] [-1.61449376e-01 9.86880957e-01 -2.76548566e-04 -5.99391384e+01] [-1.69055778e-03 3.65664384e-06 9.99998571e-01 -8.24242644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.81, Y:-59.94, Z:-0.82 [[ 9.87013575e-01 1.60628208e-01 1.66780196e-03 3.92805407e+02] [-1.60627970e-01 9.87014984e-01 -2.76469909e-04 -5.99420284e+01] [-1.69055439e-03 4.98391015e-06 9.99998571e-01 -8.24084102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.83, Y:-59.94, Z:-0.82 [[ 9.87072881e-01 1.60263367e-01 1.66781492e-03 3.92834042e+02] [-1.60263129e-01 9.87074290e-01 -2.76391669e-04 -5.99448672e+01] [-1.69055269e-03 5.52948215e-06 9.99998571e-01 -8.24839503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.86, Y:-59.95, Z:-0.83 [[ 9.87073828e-01 1.60257529e-01 1.66782791e-03 3.92861741e+02] [-1.60257291e-01 9.87075237e-01 -2.76313287e-04 -5.99458863e+01] [-1.69055292e-03 5.46003172e-06 9.99998571e-01 -8.29182172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.89, Y:-59.95, Z:-0.83 [[ 9.87023601e-01 1.60566586e-01 1.66784408e-03 3.92890872e+02] [-1.60566348e-01 9.87025011e-01 -2.76215662e-04 -5.99490504e+01] [-1.69055483e-03 4.83174355e-06 9.99998571e-01 -8.30726155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.92, Y:-59.95, Z:-0.83 [[ 9.86944038e-01 1.61054909e-01 1.66785699e-03 3.92919119e+02] [-1.61054673e-01 9.86945447e-01 -2.76137651e-04 -5.99520153e+01] [-1.69055719e-03 3.91624570e-06 9.99998571e-01 -8.30723651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.95, Y:-59.95, Z:-0.83 [[ 9.86953073e-01 1.60999531e-01 1.66787622e-03 3.92946991e+02] [-1.60999294e-01 9.86954483e-01 -2.76021460e-04 -5.99549081e+01] [-1.69055724e-03 3.89333334e-06 9.99998571e-01 -8.29751965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.97, Y:-59.96, Z:-0.83 [[ 9.87277343e-01 1.58998952e-01 1.66789543e-03 3.92974838e+02] [-1.58998713e-01 9.87278752e-01 -2.75905347e-04 -5.99561240e+01] [-1.69054638e-03 7.20187088e-06 9.99998571e-01 -8.26595249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.00, Y:-59.96, Z:-0.83 [[ 9.87548755e-01 1.57304402e-01 1.66791132e-03 3.93003171e+02] [-1.57304161e-01 9.87550163e-01 -2.75809232e-04 -5.99593002e+01] [-1.69053211e-03 1.00056723e-05 9.99998571e-01 -8.25885073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.03, Y:-59.96, Z:-0.83 [[ 9.87830797e-01 1.55523424e-01 1.66792441e-03 3.93030980e+02] [-1.55523180e-01 9.87832205e-01 -2.75730064e-04 -5.99626693e+01] [-1.69051193e-03 1.29737410e-05 9.99998571e-01 -8.25984973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.06, Y:-59.97, Z:-0.83 [[ 9.88081710e-01 1.53921256e-01 1.66794061e-03 3.93059027e+02] [-1.53921010e-01 9.88083117e-01 -2.75632022e-04 -5.99661153e+01] [-1.69048959e-03 1.56158562e-05 9.99998571e-01 -8.26499480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.09, Y:-59.97, Z:-0.83 [[ 9.88589737e-01 1.50623869e-01 1.66795673e-03 3.93086899e+02] [-1.50623619e-01 9.88591144e-01 -2.75534443e-04 -5.99683912e+01] [-1.69042932e-03 2.11568439e-05 9.99998571e-01 -8.26057416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.12, Y:-59.97, Z:-0.82 [[ 9.88840720e-01 1.48967273e-01 1.66797229e-03 3.93115379e+02] [-1.48967020e-01 9.88842126e-01 -2.75440258e-04 -5.99722556e+01] [-1.69039285e-03 2.38936819e-05 9.99998571e-01 -8.24750575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.14, Y:-59.98, Z:-0.82 [[ 9.89023069e-01 1.47751772e-01 1.66798539e-03 3.93143116e+02] [-1.47751518e-01 9.89024476e-01 -2.75360877e-04 -5.99768737e+01] [-1.69036343e-03 2.58908863e-05 9.99998571e-01 -8.23732475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:393.17, Y:-59.98, Z:-0.82 [[ 9.89325318e-01 1.45714219e-01 1.66800168e-03 3.93170279e+02] [-1.45713962e-01 9.89326723e-01 -2.75262176e-04 -5.99817431e+01] [-1.69030825e-03 2.92727072e-05 9.99998571e-01 -8.21146945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.20, Y:-59.99, Z:-0.82 [[ 9.89375156e-01 1.45375439e-01 1.66801778e-03 3.93198930e+02] [-1.45375182e-01 9.89376562e-01 -2.75164567e-04 -5.99859080e+01] [-1.69029987e-03 2.97525986e-05 9.99998571e-01 -8.24768143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.23, Y:-59.99, Z:-0.83 [[ 9.89335051e-01 1.45648117e-01 1.66803116e-03 3.93226533e+02] [-1.45647861e-01 9.89336457e-01 -2.75083414e-04 -5.99894718e+01] [-1.69030942e-03 2.92044927e-05 9.99998571e-01 -8.26026657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.26, Y:-59.99, Z:-0.83 [[ 9.89142523e-01 1.46949949e-01 1.66804780e-03 3.93255715e+02] [-1.46949694e-01 9.89143929e-01 -2.74982528e-04 -5.99919473e+01] [-1.69034802e-03 2.68777987e-05 9.99998571e-01 -8.29239303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.28, Y:-60.00, Z:-0.83 [[ 9.89042725e-01 1.47620137e-01 1.66805787e-03 3.93283335e+02] [-1.47619883e-01 9.89044132e-01 -2.74921418e-04 -5.99959136e+01] [-1.69036678e-03 2.56705218e-05 9.99998571e-01 -8.30822884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:393.31, Y:-60.00, Z:-0.83 [[ 9.89004034e-01 1.47879135e-01 1.66807465e-03 3.93312087e+02] [-1.47878882e-01 9.89005440e-01 -2.74819524e-04 -5.99994653e+01] [-1.69037498e-03 2.51246035e-05 9.99998571e-01 -8.30267178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.34, Y:-60.00, Z:-0.83 [[ 9.88887857e-01 1.48654041e-01 1.66808768e-03 3.93339818e+02] [-1.48653789e-01 9.88889264e-01 -2.74740470e-04 -6.00011490e+01] [-1.69039527e-03 2.37199617e-05 9.99998571e-01 -8.30704618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.37, Y:-60.00, Z:-0.83 [[ 9.88881523e-01 1.48696169e-01 1.66810385e-03 3.93368045e+02] [-1.48695918e-01 9.88882930e-01 -2.74642241e-04 -6.00049063e+01] [-1.69039767e-03 2.35484057e-05 9.99998571e-01 -8.31897802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.40, Y:-60.01, Z:-0.83 [[ 9.88898498e-01 1.48583234e-01 1.66812313e-03 3.93395711e+02] [-1.48582983e-01 9.88899905e-01 -2.74525098e-04 -6.00089493e+01] [-1.69039663e-03 2.36227478e-05 9.99998571e-01 -8.32345597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.42, Y:-60.01, Z:-0.83 [[ 9.88959000e-01 1.48180004e-01 1.66814267e-03 3.93423069e+02] [-1.48179752e-01 9.88960407e-01 -2.74406262e-04 -6.00134806e+01] [-1.69038858e-03 2.41915738e-05 9.99998571e-01 -8.32013477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.45, Y:-60.02, Z:-0.83 [[ 9.89329161e-01 1.45688118e-01 1.66815885e-03 3.93450447e+02] [-1.45687862e-01 9.89330567e-01 -2.74307880e-04 -6.00195406e+01] [-1.69032394e-03 2.83502879e-05 9.99998571e-01 -8.29215223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.48, Y:-60.03, Z:-0.83 [[ 9.89640040e-01 1.43561163e-01 1.66817472e-03 3.93478842e+02] [-1.43560905e-01 9.89641446e-01 -2.74211325e-04 -6.00257511e+01] [-1.69026094e-03 3.18858331e-05 9.99998571e-01 -8.27835009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.51, Y:-60.03, Z:-0.83 [[ 9.89928819e-01 1.41556176e-01 1.66818757e-03 3.93506527e+02] [-1.41555915e-01 9.89930224e-01 -2.74133164e-04 -6.00324953e+01] [-1.69019454e-03 3.52305006e-05 9.99998571e-01 -8.27050618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.53, Y:-60.04, Z:-0.83 [[ 9.90211522e-01 1.39564891e-01 1.66820034e-03 3.93534649e+02] [-1.39564628e-01 9.90212926e-01 -2.74055393e-04 -6.00406635e+01] [-1.69012206e-03 3.85510481e-05 9.99998571e-01 -8.30031066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.56, Y:-60.05, Z:-0.83 [[ 9.90109006e-01 1.40290320e-01 1.66821306e-03 3.93561544e+02] [-1.40290058e-01 9.90110410e-01 -2.73977972e-04 -6.00465200e+01] [-1.69015157e-03 3.72343506e-05 9.99998571e-01 -8.31614810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.59, Y:-60.05, Z:-0.83 [[ 9.89855175e-01 1.42070225e-01 1.66822887e-03 3.93588361e+02] [-1.42069965e-01 9.89856581e-01 -2.73881695e-04 -6.00525935e+01] [-1.69021776e-03 3.40979970e-05 9.99998571e-01 -8.30673902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.62, Y:-60.06, Z:-0.83 [[ 9.89587816e-01 1.43920712e-01 1.66824599e-03 3.93616395e+02] [-1.43920455e-01 9.89589222e-01 -2.73777338e-04 -6.00581619e+01] [-1.69028048e-03 3.08319949e-05 9.99998571e-01 -8.28092944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.64, Y:-60.06, Z:-0.82 [[ 9.88860016e-01 1.48839127e-01 1.66825848e-03 3.93644215e+02] [-1.48838877e-01 9.88861423e-01 -2.73701197e-04 -6.00635581e+01] [-1.69041391e-03 2.23504507e-05 9.99998571e-01 -8.22745658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.67, Y:-60.07, Z:-0.82 [[ 9.88410141e-01 1.51797923e-01 1.66827555e-03 3.93671810e+02] [-1.51797677e-01 9.88411549e-01 -2.73597113e-04 -6.00685237e+01] [-1.69047430e-03 1.71858073e-05 9.99998571e-01 -8.22747615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.70, Y:-60.07, Z:-0.82 [[ 9.87994806e-01 1.54478089e-01 1.66829099e-03 3.93699538e+02] [-1.54477848e-01 9.87996214e-01 -2.73502966e-04 -6.00744118e+01] [-1.69051540e-03 1.25055080e-05 9.99998571e-01 -8.24887276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:-60.08, Z:-0.83 [[ 9.87646550e-01 1.56689211e-01 1.66830950e-03 3.93727997e+02] [-1.56688972e-01 9.87647959e-01 -2.73389990e-04 -6.00812396e+01] [-1.69053974e-03 8.60697916e-06 9.99998571e-01 -8.26481537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.76, Y:-60.09, Z:-0.83 [[ 9.87311570e-01 1.58786276e-01 1.66832237e-03 3.93756531e+02] [-1.58786041e-01 9.87312979e-01 -2.73311423e-04 -6.00876589e+01] [-1.69055444e-03 4.93722564e-06 9.99998571e-01 -8.26273044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.78, Y:-60.09, Z:-0.82 [[ 9.86544379e-01 1.63485185e-01 1.66833524e-03 3.93783458e+02] [-1.63484957e-01 9.86545789e-01 -2.73232876e-04 -6.00930769e+01] [-1.69055863e-03 -3.19135561e-06 9.99998571e-01 -8.22208522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.81, Y:-60.10, Z:-0.82 [[ 9.86213263e-01 1.65470893e-01 1.66835774e-03 3.93811416e+02] [-1.65470668e-01 9.86214674e-01 -2.73095417e-04 -6.00975125e+01] [-1.69054823e-03 -6.73394717e-06 9.99998571e-01 -8.21009011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.84, Y:-60.10, Z:-0.82 [[ 9.86028703e-01 1.66567144e-01 1.66837706e-03 3.93838042e+02] [-1.66566920e-01 9.86030114e-01 -2.72977314e-04 -6.01010443e+01] [-1.69053908e-03 -8.73296266e-06 9.99998571e-01 -8.20714443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.87, Y:-60.11, Z:-0.82 [[ 9.85915989e-01 1.67233011e-01 1.66839945e-03 3.93865882e+02] [-1.67232788e-01 9.85917400e-01 -2.72840420e-04 -6.01050785e+01] [-1.69053197e-03 -1.00133596e-05 9.99998571e-01 -8.22485700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.89, Y:-60.11, Z:-0.83 [[ 9.85748423e-01 1.68217901e-01 1.66841867e-03 3.93893003e+02] [-1.68217681e-01 9.85749835e-01 -2.72722811e-04 -6.01095721e+01] [-1.69052029e-03 -1.18214390e-05 9.99998571e-01 -8.27171162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.92, Y:-60.11, Z:-0.83 [[ 9.85662339e-01 1.68721574e-01 1.66843782e-03 3.93920429e+02] [-1.68721354e-01 9.85663751e-01 -2.72605645e-04 -6.01143072e+01] [-1.69051313e-03 -1.28039692e-05 9.99998571e-01 -8.28309318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.95, Y:-60.12, Z:-0.83 [[ 9.85587202e-01 1.69159932e-01 1.66845687e-03 3.93947980e+02] [-1.69159713e-01 9.85588615e-01 -2.72489001e-04 -6.01183196e+01] [-1.69050631e-03 -1.36740135e-05 9.99998571e-01 -8.27656840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.98, Y:-60.12, Z:-0.83 [[ 9.85466740e-01 1.69860299e-01 1.66847610e-03 3.93975178e+02] [-1.69860081e-01 9.85468152e-01 -2.72371176e-04 -6.01203617e+01] [-1.69049511e-03 -1.49947518e-05 9.99998571e-01 -8.28193853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.00, Y:-60.12, Z:-0.83 [[ 9.85452394e-01 1.69943506e-01 1.66849843e-03 3.94003181e+02] [-1.69943289e-01 9.85453806e-01 -2.72234321e-04 -6.01240693e+01] [-1.69049259e-03 -1.52761478e-05 9.99998571e-01 -8.29296652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.03, Y:-60.13, Z:-0.83 [[ 9.85460241e-01 1.69897999e-01 1.66851790e-03 3.94030087e+02] [-1.69897781e-01 9.85461653e-01 -2.72114949e-04 -6.01285167e+01] [-1.69049219e-03 -1.53190262e-05 9.99998571e-01 -8.31518953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.06, Y:-60.13, Z:-0.83 [[ 9.85563917e-01 1.69295542e-01 1.66854057e-03 3.94057842e+02] [-1.69295324e-01 9.85565330e-01 -2.71975849e-04 -6.01332479e+01] [-1.69050004e-03 -1.44265346e-05 9.99998571e-01 -8.33991231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.09, Y:-60.14, Z:-0.84 [[ 9.85963796e-01 1.66950920e-01 1.66855884e-03 3.94086103e+02] [-1.66950699e-01 9.85965207e-01 -2.71863711e-04 -6.01387345e+01] [-1.69052886e-03 -1.05192901e-05 9.99998571e-01 -8.36730033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.11, Y:-60.14, Z:-0.84 [[ 9.86157784e-01 1.65801211e-01 1.66857166e-03 3.94113636e+02] [-1.65800988e-01 9.86159195e-01 -2.71785039e-04 -6.01435947e+01] [-1.69053957e-03 -8.62789817e-06 9.99998571e-01 -8.36483185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.14, Y:-60.15, Z:-0.84 [[ 9.86303255e-01 1.64933639e-01 1.66859086e-03 3.94140064e+02] [-1.64933416e-01 9.86304666e-01 -2.71667100e-04 -6.01482047e+01] [-1.69054600e-03 -7.26024493e-06 9.99998571e-01 -8.36132613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.17, Y:-60.15, Z:-0.83 [[ 9.86287905e-01 1.65025404e-01 1.66861315e-03 3.94168659e+02] [-1.65025181e-01 9.86289317e-01 -2.71530104e-04 -6.01529178e+01] [-1.69054469e-03 -7.55633054e-06 9.99998571e-01 -8.34491606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.20, Y:-60.16, Z:-0.83 [[ 9.86299748e-01 1.64954608e-01 1.66862610e-03 3.94196807e+02] [-1.64954385e-01 9.86301160e-01 -2.71450497e-04 -6.01573573e+01] [-1.69054487e-03 -7.51563528e-06 9.99998571e-01 -8.34539777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.22, Y:-60.16, Z:-0.83 [[ 9.86108776e-01 1.66092437e-01 1.66864558e-03 3.94223834e+02] [-1.66092215e-01 9.86110188e-01 -2.71330722e-04 -6.01606366e+01] [-1.69053439e-03 -9.58743468e-06 9.99998571e-01 -8.34751388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.25, Y:-60.16, Z:-0.83 [[ 9.85799880e-01 1.67916084e-01 1.66866817e-03 3.94252165e+02] [-1.67915866e-01 9.85801293e-01 -2.71191738e-04 -6.01638246e+01] [-1.69051269e-03 -1.28550775e-05 9.99998571e-01 -8.34969716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.28, Y:-60.17, Z:-0.83 [[ 9.85444904e-01 1.69986933e-01 1.66868675e-03 3.94279995e+02] [-1.69986717e-01 9.85446316e-01 -2.71077356e-04 -6.01672245e+01] [-1.69048082e-03 -1.65227842e-05 9.99998571e-01 -8.34465038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.31, Y:-60.17, Z:-0.83 [[ 9.84765727e-01 1.73878345e-01 1.66870531e-03 3.94307599e+02] [-1.73878136e-01 9.84767140e-01 -2.70963041e-04 -6.01693377e+01] [-1.69040076e-03 -2.33162524e-05 9.99998571e-01 -8.32313523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.34, Y:-60.17, Z:-0.83 [[ 9.84552680e-01 1.75080656e-01 1.66872630e-03 3.94336257e+02] [-1.75080448e-01 9.84554094e-01 -2.70833720e-04 -6.01726342e+01] [-1.69036906e-03 -2.55112835e-05 9.99998571e-01 -8.29574579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.36, Y:-60.18, Z:-0.83 [[ 9.84428809e-01 1.75775809e-01 1.66873795e-03 3.94364585e+02] [-1.75775603e-01 9.84430223e-01 -2.70761915e-04 -6.01754556e+01] [-1.69034947e-03 -2.67775901e-05 9.99998571e-01 -8.27334378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.39, Y:-60.18, Z:-0.83 [[ 9.84363760e-01 1.76139724e-01 1.66875009e-03 3.94391819e+02] [-1.76139518e-01 9.84365175e-01 -2.70687056e-04 -6.01752193e+01] [-1.69033822e-03 -2.74783090e-05 9.99998571e-01 -8.27650209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.42, Y:-60.18, Z:-0.83 [[ 9.84423162e-01 1.75807430e-01 1.66877126e-03 3.94419868e+02] [-1.75807224e-01 9.84424576e-01 -2.70556482e-04 -6.01766010e+01] [-1.69034528e-03 -2.70399756e-05 9.99998571e-01 -8.28208720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.45, Y:-60.18, Z:-0.83 [[ 9.84607936e-01 1.74769642e-01 1.66879026e-03 3.94448049e+02] [-1.74769435e-01 9.84609350e-01 -2.70439268e-04 -6.01777641e+01] [-1.69037107e-03 -2.53768815e-05 9.99998571e-01 -8.26844785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.48, Y:-60.18, Z:-0.83 [[ 9.85452078e-01 1.69945336e-01 1.66880926e-03 3.94475679e+02] [-1.69945122e-01 9.85453491e-01 -2.70321972e-04 -6.01761901e+01] [-1.69047387e-03 -1.72166447e-05 9.99998571e-01 -8.25969957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.50, Y:-60.18, Z:-0.83 [[ 9.86035048e-01 1.66529576e-01 1.66883128e-03 3.94504022e+02] [-1.66529357e-01 9.86036460e-01 -2.70185933e-04 -6.01792539e+01] [-1.69052244e-03 -1.14966016e-05 9.99998571e-01 -8.27776298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.53, Y:-60.18, Z:-0.83 [[ 9.86695659e-01 1.62569649e-01 1.66884959e-03 3.94530983e+02] [-1.62569424e-01 9.86697071e-01 -2.70072823e-04 -6.01826870e+01] [-1.69055464e-03 -4.82423476e-06 9.99998571e-01 -8.30413984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.56, Y:-60.19, Z:-0.83 [[ 9.87375388e-01 1.58388946e-01 1.66887084e-03 3.94558519e+02] [-1.58388716e-01 9.87376798e-01 -2.69941421e-04 -6.01861243e+01] [-1.69056009e-03 2.20320555e-06 9.99998571e-01 -8.30360306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.59, Y:-60.19, Z:-0.83 [[ 9.88357346e-01 1.52141286e-01 1.66888833e-03 3.94586546e+02] [-1.52141048e-01 9.88358755e-01 -2.69833290e-04 -6.01879809e+01] [-1.69051317e-03 1.27852964e-05 9.99998571e-01 -8.28717482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.61, Y:-60.19, Z:-0.83 [[ 9.88573102e-01 1.50732996e-01 1.66890689e-03 3.94614692e+02] [-1.50732756e-01 9.88574511e-01 -2.69718430e-04 -6.01914089e+01] [-1.69049428e-03 1.50774505e-05 9.99998571e-01 -8.28508024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.64, Y:-60.20, Z:-0.83 [[ 9.88658137e-01 1.50174241e-01 1.66892561e-03 3.94641864e+02] [-1.50174000e-01 9.88659546e-01 -2.69602553e-04 -6.01950090e+01] [-1.69048659e-03 1.59155246e-05 9.99998571e-01 -8.29550217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.67, Y:-60.20, Z:-0.83 [[ 9.88681324e-01 1.50021512e-01 1.66894733e-03 3.94669904e+02] [-1.50021271e-01 9.88682733e-01 -2.69468024e-04 -6.01992288e+01] [-1.69048541e-03 1.60404027e-05 9.99998571e-01 -8.30985960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.70, Y:-60.20, Z:-0.83 [[ 9.88538527e-01 1.50959584e-01 1.66895942e-03 3.94697606e+02] [-1.50959344e-01 9.88539935e-01 -2.69393132e-04 -6.02043900e+01] [-1.69050051e-03 1.43604705e-05 9.99998571e-01 -8.33325838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.72, Y:-60.21, Z:-0.83 [[ 9.88537241e-01 1.50968002e-01 1.66897449e-03 3.94724977e+02] [-1.50967762e-01 9.88538650e-01 -2.69299702e-04 -6.02097607e+01] [-1.69050143e-03 1.42514398e-05 9.99998571e-01 -8.33564555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.75, Y:-60.22, Z:-0.83 [[ 9.88530814e-01 1.51010077e-01 1.66899272e-03 3.94752822e+02] [-1.51009838e-01 9.88532223e-01 -2.69186717e-04 -6.02156789e+01] [-1.69050299e-03 1.40650446e-05 9.99998571e-01 -8.33502302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.78, Y:-60.22, Z:-0.83 [[ 9.88608072e-01 1.50503467e-01 1.66901084e-03 3.94780236e+02] [-1.50503227e-01 9.88609481e-01 -2.69074313e-04 -6.02217282e+01] [-1.69049656e-03 1.48175205e-05 9.99998571e-01 -8.33919203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.81, Y:-60.23, Z:-0.83 [[ 9.88724713e-01 1.49735286e-01 1.66902891e-03 3.94807151e+02] [-1.49735045e-01 9.88726122e-01 -2.68962188e-04 -6.02287699e+01] [-1.69048561e-03 1.60174443e-05 9.99998571e-01 -8.31511103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.83, Y:-60.23, Z:-0.83 [[ 9.88777950e-01 1.49383331e-01 1.66904396e-03 3.94834497e+02] [-1.49383090e-01 9.88779359e-01 -2.68868748e-04 -6.02338903e+01] [-1.69048072e-03 1.65245463e-05 9.99998571e-01 -8.30182817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.86, Y:-60.24, Z:-0.83 [[ 9.88781321e-01 1.49361016e-01 1.66906297e-03 3.94861186e+02] [-1.49360775e-01 9.88782730e-01 -2.68750662e-04 -6.02389724e+01] [-1.69048151e-03 1.64430958e-05 9.99998571e-01 -8.30367286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.89, Y:-60.25, Z:-0.83 [[ 9.88488162e-01 1.51289021e-01 1.66908908e-03 3.94888724e+02] [-1.51288783e-01 9.88489571e-01 -2.68588439e-04 -6.02467395e+01] [-1.69051163e-03 1.29820366e-05 9.99998571e-01 -8.30263237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.92, Y:-60.25, Z:-0.83 [[ 9.88205316e-01 1.53125657e-01 1.66910824e-03 3.94915573e+02] [-1.53125422e-01 9.88206726e-01 -2.68469284e-04 -6.02520945e+01] [-1.69053353e-03 9.71986900e-06 9.99998571e-01 -8.31237458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.94, Y:-60.26, Z:-0.83 [[ 9.87910323e-01 1.55017444e-01 1.66913043e-03 3.94943669e+02] [-1.55017212e-01 9.87911733e-01 -2.68331303e-04 -6.02568273e+01] [-1.69054956e-03 6.34331940e-06 9.99998571e-01 -8.30017916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.97, Y:-60.26, Z:-0.83 [[ 9.87551741e-01 1.57285641e-01 1.66914963e-03 3.94970495e+02] [-1.57285413e-01 9.87553152e-01 -2.68211778e-04 -6.02609919e+01] [-1.69055984e-03 2.34011952e-06 9.99998571e-01 -8.30679637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.00, Y:-60.26, Z:-0.83 [[ 9.86895035e-01 1.61354898e-01 1.66917198e-03 3.94998536e+02] [-1.61354676e-01 9.86896447e-01 -2.68072625e-04 -6.02646863e+01] [-1.69055473e-03 -4.76916102e-06 9.99998571e-01 -8.30252340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.03, Y:-60.27, Z:-0.83 [[ 9.86568879e-01 1.63337260e-01 1.66919093e-03 3.95026004e+02] [-1.63337040e-01 9.86570291e-01 -2.67954562e-04 -6.02685055e+01] [-1.69054115e-03 -8.28507379e-06 9.99998571e-01 -8.30034019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.05, Y:-60.27, Z:-0.83 [[ 9.86359569e-01 1.64596521e-01 1.66920995e-03 3.95054057e+02] [-1.64596303e-01 9.86360981e-01 -2.67836072e-04 -6.02720224e+01] [-1.69052845e-03 -1.05631138e-05 9.99998571e-01 -8.28875781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.08, Y:-60.28, Z:-0.83 [[ 9.86243582e-01 1.65290081e-01 1.66922927e-03 3.95082611e+02] [-1.65289865e-01 9.86244994e-01 -2.67715585e-04 -6.02756082e+01] [-1.69051974e-03 -1.18739023e-05 9.99998571e-01 -8.27132839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.11, Y:-60.28, Z:-0.82 [[ 9.86215971e-01 1.65454744e-01 1.66924238e-03 3.95111297e+02] [-1.65454528e-01 9.86217384e-01 -2.67633835e-04 -6.02787804e+01] [-1.69051714e-03 -1.22389464e-05 9.99998571e-01 -8.23711575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.14, Y:-60.28, Z:-0.82 [[ 9.86252159e-01 1.65238896e-01 1.66925548e-03 3.95138247e+02] [-1.65238680e-01 9.86253571e-01 -2.67552091e-04 -6.02825718e+01] [-1.69051919e-03 -1.19517443e-05 9.99998571e-01 -8.23955352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.17, Y:-60.28, Z:-0.82 [[ 9.86268866e-01 1.65139145e-01 1.66927825e-03 3.95166210e+02] [-1.65138929e-01 9.86270279e-01 -2.67409954e-04 -6.02838699e+01] [-1.69051937e-03 -1.19247096e-05 9.99998571e-01 -8.24264818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.19, Y:-60.29, Z:-0.82 [[ 9.86175084e-01 1.65698274e-01 1.66929753e-03 3.95194606e+02] [-1.65698059e-01 9.86176496e-01 -2.67289540e-04 -6.02856764e+01] [-1.69051140e-03 -1.30050758e-05 9.99998571e-01 -8.24385449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.22, Y:-60.29, Z:-0.83 [[ 9.86114199e-01 1.66060228e-01 1.66931677e-03 3.95222589e+02] [-1.66060013e-01 9.86115612e-01 -2.67169345e-04 -6.02873489e+01] [-1.69050553e-03 -1.37472801e-05 9.99998571e-01 -8.25095471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.25, Y:-60.29, Z:-0.83 [[ 9.86109899e-01 1.66085761e-01 1.66933583e-03 3.95250118e+02] [-1.66085547e-01 9.86111312e-01 -2.67050165e-04 -6.02896343e+01] [-1.69050418e-03 -1.39117426e-05 9.99998571e-01 -8.25919904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.28, Y:-60.29, Z:-0.83 [[ 9.86247797e-01 1.65264930e-01 1.66935558e-03 3.95277875e+02] [-1.65264714e-01 9.86249209e-01 -2.66926640e-04 -6.02909771e+01] [-1.69051424e-03 -1.26297634e-05 9.99998571e-01 -8.27959997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.30, Y:-60.29, Z:-0.83 [[ 9.86412954e-01 1.64276281e-01 1.66937536e-03 3.95304390e+02] [-1.64276065e-01 9.86414367e-01 -2.66802924e-04 -6.02940638e+01] [-1.69052523e-03 -1.10605530e-05 9.99998571e-01 -8.29956165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.33, Y:-60.30, Z:-0.83 [[ 9.86592561e-01 1.63194156e-01 1.66939820e-03 3.95331058e+02] [-1.63193939e-01 9.86593973e-01 -2.66659930e-04 -6.02978498e+01] [-1.69053554e-03 -9.35096422e-06 9.99998571e-01 -8.31864508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.36, Y:-60.30, Z:-0.83 [[ 9.86822145e-01 1.61800086e-01 1.66943025e-03 3.95358796e+02] [-1.61799867e-01 9.86823557e-01 -2.66459090e-04 -6.03023965e+01] [-1.69054620e-03 -7.16586133e-06 9.99998571e-01 -8.32328136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.39, Y:-60.31, Z:-0.83 [[ 9.87183679e-01 1.59579436e-01 1.66944963e-03 3.95385511e+02] [-1.59579214e-01 9.87185091e-01 -2.66337626e-04 -6.03059602e+01] [-1.69055779e-03 -3.48530247e-06 9.99998571e-01 -8.32607592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.41, Y:-60.31, Z:-0.83 [[ 9.87324855e-01 1.58703636e-01 1.66947211e-03 3.95412819e+02] [-1.58703413e-01 9.87326266e-01 -2.66196652e-04 -6.03092875e+01] [-1.69056004e-03 -2.12835008e-06 9.99998571e-01 -8.31274142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.44, Y:-60.31, Z:-0.83 [[ 9.87450850e-01 1.57917800e-01 1.66949446e-03 3.95439938e+02] [-1.57917576e-01 9.87452261e-01 -2.66056403e-04 -6.03129265e+01] [-1.69056112e-03 -9.24896387e-07 9.99998571e-01 -8.29791196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.47, Y:-60.32, Z:-0.83 [[ 9.87536859e-01 1.57379048e-01 1.66951031e-03 3.95468128e+02] [-1.57378824e-01 9.87538270e-01 -2.65956900e-04 -6.03183678e+01] [-1.69056137e-03 -1.03326870e-07 9.99998571e-01 -8.26593991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.49, Y:-60.32, Z:-0.83 [[ 9.87497976e-01 1.57622839e-01 1.66952307e-03 3.95494823e+02] [-1.57622615e-01 9.87499388e-01 -2.65876808e-04 -6.03236319e+01] [-1.69056126e-03 -6.01781977e-07 9.99998571e-01 -8.26374771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.52, Y:-60.33, Z:-0.83 [[ 9.87509476e-01 1.57550780e-01 1.66954523e-03 3.95521680e+02] [-1.57550556e-01 9.87510887e-01 -2.65737575e-04 -6.03288285e+01] [-1.69056125e-03 -6.19405477e-07 9.99998571e-01 -8.26947596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.55, Y:-60.34, Z:-0.83 [[ 9.87755628e-01 1.56000102e-01 1.66956730e-03 3.95548954e+02] [-1.55999875e-01 9.87757039e-01 -2.65598846e-04 -6.03350719e+01] [-1.69056030e-03 1.89446475e-06 9.99998571e-01 -8.26608295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.58, Y:-60.34, Z:-0.83 [[ 9.87969079e-01 1.54642525e-01 1.66958611e-03 3.95576259e+02] [-1.54642297e-01 9.87970490e-01 -2.65480517e-04 -6.03408253e+01] [-1.69055639e-03 4.09791031e-06 9.99998571e-01 -8.25575766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.60, Y:-60.35, Z:-0.83 [[ 9.88204760e-01 1.53129239e-01 1.66960488e-03 3.95602504e+02] [-1.53129009e-01 9.88206171e-01 -2.65362425e-04 -6.03465397e+01] [-1.69054859e-03 6.56747079e-06 9.99998571e-01 -8.25343644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.63, Y:-60.35, Z:-0.83 [[ 9.88419604e-01 1.51736282e-01 1.66962666e-03 3.95630374e+02] [-1.51736050e-01 9.88421014e-01 -2.65225308e-04 -6.03524073e+01] [-1.69053838e-03 8.81133894e-06 9.99998571e-01 -8.25258468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.66, Y:-60.36, Z:-0.83 [[ 9.88634785e-01 1.50327891e-01 1.66964516e-03 3.95657656e+02] [-1.50327657e-01 9.88636195e-01 -2.65108827e-04 -6.03590286e+01] [-1.69052489e-03 1.11019629e-05 9.99998571e-01 -8.26363837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.69, Y:-60.36, Z:-0.83 [[ 9.88709022e-01 1.49838854e-01 1.66966369e-03 3.95685437e+02] [-1.49838620e-01 9.88710432e-01 -2.64992033e-04 -6.03640771e+01] [-1.69052001e-03 1.18199108e-05 9.99998571e-01 -8.26807045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.71, Y:-60.37, Z:-0.83 [[ 9.88768448e-01 1.49446207e-01 1.66968250e-03 3.95712272e+02] [-1.49445973e-01 9.88769857e-01 -2.64873509e-04 -6.03692240e+01] [-1.69051606e-03 1.23712432e-05 9.99998571e-01 -8.28152767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.74, Y:-60.37, Z:-0.83 [[ 9.88889012e-01 1.48646339e-01 1.66970429e-03 3.95738951e+02] [-1.48646104e-01 9.88890422e-01 -2.64736063e-04 -6.03742049e+01] [-1.69050662e-03 1.35995468e-05 9.99998571e-01 -8.28371808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:395.77, Y:-60.38, Z:-0.82 [[ 9.88993645e-01 1.47948579e-01 1.66972573e-03 3.95766133e+02] [-1.47948343e-01 9.88995054e-01 -2.64600756e-04 -6.03784382e+01] [-1.69049780e-03 1.46553109e-05 9.99998571e-01 -8.24104964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.79, Y:-60.38, Z:-0.82 [[ 9.89075967e-01 1.47397232e-01 1.66974469e-03 3.95793906e+02] [-1.47396995e-01 9.89077376e-01 -2.64481037e-04 -6.03828232e+01] [-1.69049047e-03 1.54764869e-05 9.99998571e-01 -8.24967212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.82, Y:-60.39, Z:-0.82 [[ 9.89200488e-01 1.46559224e-01 1.66976043e-03 3.95821100e+02] [-1.46558986e-01 9.89201897e-01 -2.64381638e-04 -6.03878577e+01] [-1.69047775e-03 1.68080489e-05 9.99998571e-01 -8.23121684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.85, Y:-60.39, Z:-0.82 [[ 9.89271571e-01 1.46078644e-01 1.66977902e-03 3.95847713e+02] [-1.46078406e-01 9.89272980e-01 -2.64264208e-04 -6.03948049e+01] [-1.69047062e-03 1.75104121e-05 9.99998571e-01 -8.21406954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.88, Y:-60.40, Z:-0.82 [[ 9.89279027e-01 1.46028146e-01 1.66979438e-03 3.95875858e+02] [-1.46027908e-01 9.89280436e-01 -2.64167104e-04 -6.04010312e+01] [-1.69047074e-03 1.74983953e-05 9.99998571e-01 -8.22467904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.90, Y:-60.41, Z:-0.82 [[ 9.89285762e-01 1.45982511e-01 1.66980697e-03 3.95903460e+02] [-1.45982273e-01 9.89287171e-01 -2.64087491e-04 -6.04073200e+01] [-1.69047077e-03 1.74957773e-05 9.99998571e-01 -8.23595956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.93, Y:-60.41, Z:-0.82 [[ 9.89292520e-01 1.45936705e-01 1.66982265e-03 3.95932444e+02] [-1.45936467e-01 9.89293929e-01 -2.63988331e-04 -6.04118099e+01] [-1.69047099e-03 1.74736635e-05 9.99998571e-01 -8.23645539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.96, Y:-60.42, Z:-0.83 [[ 9.89214221e-01 1.46466504e-01 1.66983487e-03 3.95960569e+02] [-1.46466267e-01 9.89215630e-01 -2.63911013e-04 -6.04190795e+01] [-1.69048087e-03 1.64900481e-05 9.99998571e-01 -8.25207371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.99, Y:-60.42, Z:-0.83 [[ 9.89058694e-01 1.47513088e-01 1.66984725e-03 3.95988235e+02] [-1.47512852e-01 9.89060104e-01 -2.63832613e-04 -6.04248323e+01] [-1.69049806e-03 1.46220079e-05 9.99998571e-01 -8.26006606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.02, Y:-60.43, Z:-0.83 [[ 9.88873351e-01 1.48750486e-01 1.66986269e-03 3.96016815e+02] [-1.48750253e-01 9.88874761e-01 -2.63734896e-04 -6.04305863e+01] [-1.69051576e-03 1.24079136e-05 9.99998571e-01 -8.26368316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.04, Y:-60.44, Z:-0.83 [[ 9.88672033e-01 1.50082718e-01 1.66987517e-03 3.96043794e+02] [-1.50082487e-01 9.88673443e-01 -2.63655851e-04 -6.04360530e+01] [-1.69053142e-03 1.00501487e-05 9.99998571e-01 -8.26892595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.07, Y:-60.44, Z:-0.83 [[ 9.88379830e-01 1.51995139e-01 1.66989072e-03 3.96071999e+02] [-1.51994911e-01 9.88381241e-01 -2.63557306e-04 -6.04421134e+01] [-1.69054809e-03 6.67983356e-06 9.99998571e-01 -8.29067915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.10, Y:-60.45, Z:-0.83 [[ 9.88353085e-01 1.52168953e-01 1.66990349e-03 3.96100204e+02] [-1.52168725e-01 9.88354496e-01 -2.63476385e-04 -6.04472383e+01] [-1.69054955e-03 6.30061326e-06 9.99998571e-01 -8.30959200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.13, Y:-60.45, Z:-0.83 [[ 9.88365205e-01 1.52090210e-01 1.66991619e-03 3.96127417e+02] [-1.52089983e-01 9.88366616e-01 -2.63395882e-04 -6.04522869e+01] [-1.69054934e-03 6.35380160e-06 9.99998571e-01 -8.33194208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.16, Y:-60.46, Z:-0.83 [[ 9.88597918e-01 1.50570142e-01 1.66993195e-03 3.96155673e+02] [-1.50569912e-01 9.88599328e-01 -2.63295899e-04 -6.04586532e+01] [-1.69053811e-03 8.85227059e-06 9.99998571e-01 -8.32002319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.18, Y:-60.46, Z:-0.83 [[ 9.88763332e-01 1.49480045e-01 1.66994442e-03 3.96183023e+02] [-1.49479813e-01 9.88764743e-01 -2.63216784e-04 -6.04642547e+01] [-1.69052782e-03 1.06361246e-05 9.99998571e-01 -8.31110569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.21, Y:-60.47, Z:-0.83 [[ 9.89010577e-01 1.47835347e-01 1.66995995e-03 3.96210266e+02] [-1.47835114e-01 9.89011987e-01 -2.63118207e-04 -6.04695194e+01] [-1.69050858e-03 1.33479705e-05 9.99998571e-01 -8.29369545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.24, Y:-60.47, Z:-0.83 [[ 9.89211664e-01 1.46483767e-01 1.66997518e-03 3.96238823e+02] [-1.46483532e-01 9.89213074e-01 -2.63021521e-04 -6.04744156e+01] [-1.69048966e-03 1.55600941e-05 9.99998571e-01 -8.27129476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.27, Y:-60.48, Z:-0.82 [[ 9.89262630e-01 1.46139180e-01 1.66998749e-03 3.96266454e+02] [-1.46138944e-01 9.89264039e-01 -2.62943319e-04 -6.04790704e+01] [-1.69048489e-03 1.60697903e-05 9.99998571e-01 -8.23931650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.29, Y:-60.48, Z:-0.82 [[ 9.89175410e-01 1.46728385e-01 1.67000278e-03 3.96294111e+02] [-1.46728150e-01 9.89176820e-01 -2.62846202e-04 -6.04838099e+01] [-1.69049504e-03 1.49645811e-05 9.99998571e-01 -8.24712879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.32, Y:-60.49, Z:-0.83 [[ 9.89147598e-01 1.46915760e-01 1.67001791e-03 3.96322951e+02] [-1.46915526e-01 9.89149008e-01 -2.62750051e-04 -6.04887343e+01] [-1.69049868e-03 1.45470229e-05 9.99998571e-01 -8.25595575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.35, Y:-60.49, Z:-0.83 [[ 9.89217294e-01 1.46445746e-01 1.67003007e-03 3.96350803e+02] [-1.46445511e-01 9.89218704e-01 -2.62672703e-04 -6.04942029e+01] [-1.69049228e-03 1.52719737e-05 9.99998571e-01 -8.27457376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:396.38, Y:-60.50, Z:-0.83 [[ 9.89401629e-01 1.45195135e-01 1.67004259e-03 3.96378453e+02] [-1.45194899e-01 9.89403038e-01 -2.62593102e-04 -6.04993730e+01] [-1.69047245e-03 1.73283779e-05 9.99998571e-01 -8.27408990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:396.41, Y:-60.51, Z:-0.83 [[ 9.89660015e-01 1.43423381e-01 1.67005818e-03 3.96406854e+02] [-1.43423142e-01 9.89661424e-01 -2.62493921e-04 -6.05052731e+01] [-1.69043992e-03 2.02547458e-05 9.99998571e-01 -8.26017090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:396.43, Y:-60.51, Z:-0.82 [[ 9.90009248e-01 1.40992552e-01 1.67007045e-03 3.96434182e+02] [-1.40992310e-01 9.90010656e-01 -2.62415806e-04 -6.05143111e+01] [-1.69038622e-03 2.43269849e-05 9.99998571e-01 -8.23652628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:396.46, Y:-60.52, Z:-0.82 [[ 9.90058671e-01 1.40645083e-01 1.67008279e-03 3.96461416e+02] [-1.40644840e-01 9.90060079e-01 -2.62337248e-04 -6.05193193e+01] [-1.69037874e-03 2.48407401e-05 9.99998571e-01 -8.24925255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:396.49, Y:-60.52, Z:-0.83 [[ 9.89969047e-01 1.41274547e-01 1.67009939e-03 3.96488367e+02] [-1.41274306e-01 9.89970455e-01 -2.62231563e-04 -6.05242270e+01] [-1.69039569e-03 2.36589991e-05 9.99998571e-01 -8.27111985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16576923100007 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:396.52, Y:-60.53, Z:-0.83 [[ 9.89874339e-01 1.41936616e-01 1.67011454e-03 3.96516132e+02] [-1.41936376e-01 9.89875748e-01 -2.62135007e-04 -6.05315492e+01] [-1.69041244e-03 2.24307117e-05 9.99998571e-01 -8.29178464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19576923100004 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:396.54, Y:-60.54, Z:-0.83 [[ 9.89945174e-01 1.41441732e-01 1.67012700e-03 3.96544296e+02] [-1.41441491e-01 9.89946582e-01 -2.62055614e-04 -6.05386493e+01] [-1.69040211e-03 2.31954368e-05 9.99998571e-01 -8.28677240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2257692310001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:396.57, Y:-60.55, Z:-0.83 [[ 9.90086099e-01 1.40451870e-01 1.67013947e-03 3.96572256e+02] [-1.40451628e-01 9.90087507e-01 -2.61976080e-04 -6.05455707e+01] [-1.69037926e-03 2.48050670e-05 9.99998571e-01 -8.27462280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25576923100004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:396.60, Y:-60.55, Z:-0.83 [[ 9.90212310e-01 1.39559273e-01 1.67015232e-03 3.96599710e+02] [-1.39559030e-01 9.90213719e-01 -2.61894138e-04 -6.05523700e+01] [-1.69035750e-03 2.62459613e-05 9.99998571e-01 -8.26610943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2857692310001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:396.63, Y:-60.56, Z:-0.82 [[ 9.90406205e-01 1.38176549e-01 1.67016833e-03 3.96627132e+02] [-1.38176304e-01 9.90407613e-01 -2.61791991e-04 -6.05631370e+01] [-1.69032095e-03 2.85027253e-05 9.99998571e-01 -8.24021454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31576923100005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:396.66, Y:-60.57, Z:-0.82 [[ 9.90456291e-01 1.37817073e-01 1.67017747e-03 3.96656239e+02] [-1.37816828e-01 9.90457699e-01 -2.61733664e-04 -6.05710969e+01] [-1.69031151e-03 2.90571932e-05 9.99998571e-01 -8.24411718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3457692310001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:396.69, Y:-60.58, Z:-0.83 [[ 9.90462600e-01 1.37771725e-01 1.67018358e-03 3.96685501e+02] [-1.37771479e-01 9.90464008e-01 -2.61694712e-04 -6.05786434e+01] [-1.69031085e-03 2.90951628e-05 9.99998571e-01 -8.27137100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37576923100005 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:396.71, Y:-60.59, Z:-0.83 [[ 9.90252705e-01 1.39272360e-01 1.67018965e-03 3.96713692e+02] [-1.39272116e-01 9.90254113e-01 -2.61655930e-04 -6.05875413e+01] [-1.69035361e-03 2.64946451e-05 9.99998571e-01 -8.31054947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4057692310001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:396.74, Y:-60.59, Z:-0.83 [[ 9.90013502e-01 1.40962678e-01 1.67019590e-03 3.96742161e+02] [-1.40962437e-01 9.90014910e-01 -2.61616055e-04 -6.05942537e+01] [-1.69039694e-03 2.35685418e-05 9.99998571e-01 -8.31457114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43576923100005 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:396.77, Y:-60.60, Z:-0.83 [[ 9.89728948e-01 1.42946913e-01 1.67019900e-03 3.96771102e+02] [-1.42946675e-01 9.89730357e-01 -2.61596248e-04 -6.06007649e+01] [-1.69044103e-03 2.01599844e-05 9.99998571e-01 -8.31321792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4657692310001 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:396.80, Y:-60.61, Z:-0.83 [[ 9.89024918e-01 1.47739372e-01 1.67020518e-03 3.96799760e+02] [-1.47739141e-01 9.89026328e-01 -2.61556765e-04 -6.06087238e+01] [-1.69051913e-03 1.19314794e-05 9.99998571e-01 -8.28963781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49576923100005 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:396.83, Y:-60.61, Z:-0.83 [[ 9.88635384e-01 1.50323944e-01 1.67021136e-03 3.96827622e+02] [-1.50323717e-01 9.88636795e-01 -2.61517342e-04 -6.06144733e+01] [-1.69054472e-03 7.47291904e-06 9.99998571e-01 -8.28104738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5257692310001 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:396.86, Y:-60.62, Z:-0.83 [[ 9.88365236e-01 1.52090010e-01 1.67022057e-03 3.96856261e+02] [-1.52089786e-01 9.88366647e-01 -2.61458474e-04 -6.06203466e+01] [-1.69055553e-03 4.39297768e-06 9.99998571e-01 -8.28176474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55576923100006 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:396.89, Y:-60.63, Z:-0.83 [[ 9.88183019e-01 1.53269474e-01 1.67022671e-03 3.96885048e+02] [-1.53269251e-01 9.88184430e-01 -2.61419264e-04 -6.06262222e+01] [-1.69055962e-03 2.33567951e-06 9.99998571e-01 -8.28601529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5857692310001 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:396.91, Y:-60.63, Z:-0.83 [[ 9.87812649e-01 1.55638624e-01 1.67023287e-03 3.96913953e+02] [-1.55638405e-01 9.87814061e-01 -2.61379922e-04 -6.06322373e+01] [-1.69056032e-03 -1.75798491e-06 9.99998571e-01 -8.30076252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61576923100006 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:396.94, Y:-60.64, Z:-0.83 [[ 9.87494451e-01 1.57644913e-01 1.67023901e-03 3.96943120e+02] [-1.57644696e-01 9.87495864e-01 -2.61340665e-04 -6.06365879e+01] [-1.69055314e-03 -5.23186455e-06 9.99998571e-01 -8.30404054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64576923100003 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:396.97, Y:-60.64, Z:-0.83 [[ 9.87091043e-01 1.60151436e-01 1.67024514e-03 3.96971210e+02] [-1.60151223e-01 9.87092456e-01 -2.61301457e-04 -6.06399500e+01] [-1.69053418e-03 -9.56347556e-06 9.99998571e-01 -8.30695361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67576923100006 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:397.00, Y:-60.64, Z:-0.83 [[ 9.86266698e-01 1.65152081e-01 1.67025428e-03 3.96999668e+02] [-1.65151876e-01 9.86268113e-01 -2.61243055e-04 -6.06421371e+01] [-1.69046337e-03 -1.81903009e-05 9.99998571e-01 -8.31021645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70576923100003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:397.03, Y:-60.65, Z:-0.83 [[ 9.86054470e-01 1.66414523e-01 1.67026626e-03 3.97028155e+02] [-1.66414319e-01 9.86055884e-01 -2.61166443e-04 -6.06457551e+01] [-1.69043776e-03 -2.04318839e-05 9.99998571e-01 -8.31490809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73576923100006 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:397.06, Y:-60.65, Z:-0.83 [[ 9.85967080e-01 1.66931508e-01 1.67027852e-03 3.97056605e+02] [-1.66931305e-01 9.85968494e-01 -2.61087995e-04 -6.06499403e+01] [-1.69042581e-03 -2.13976052e-05 9.99998571e-01 -8.32356325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:397.09, Y:-60.65, Z:-0.83 [[ 9.86064883e-01 1.66352806e-01 1.67028769e-03 3.97085787e+02] [-1.66352602e-01 9.86066298e-01 -2.61029299e-04 -6.06528980e+01] [-1.69043736e-03 -2.04648792e-05 9.99998571e-01 -8.33648482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79576923100007 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:397.11, Y:-60.66, Z:-0.84 [[ 9.86201111e-01 1.65543285e-01 1.67029392e-03 3.97114693e+02] [-1.65543081e-01 9.86202525e-01 -2.60989468e-04 -6.06557898e+01] [-1.69045313e-03 -1.91174970e-05 9.99998571e-01 -8.35817591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82576923100004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:397.14, Y:-60.66, Z:-0.84 [[ 9.86368582e-01 1.64542489e-01 1.67030322e-03 3.97143818e+02] [-1.64542283e-01 9.86369996e-01 -2.60929935e-04 -6.06584981e+01] [-1.69047104e-03 -1.74624143e-05 9.99998571e-01 -8.36217457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85576923100007 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:397.17, Y:-60.66, Z:-0.84 [[ 9.86550951e-01 1.63445499e-01 1.67031515e-03 3.97171482e+02] [-1.63445291e-01 9.86552365e-01 -2.60853500e-04 -6.06611962e+01] [-1.69048869e-03 -1.56598775e-05 9.99998571e-01 -8.36370378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88576923100004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:397.20, Y:-60.66, Z:-0.83 [[ 9.86859563e-01 1.61571698e-01 1.67033006e-03 3.97200589e+02] [-1.61571488e-01 9.86860976e-01 -2.60758035e-04 -6.06640846e+01] [-1.69051467e-03 -1.25461521e-05 9.99998571e-01 -8.30652273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:397.23, Y:-60.67, Z:-0.83 [[ 9.87002482e-01 1.60696329e-01 1.67033620e-03 3.97229286e+02] [-1.60696118e-01 9.87003895e-01 -2.60718669e-04 -6.06679606e+01] [-1.69052487e-03 -1.10865696e-05 9.99998571e-01 -8.29464353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:397.26, Y:-60.67, Z:-0.83 [[ 9.87128491e-01 1.59920457e-01 1.67034538e-03 3.97257680e+02] [-1.59920245e-01 9.87129904e-01 -2.60659829e-04 -6.06717933e+01] [-1.69053272e-03 -9.81729855e-06 9.99998571e-01 -8.30373578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9757692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:397.29, Y:-60.68, Z:-0.83 [[ 9.87363472e-01 1.58463192e-01 1.67035753e-03 3.97286461e+02] [-1.58462978e-01 9.87364885e-01 -2.60581980e-04 -6.06750647e+01] [-1.69054502e-03 -7.40070002e-06 9.99998571e-01 -8.34977169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.31, Y:-60.68, Z:-0.84 [[ 9.87449874e-01 1.57923891e-01 1.67036681e-03 3.97314714e+02] [-1.57923676e-01 9.87451287e-01 -2.60522431e-04 -6.06795828e+01] [-1.69054858e-03 -6.53762633e-06 9.99998571e-01 -8.35741556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0357692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:397.34, Y:-60.68, Z:-0.83 [[ 9.87607147e-01 1.56937354e-01 1.67037922e-03 3.97342998e+02] [-1.56937138e-01 9.87608559e-01 -2.60442881e-04 -6.06843333e+01] [-1.69055403e-03 -4.92928429e-06 9.99998571e-01 -8.34591148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06576923100005 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:397.37, Y:-60.69, Z:-0.83 [[ 9.87994882e-01 1.54477582e-01 1.67039161e-03 3.97371738e+02] [-1.54477363e-01 9.87996294e-01 -2.60363357e-04 -6.06887956e+01] [-1.69056103e-03 -8.00026660e-07 9.99998571e-01 -8.30984389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0957692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:397.40, Y:-60.69, Z:-0.83 [[ 9.88118836e-01 1.53682713e-01 1.67039791e-03 3.97400742e+02] [-1.53682493e-01 9.88120248e-01 -2.60322973e-04 -6.06926692e+01] [-1.69056113e-03 5.19118237e-07 9.99998571e-01 -8.29842186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.43, Y:-60.70, Z:-0.83 [[ 9.88234547e-01 1.52936882e-01 1.67040407e-03 3.97429826e+02] [-1.52936660e-01 9.88235959e-01 -2.60283441e-04 -6.06966518e+01] [-1.69056030e-03 1.75506922e-06 9.99998571e-01 -8.30843419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1557692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:397.46, Y:-60.70, Z:-0.83 [[ 9.88503728e-01 1.51187267e-01 1.67041023e-03 3.97458474e+02] [-1.51187044e-01 9.88505139e-01 -2.60243871e-04 -6.07021370e+01] [-1.69055466e-03 4.70765247e-06 9.99998571e-01 -8.33967084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:397.49, Y:-60.71, Z:-0.83 [[ 9.88574743e-01 1.50722221e-01 1.67041944e-03 3.97487478e+02] [-1.50721997e-01 9.88576154e-01 -2.60184764e-04 -6.07078231e+01] [-1.69055245e-03 5.44313260e-06 9.99998571e-01 -8.33460995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2157692310001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:397.52, Y:-60.71, Z:-0.83 [[ 9.88608890e-01 1.50498078e-01 1.67042550e-03 3.97515731e+02] [-1.50497853e-01 9.88610302e-01 -2.60145817e-04 -6.07131574e+01] [-1.69055131e-03 5.78701557e-06 9.99998571e-01 -8.32936924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.55, Y:-60.72, Z:-0.83 [[ 9.88574996e-01 1.50720557e-01 1.67043457e-03 3.97545415e+02] [-1.50720333e-01 9.88576408e-01 -2.60087565e-04 -6.07184709e+01] [-1.69055275e-03 5.34760798e-06 9.99998571e-01 -8.32064592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2757692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:397.57, Y:-60.72, Z:-0.83 [[ 9.88475697e-01 1.51370425e-01 1.67044059e-03 3.97573355e+02] [-1.51370202e-01 9.88477109e-01 -2.60048927e-04 -6.07243100e+01] [-1.69055600e-03 4.19711599e-06 9.99998571e-01 -8.33484540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.60, Y:-60.73, Z:-0.84 [[ 9.88386635e-01 1.51950879e-01 1.67044955e-03 3.97602243e+02] [-1.51950656e-01 9.88388046e-01 -2.59991343e-04 -6.07299909e+01] [-1.69055828e-03 3.14606320e-06 9.99998571e-01 -8.35857631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3357692310001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:397.63, Y:-60.74, Z:-0.84 [[ 9.88181249e-01 1.53280882e-01 1.67045548e-03 3.97631788e+02] [-1.53280662e-01 9.88182661e-01 -2.59953267e-04 -6.07355282e+01] [-1.69056100e-03 8.32423031e-07 9.99998571e-01 -8.36626110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36576923100006 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.66, Y:-60.74, Z:-0.84 [[ 9.87615722e-01 1.56883380e-01 1.67046170e-03 3.97660540e+02] [-1.56883165e-01 9.87617135e-01 -2.59913264e-04 -6.07394249e+01] [-1.69055267e-03 -5.37289255e-06 9.99998571e-01 -8.37949068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39576923100003 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:397.69, Y:-60.74, Z:-0.84 [[ 9.87237809e-01 1.59244209e-01 1.67047098e-03 3.97688219e+02] [-1.59243997e-01 9.87239222e-01 -2.59853617e-04 -6.07423304e+01] [-1.69053465e-03 -9.47515942e-06 9.99998571e-01 -8.37680949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:397.72, Y:-60.74, Z:-0.84 [[ 9.86250470e-01 1.65248962e-01 1.67048612e-03 3.97717210e+02] [-1.65248759e-01 9.86251885e-01 -2.59756239e-04 -6.07429007e+01] [-1.69044453e-03 -1.98610459e-05 9.99998571e-01 -8.36864540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45576923100003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:397.75, Y:-60.75, Z:-0.84 [[ 9.86258293e-01 1.65202264e-01 1.67049844e-03 3.97746207e+02] [-1.65202061e-01 9.86259708e-01 -2.59676977e-04 -6.07473167e+01] [-1.69044453e-03 -1.98612133e-05 9.99998571e-01 -8.36914123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:397.77, Y:-60.75, Z:-0.84 [[ 9.85796539e-01 1.67935679e-01 1.67051073e-03 3.97774698e+02] [-1.67935480e-01 9.85797955e-01 -2.59597880e-04 -6.07489106e+01] [-1.69038181e-03 -2.46273305e-05 9.99998571e-01 -8.36395211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:397.80, Y:-60.75, Z:-0.84 [[ 9.85362799e-01 1.70462205e-01 1.67052301e-03 3.97802922e+02] [-1.70462010e-01 9.85364215e-01 -2.59518881e-04 -6.07498625e+01] [-1.69031175e-03 -2.90404589e-05 9.99998571e-01 -8.36163386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54576923100007 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:397.83, Y:-60.75, Z:-0.83 [[ 9.84452143e-01 1.75645060e-01 1.67053822e-03 3.97831682e+02] [-1.75644873e-01 9.84453560e-01 -2.59420916e-04 -6.07470906e+01] [-1.69013330e-03 -3.80339972e-05 9.99998571e-01 -8.33460322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57576923100004 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:397.86, Y:-60.75, Z:-0.83 [[ 9.84067780e-01 1.77785865e-01 1.67055227e-03 3.97860139e+02] [-1.77785681e-01 9.84069197e-01 -2.59330388e-04 -6.07473296e+01] [-1.69004431e-03 -4.18015945e-05 9.99998571e-01 -8.33119622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60576923100007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:397.89, Y:-60.75, Z:-0.83 [[ 9.83694655e-01 1.79838916e-01 1.67056900e-03 3.97888273e+02] [-1.79838735e-01 9.83696072e-01 -2.59222614e-04 -6.07477973e+01] [-1.68995047e-03 -4.54371153e-05 9.99998571e-01 -8.32559016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:397.92, Y:-60.75, Z:-0.83 [[ 9.83580771e-01 1.80460732e-01 1.67058728e-03 3.97916218e+02] [-1.80460552e-01 9.83582189e-01 -2.59104738e-04 -6.07476028e+01] [-1.68991812e-03 -4.66246652e-05 9.99998571e-01 -8.33305148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:397.95, Y:-60.74, Z:-0.84 [[ 9.84028007e-01 1.78005873e-01 1.67060558e-03 3.97945273e+02] [-1.78005690e-01 9.84029424e-01 -2.58986657e-04 -6.07446093e+01] [-1.69002620e-03 -4.25271760e-05 9.99998571e-01 -8.35698174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:397.97, Y:-60.75, Z:-0.83 [[ 9.84375149e-01 1.76076046e-01 1.67062392e-03 3.97972922e+02] [-1.76075861e-01 9.84376566e-01 -2.58868357e-04 -6.07459101e+01] [-1.69010355e-03 -3.93329663e-05 9.99998571e-01 -8.34640895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7257692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:398.00, Y:-60.75, Z:-0.83 [[ 9.84660902e-01 1.74470963e-01 1.67064212e-03 3.98000601e+02] [-1.74470775e-01 9.84662319e-01 -2.58750794e-04 -6.07469799e+01] [-1.69016285e-03 -3.66964360e-05 9.99998571e-01 -8.33383337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:398.03, Y:-60.74, Z:-0.83 [[ 9.84888578e-01 1.73181113e-01 1.67066023e-03 3.98028056e+02] [-1.73180923e-01 9.84889994e-01 -2.58633866e-04 -6.07444580e+01] [-1.69020704e-03 -3.46009387e-05 9.99998571e-01 -8.29411400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7857692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:398.06, Y:-60.75, Z:-0.83 [[ 9.84833027e-01 1.73496737e-01 1.67068126e-03 3.98056244e+02] [-1.73496548e-01 9.84834443e-01 -2.58497927e-04 -6.07452019e+01] [-1.69019299e-03 -3.52801357e-05 9.99998571e-01 -8.28373072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:398.08, Y:-60.75, Z:-0.83 [[ 9.84845553e-01 1.73425619e-01 1.67069922e-03 3.98083260e+02] [-1.73425430e-01 9.84846969e-01 -2.58381785e-04 -6.07462242e+01] [-1.69019309e-03 -3.52755791e-05 9.99998571e-01 -8.29042388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:398.11, Y:-60.75, Z:-0.83 [[ 9.84902270e-01 1.73103225e-01 1.67072004e-03 3.98111122e+02] [-1.73103035e-01 9.84903687e-01 -2.58247076e-04 -6.07479557e+01] [-1.69020173e-03 -3.48585787e-05 9.99998571e-01 -8.30380229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87576923100005 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:398.14, Y:-60.75, Z:-0.83 [[ 9.85094793e-01 1.72004237e-01 1.67073781e-03 3.98138801e+02] [-1.72004046e-01 9.85096209e-01 -2.58132083e-04 -6.07475131e+01] [-1.69023729e-03 -3.30890924e-05 9.99998571e-01 -8.33775611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9057692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:398.17, Y:-60.75, Z:-0.83 [[ 9.85253302e-01 1.71093949e-01 1.67075845e-03 3.98166791e+02] [-1.71093757e-01 9.85254718e-01 -2.57998429e-04 -6.07499972e+01] [-1.69026461e-03 -3.16625357e-05 9.99998571e-01 -8.33090418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:398.19, Y:-60.75, Z:-0.83 [[ 9.85440528e-01 1.70012279e-01 1.67077604e-03 3.98193265e+02] [-1.70012086e-01 9.85441943e-01 -2.57884470e-04 -6.07525060e+01] [-1.69029631e-03 -2.99223114e-05 9.99998571e-01 -8.31573581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9657692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:398.22, Y:-60.76, Z:-0.83 [[ 9.85612103e-01 1.69014763e-01 1.67079644e-03 3.98220950e+02] [-1.69014568e-01 9.85613519e-01 -2.57752200e-04 -6.07560688e+01] [-1.69032349e-03 -2.83452522e-05 9.99998571e-01 -8.29317489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:398.25, Y:-60.76, Z:-0.83 [[ 9.86288370e-01 1.65022601e-01 1.67081397e-03 3.98247561e+02] [-1.65022401e-01 9.86289785e-01 -2.57638504e-04 -6.07589112e+01] [-1.69042293e-03 -2.16158740e-05 9.99998571e-01 -8.27954768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0257692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:398.27, Y:-60.76, Z:-0.83 [[ 9.86769419e-01 1.62121320e-01 1.67084276e-03 3.98273951e+02] [-1.62121116e-01 9.86770833e-01 -2.57451660e-04 -6.07624649e+01] [-1.69047731e-03 -1.68334690e-05 9.99998571e-01 -8.29201703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:398.30, Y:-60.77, Z:-0.83 [[ 9.87729639e-01 1.56164556e-01 1.67086296e-03 3.98300616e+02] [-1.56164344e-01 9.87731052e-01 -2.57320517e-04 -6.07657803e+01] [-1.69054758e-03 -6.76611709e-06 9.99998571e-01 -8.29932843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0857692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:398.33, Y:-60.77, Z:-0.83 [[ 9.88148288e-01 1.53493221e-01 1.67088293e-03 3.98327214e+02] [-1.53493006e-01 9.88149701e-01 -2.57190783e-04 -6.07697960e+01] [-1.69055951e-03 -2.32621079e-06 9.99998571e-01 -8.28481419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:398.36, Y:-60.77, Z:-0.83 [[ 9.88552841e-01 1.50865797e-01 1.67090277e-03 3.98355263e+02] [-1.50865578e-01 9.88554253e-01 -2.57061813e-04 -6.07744532e+01] [-1.69055988e-03 2.03747212e-06 9.99998571e-01 -8.27300024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.38, Y:-60.78, Z:-0.83 [[ 9.88942617e-01 1.48289275e-01 1.67092063e-03 3.98383022e+02] [-1.48289052e-01 9.88944028e-01 -2.56945695e-04 -6.07792612e+01] [-1.69054927e-03 6.32531171e-06 9.99998571e-01 -8.27289515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.41, Y:-60.79, Z:-0.83 [[ 9.89504091e-01 1.44495195e-01 1.67093899e-03 3.98410595e+02] [-1.44494967e-01 9.89505502e-01 -2.56826259e-04 -6.07851070e+01] [-1.69051348e-03 1.26883596e-05 9.99998571e-01 -8.28107419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.44, Y:-60.79, Z:-0.83 [[ 9.89772602e-01 1.42644329e-01 1.67095414e-03 3.98437689e+02] [-1.42644099e-01 9.89774012e-01 -2.56727651e-04 -6.07899757e+01] [-1.69048772e-03 1.57502485e-05 9.99998571e-01 -8.29395877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.47, Y:-60.80, Z:-0.83 [[ 9.90024752e-01 1.40883634e-01 1.67097072e-03 3.98465779e+02] [-1.40883402e-01 9.90026162e-01 -2.56619653e-04 -6.07953360e+01] [-1.69045824e-03 1.86477684e-05 9.99998571e-01 -8.29895639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:398.49, Y:-60.80, Z:-0.83 [[ 9.90265844e-01 1.39178903e-01 1.67098292e-03 3.98493244e+02] [-1.39178668e-01 9.90267253e-01 -2.56540224e-04 -6.08011835e+01] [-1.69042465e-03 2.14778447e-05 9.99998571e-01 -8.30630948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.52, Y:-60.81, Z:-0.83 [[ 9.90635787e-01 1.36520863e-01 1.67099938e-03 3.98520632e+02] [-1.36520625e-01 9.90637196e-01 -2.56432921e-04 -6.08105599e+01] [-1.69036259e-03 2.59057491e-05 9.99998571e-01 -8.30091318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:398.55, Y:-60.82, Z:-0.83 [[ 9.90732500e-01 1.35817236e-01 1.67101143e-03 3.98548608e+02] [-1.35816996e-01 9.90733909e-01 -2.56354395e-04 -6.08177115e+01] [-1.69034503e-03 2.70268776e-05 9.99998571e-01 -8.29584200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.58, Y:-60.82, Z:-0.83 [[ 9.90780992e-01 1.35463031e-01 1.67102342e-03 3.98576174e+02] [-1.35462791e-01 9.90782401e-01 -2.56276215e-04 -6.08246376e+01] [-1.69033655e-03 2.75521060e-05 9.99998571e-01 -8.29998984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.60, Y:-60.83, Z:-0.83 [[ 9.90812534e-01 1.35232133e-01 1.67103840e-03 3.98603579e+02] [-1.35231893e-01 9.90813943e-01 -2.56178517e-04 -6.08314563e+01] [-1.69033171e-03 2.78471995e-05 9.99998571e-01 -8.32811539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.63, Y:-60.84, Z:-0.84 [[ 9.90747436e-01 1.35708235e-01 1.67105320e-03 3.98630405e+02] [-1.35707996e-01 9.90748845e-01 -2.56081906e-04 -6.08415550e+01] [-1.69034645e-03 2.69372112e-05 9.99998571e-01 -8.38148022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.66, Y:-60.85, Z:-0.84 [[ 9.90679664e-01 1.36202098e-01 1.67106787e-03 3.98657284e+02] [-1.36201860e-01 9.90681073e-01 -2.55986142e-04 -6.08490682e+01] [-1.69036116e-03 2.59977120e-05 9.99998571e-01 -8.39217512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4757692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:398.69, Y:-60.86, Z:-0.84 [[ 9.90428049e-01 1.38019878e-01 1.67108361e-03 3.98685139e+02] [-1.38019643e-01 9.90429459e-01 -2.55883359e-04 -6.08591392e+01] [-1.69040743e-03 2.27916927e-05 9.99998571e-01 -8.36022882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.71, Y:-60.87, Z:-0.84 [[ 9.90316183e-01 1.38820263e-01 1.67109527e-03 3.98713029e+02] [-1.38820029e-01 9.90317593e-01 -2.55807170e-04 -6.08662208e+01] [-1.69042627e-03 2.13484856e-05 9.99998571e-01 -8.35884323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5357692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:398.74, Y:-60.87, Z:-0.84 [[ 9.90251896e-01 1.39278101e-01 1.67110738e-03 3.98739962e+02] [-1.39277868e-01 9.90253306e-01 -2.55728045e-04 -6.08730887e+01] [-1.69043693e-03 2.04869084e-05 9.99998571e-01 -8.36623050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.77, Y:-60.88, Z:-0.84 [[ 9.90088469e-01 1.40435145e-01 1.67112248e-03 3.98766394e+02] [-1.40434914e-01 9.90089880e-01 -2.55629338e-04 -6.08843278e+01] [-1.69046080e-03 1.84117188e-05 9.99998571e-01 -8.35512536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.79, Y:-60.89, Z:-0.83 [[ 9.89960384e-01 1.41335220e-01 1.67113395e-03 3.98794832e+02] [-1.41334990e-01 9.89961795e-01 -2.55554323e-04 -6.08921968e+01] [-1.69047759e-03 1.67989555e-05 9.99998571e-01 -8.33453682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.82, Y:-60.90, Z:-0.83 [[ 9.89769440e-01 1.42666266e-01 1.67114600e-03 3.98822443e+02] [-1.42666038e-01 9.89770850e-01 -2.55475503e-04 -6.08994968e+01] [-1.69049934e-03 1.44460673e-05 9.99998571e-01 -8.32262907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6557692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:398.85, Y:-60.91, Z:-0.83 [[ 9.89343260e-01 1.45592310e-01 1.67115496e-03 3.98850092e+02] [-1.45592086e-01 9.89344672e-01 -2.55416918e-04 -6.09086205e+01] [-1.69053499e-03 9.38806921e-06 9.99998571e-01 -8.32648326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:398.88, Y:-60.92, Z:-0.83 [[ 9.89185965e-01 1.46657197e-01 1.67116691e-03 3.98878108e+02] [-1.46656975e-01 9.89187377e-01 -2.55338687e-04 -6.09155574e+01] [-1.69054447e-03 7.48916259e-06 9.99998571e-01 -8.33311814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7157692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:398.91, Y:-60.92, Z:-0.83 [[ 9.89079702e-01 1.47372152e-01 1.67117321e-03 3.98906773e+02] [-1.47371931e-01 9.89081113e-01 -2.55297463e-04 -6.09228707e+01] [-1.69054959e-03 6.22551603e-06 9.99998571e-01 -8.33585204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:398.94, Y:-60.93, Z:-0.83 [[ 9.88930166e-01 1.48372278e-01 1.67117915e-03 3.98935398e+02] [-1.48372059e-01 9.88931579e-01 -2.55258554e-04 -6.09333833e+01] [-1.69055513e-03 4.47659347e-06 9.99998571e-01 -8.33745945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7757692310001 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:398.96, Y:-60.94, Z:-0.83 [[ 9.88841129e-01 1.48964521e-01 1.67118510e-03 3.98963486e+02] [-1.48964303e-01 9.88842541e-01 -2.55219625e-04 -6.09402881e+01] [-1.69055759e-03 3.42473924e-06 9.99998571e-01 -8.34377278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:398.99, Y:-60.95, Z:-0.84 [[ 9.88696279e-01 1.49922894e-01 1.67119397e-03 3.98992052e+02] [-1.49922676e-01 9.88697692e-01 -2.55161520e-04 -6.09476438e+01] [-1.69056017e-03 1.72737352e-06 9.99998571e-01 -8.36056681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8357692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:399.02, Y:-60.95, Z:-0.84 [[ 9.88524937e-01 1.51048524e-01 1.67119982e-03 3.99019823e+02] [-1.51048308e-01 9.88526349e-01 -2.55123160e-04 -6.09545640e+01] [-1.69056104e-03 -2.36300757e-07 9.99998571e-01 -8.37316601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86576923100006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:399.05, Y:-60.96, Z:-0.84 [[ 9.88009061e-01 1.54386857e-01 1.67120565e-03 3.99048615e+02] [-1.54386647e-01 9.88010475e-01 -2.55084995e-04 -6.09632174e+01] [-1.69055046e-03 -5.98554993e-06 9.99998571e-01 -8.36060670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89576923100003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:399.08, Y:-60.97, Z:-0.83 [[ 9.87745575e-01 1.56063728e-01 1.67121141e-03 3.99077306e+02] [-1.56063519e-01 9.87746988e-01 -2.55047220e-04 -6.09686451e+01] [-1.69053766e-03 -8.89337178e-06 9.99998571e-01 -8.33835200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:399.11, Y:-60.97, Z:-0.83 [[ 9.87499180e-01 1.57615282e-01 1.67121719e-03 3.99105037e+02] [-1.57615076e-01 9.87500594e-01 -2.55009357e-04 -6.09741253e+01] [-1.69052134e-03 -1.15874936e-05 9.99998571e-01 -8.30807893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95576923100003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:399.13, Y:-60.98, Z:-0.83 [[ 9.87213668e-01 1.59393792e-01 1.67122579e-03 3.99134610e+02] [-1.59393589e-01 9.87215082e-01 -2.54952999e-04 -6.09812108e+01] [-1.69049723e-03 -1.46895907e-05 9.99998571e-01 -8.26690161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98576923100006 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:399.16, Y:-60.99, Z:-0.83 [[ 9.87147747e-01 1.59801543e-01 1.67122579e-03 3.99163589e+02] [-1.59801341e-01 9.87149161e-01 -2.54952999e-04 -6.09872686e+01] [-1.69049102e-03 -1.53878432e-05 9.99998571e-01 -8.27044376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01576923100004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:399.19, Y:-60.99, Z:-0.83 [[ 9.87096350e-01 1.60118717e-01 1.67122884e-03 3.99193304e+02] [-1.60118515e-01 9.87097764e-01 -2.54932986e-04 -6.09938215e+01] [-1.69048580e-03 -1.59512612e-05 9.99998571e-01 -8.29644261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:399.22, Y:-61.00, Z:-0.83 [[ 9.87004307e-01 1.60685114e-01 1.67122884e-03 3.99222113e+02] [-1.60684913e-01 9.87005721e-01 -2.54932986e-04 -6.10000053e+01] [-1.69047636e-03 -1.69213057e-05 9.99998571e-01 -8.33554013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:399.25, Y:-61.01, Z:-0.84 [[ 9.86687350e-01 1.62620049e-01 1.67123168e-03 3.99251375e+02] [-1.62619850e-01 9.86688765e-01 -2.54914385e-04 -6.10064391e+01] [-1.69043971e-03 -2.02546463e-05 9.99998571e-01 -8.40211127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10576923100007 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:399.28, Y:-61.01, Z:-0.84 [[ 9.86532804e-01 1.63554987e-01 1.67123723e-03 3.99281397e+02] [-1.63554790e-01 9.86534219e-01 -2.54877981e-04 -6.10105616e+01] [-1.69041928e-03 -2.18933646e-05 9.99998571e-01 -8.39576335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13576923100004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:399.31, Y:-61.01, Z:-0.84 [[ 9.86348911e-01 1.64660357e-01 1.67123723e-03 3.99310697e+02] [-1.64660161e-01 9.86350326e-01 -2.54877981e-04 -6.10146026e+01] [-1.69039369e-03 -2.37875729e-05 9.99998571e-01 -8.38444977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16576923100007 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:399.34, Y:-61.02, Z:-0.84 [[ 9.86221720e-01 1.65420453e-01 1.67124025e-03 3.99340805e+02] [-1.65420258e-01 9.86223136e-01 -2.54858209e-04 -6.10191390e+01] [-1.69037456e-03 -2.51102916e-05 9.99998571e-01 -8.36146831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:399.37, Y:-61.02, Z:-0.83 [[ 9.86110619e-01 1.66081471e-01 1.67124025e-03 3.99371166e+02] [-1.66081277e-01 9.86112034e-01 -2.54858209e-04 -6.10241851e+01] [-1.69035734e-03 -2.62433281e-05 9.99998571e-01 -8.31428301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2257692310001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:399.40, Y:-61.03, Z:-0.83 [[ 9.86095068e-01 1.66173775e-01 1.67124025e-03 3.99400684e+02] [-1.66173581e-01 9.86096484e-01 -2.54858209e-04 -6.10281927e+01] [-1.69035488e-03 -2.64015537e-05 9.99998571e-01 -8.29611775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:399.43, Y:-61.03, Z:-0.83 [[ 9.86053744e-01 1.66418814e-01 1.67124322e-03 3.99431189e+02] [-1.66418621e-01 9.86055159e-01 -2.54838673e-04 -6.10315437e+01] [-1.69034795e-03 -2.68413658e-05 9.99998571e-01 -8.29725049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2857692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:399.46, Y:-61.03, Z:-0.83 [[ 9.85838875e-01 1.67686969e-01 1.67124322e-03 3.99461948e+02] [-1.67686777e-01 9.85840291e-01 -2.54838673e-04 -6.10317580e+01] [-1.69031203e-03 -2.90155198e-05 9.99998571e-01 -8.34167339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:399.49, Y:-61.03, Z:-0.84 [[ 9.85826442e-01 1.67760048e-01 1.67124322e-03 3.99491655e+02] [-1.67759857e-01 9.85827858e-01 -2.54838673e-04 -6.10327240e+01] [-1.69030988e-03 -2.91408214e-05 9.99998571e-01 -8.36934601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3457692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:399.52, Y:-61.04, Z:-0.84 [[ 9.85830387e-01 1.67736862e-01 1.67124922e-03 3.99521483e+02] [-1.67736671e-01 9.85831803e-01 -2.54799346e-04 -6.10372262e+01] [-1.69030988e-03 -2.91408435e-05 9.99998571e-01 -8.36985595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:399.55, Y:-61.04, Z:-0.84 [[ 9.85921589e-01 1.67199962e-01 1.67125521e-03 3.99550778e+02] [-1.67199770e-01 9.85923005e-01 -2.54760041e-04 -6.10381555e+01] [-1.69032483e-03 -2.82600633e-05 9.99998571e-01 -8.39605633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4057692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:399.58, Y:-61.04, Z:-0.84 [[ 9.86315311e-01 1.64861498e-01 1.67126415e-03 3.99581309e+02] [-1.64861303e-01 9.86316727e-01 -2.54701395e-04 -6.10373584e+01] [-1.69038624e-03 -2.43108999e-05 9.99998571e-01 -8.39399178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43576923100005 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:399.61, Y:-61.04, Z:-0.84 [[ 9.86581048e-01 1.63263721e-01 1.67127008e-03 3.99610625e+02] [-1.63263524e-01 9.86582463e-01 -2.54662485e-04 -6.10393565e+01] [-1.69042290e-03 -2.16122613e-05 9.99998571e-01 -8.37624154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4657692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:399.64, Y:-61.04, Z:-0.84 [[ 9.87314903e-01 1.58765514e-01 1.67127599e-03 3.99640437e+02] [-1.58765310e-01 9.87316318e-01 -2.54623691e-04 -6.10386767e+01] [-1.69050352e-03 -1.39468865e-05 9.99998571e-01 -8.35242789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49576923100005 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:399.67, Y:-61.04, Z:-0.84 [[ 9.87833904e-01 1.55503648e-01 1.67128200e-03 3.99669068e+02] [-1.55503440e-01 9.87835318e-01 -2.54584210e-04 -6.10405945e+01] [-1.69054016e-03 -8.40318576e-06 9.99998571e-01 -8.36083311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5257692310001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:399.70, Y:-61.04, Z:-0.84 [[ 9.88416960e-01 1.51753485e-01 1.67129099e-03 3.99698735e+02] [-1.51753272e-01 9.88418373e-01 -2.54525215e-04 -6.10436199e+01] [-1.69055981e-03 -2.04683637e-06 9.99998571e-01 -8.37124802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:399.73, Y:-61.05, Z:-0.84 [[ 9.89607528e-01 1.43785070e-01 1.67129710e-03 3.99727693e+02] [-1.43784846e-01 9.89608940e-01 -2.54485090e-04 -6.10483020e+01] [-1.69052170e-03 1.15331659e-05 9.99998571e-01 -8.38784048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5857692310001 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:399.76, Y:-61.05, Z:-0.84 [[ 9.90151815e-01 1.39987822e-01 1.67130015e-03 3.99757356e+02] [-1.39987592e-01 9.90153225e-01 -2.54465047e-04 -6.10546477e+01] [-1.69046524e-03 1.79977441e-05 9.99998571e-01 -8.38893070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61576923100006 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:399.79, Y:-61.06, Z:-0.84 [[ 9.90653959e-01 1.36388927e-01 1.67130015e-03 3.99785665e+02] [-1.36388692e-01 9.90655369e-01 -2.54465047e-04 -6.10614351e+01] [-1.69038868e-03 2.41403652e-05 9.99998571e-01 -8.39108746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:399.82, Y:-61.07, Z:-0.84 [[ 9.91099747e-01 1.33110848e-01 1.67130304e-03 3.99816410e+02] [-1.33110608e-01 9.91101156e-01 -2.54446059e-04 -6.10695142e+01] [-1.69029991e-03 2.97132601e-05 9.99998571e-01 -8.39236824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:399.85, Y:-61.08, Z:-0.84 [[ 9.91735204e-01 1.28290654e-01 1.67129703e-03 3.99846791e+02] [-1.28290407e-01 9.91736612e-01 -2.54485520e-04 -6.10820567e+01] [-1.69013457e-03 3.79708723e-05 9.99998571e-01 -8.38071128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70576923100003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:399.88, Y:-61.09, Z:-0.84 [[ 9.91832963e-01 1.27532664e-01 1.67125454e-03 3.99878361e+02] [-1.27532416e-01 9.91834370e-01 -2.54764241e-04 -6.10910533e+01] [-1.69009846e-03 3.95444425e-05 9.99998571e-01 -8.36701155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:399.91, Y:-61.10, Z:-0.84 [[ 9.91784950e-01 1.27905509e-01 1.67121209e-03 3.99909389e+02] [-1.27905260e-01 9.91786358e-01 -2.55042407e-04 -6.10992711e+01] [-1.69010668e-03 3.91904038e-05 9.99998571e-01 -8.35647283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:399.94, Y:-61.11, Z:-0.83 [[ 9.91602099e-01 1.29315449e-01 1.67116911e-03 3.99939389e+02] [-1.29315202e-01 9.91603506e-01 -2.55323718e-04 -6.11077515e+01] [-1.69015445e-03 3.70719621e-05 9.99998571e-01 -8.34153692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:399.97, Y:-61.12, Z:-0.83 [[ 9.91028547e-01 1.33639913e-01 1.67112953e-03 3.99968399e+02] [-1.33639672e-01 9.91029956e-01 -2.55582564e-04 -6.11210117e+01] [-1.69029545e-03 2.99604156e-05 9.99998571e-01 -8.32987374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:400.00, Y:-61.13, Z:-0.83 [[ 9.90612532e-01 1.36689498e-01 1.67108845e-03 3.99999011e+02] [-1.36689261e-01 9.90613941e-01 -2.55850840e-04 -6.11303697e+01] [-1.69037564e-03 2.50292027e-05 9.99998571e-01 -8.34361845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85576923100007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:400.03, Y:-61.14, Z:-0.84 [[ 9.90159973e-01 1.39930112e-01 1.67104606e-03 4.00030850e+02] [-1.39929879e-01 9.90161382e-01 -2.56127430e-04 -6.11391391e+01] [-1.69044521e-03 1.97778553e-05 9.99998571e-01 -8.37023990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88576923100004 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:400.06, Y:-61.15, Z:-0.84 [[ 9.89430346e-01 1.44999301e-01 1.67099642e-03 4.00061493e+02] [-1.44999075e-01 9.89431757e-01 -2.56450858e-04 -6.11511215e+01] [-1.69052212e-03 1.14473261e-05 9.99998571e-01 -8.41898136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91576923100007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:400.09, Y:-61.16, Z:-0.84 [[ 9.89206682e-01 1.46517398e-01 1.67095002e-03 4.00093902e+02] [-1.46517174e-01 9.89208093e-01 -2.56752855e-04 -6.11596492e+01] [-1.69053604e-03 9.15876582e-06 9.99998571e-01 -8.41486803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:400.13, Y:-61.17, Z:-0.84 [[ 9.89014145e-01 1.47811464e-01 1.67090064e-03 4.00125064e+02] [-1.47811241e-01 9.89015556e-01 -2.57073812e-04 -6.11680900e+01] [-1.69054518e-03 7.27174015e-06 9.99998571e-01 -8.42061959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9757692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:400.16, Y:-61.18, Z:-0.84 [[ 9.88685796e-01 1.49992015e-01 1.67086987e-03 4.00155896e+02] [-1.49991794e-01 9.88687208e-01 -2.57273595e-04 -6.11790744e+01] [-1.69055666e-03 3.74597861e-06 9.99998571e-01 -8.43803406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:400.19, Y:-61.19, Z:-0.85 [[ 9.88474649e-01 1.51377265e-01 1.67082596e-03 4.00186812e+02] [-1.51377046e-01 9.88476061e-01 -2.57558467e-04 -6.11865948e+01] [-1.69055996e-03 1.66531674e-06 9.99998571e-01 -8.45652213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0357692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:400.22, Y:-61.19, Z:-0.85 [[ 9.88142843e-01 1.53528273e-01 1.67077913e-03 4.00219314e+02] [-1.53528057e-01 9.88144255e-01 -2.57861879e-04 -6.11939288e+01] [-1.69055989e-03 -1.70710383e-06 9.99998571e-01 -8.45065341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:400.25, Y:-61.20, Z:-0.84 [[ 9.87287755e-01 1.58934253e-01 1.67073137e-03 4.00250312e+02] [-1.58934043e-01 9.87289169e-01 -2.58170972e-04 -6.12006854e+01] [-1.69052720e-03 -1.06470526e-05 9.99998571e-01 -8.43337666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0957692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.28, Y:-61.21, Z:-0.84 [[ 9.86751924e-01 1.62227767e-01 1.67070167e-03 4.00283363e+02] [-1.62227562e-01 9.86753339e-01 -2.58363043e-04 -6.12059464e+01] [-1.69048411e-03 -1.60936284e-05 9.99998571e-01 -8.43015954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:400.31, Y:-61.21, Z:-0.84 [[ 9.86193167e-01 1.65590598e-01 1.67065351e-03 4.00314752e+02] [-1.65590398e-01 9.86194582e-01 -2.58674045e-04 -6.12100679e+01] [-1.69042343e-03 -2.15416042e-05 9.99998571e-01 -8.43616013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1557692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:400.35, Y:-61.21, Z:-0.84 [[ 9.85180297e-01 1.71513825e-01 1.67060848e-03 4.00346895e+02] [-1.71513632e-01 9.85181713e-01 -2.58964574e-04 -6.12114329e+01] [-1.69026893e-03 -3.14053317e-05 9.99998571e-01 -8.41647951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.38, Y:-61.21, Z:-0.84 [[ 9.84812402e-01 1.73613774e-01 1.67056643e-03 4.00379585e+02] [-1.73613584e-01 9.84813818e-01 -2.59235576e-04 -6.12142708e+01] [-1.69020377e-03 -3.47346133e-05 9.99998571e-01 -8.39612686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.41, Y:-61.22, Z:-0.84 [[ 9.84562563e-01 1.75025052e-01 1.67051731e-03 4.00411832e+02] [-1.75024863e-01 9.84563980e-01 -2.59551714e-04 -6.12169749e+01] [-1.69015922e-03 -3.68371626e-05 9.99998571e-01 -8.38177195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.44, Y:-61.22, Z:-0.84 [[ 9.84426741e-01 1.75787374e-01 1.67047152e-03 4.00444184e+02] [-1.75787186e-01 9.84428158e-01 -2.59846085e-04 -6.12182695e+01] [-1.69013686e-03 -3.78480524e-05 9.99998571e-01 -8.36846639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.48, Y:-61.22, Z:-0.84 [[ 9.84486732e-01 1.75451087e-01 1.67042874e-03 4.00475048e+02] [-1.75450898e-01 9.84488149e-01 -2.60120752e-04 -6.12219338e+01] [-1.69015577e-03 -3.69927937e-05 9.99998571e-01 -8.38541927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.51, Y:-61.23, Z:-0.84 [[ 9.84582587e-01 1.74912376e-01 1.67038921e-03 4.00507389e+02] [-1.74912186e-01 9.84584003e-01 -2.60374404e-04 -6.12258316e+01] [-1.69018120e-03 -3.58113234e-05 9.99998571e-01 -8.39473154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.54, Y:-61.23, Z:-0.84 [[ 9.84657077e-01 1.74492551e-01 1.67034972e-03 4.00538950e+02] [-1.74492360e-01 9.84658493e-01 -2.60627644e-04 -6.12296451e+01] [-1.69020162e-03 -3.48344104e-05 9.99998571e-01 -8.39878139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.57, Y:-61.23, Z:-0.84 [[ 9.84534134e-01 1.75184901e-01 1.67036242e-03 4.00570543e+02] [-1.75184711e-01 9.84535550e-01 -2.60546224e-04 -6.12311261e+01] [-1.69017495e-03 -3.61053063e-05 9.99998571e-01 -8.38200347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.60, Y:-61.23, Z:-0.84 [[ 9.84371058e-01 1.76098922e-01 1.67032199e-03 4.00600496e+02] [-1.76098732e-01 9.84372474e-01 -2.60805181e-04 -6.12341175e+01] [-1.69014650e-03 -3.74125126e-05 9.99998571e-01 -8.38714894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.63, Y:-61.24, Z:-0.84 [[ 9.84229602e-01 1.76887819e-01 1.67032199e-03 4.00630622e+02] [-1.76887631e-01 9.84231019e-01 -2.60805181e-04 -6.12376419e+01] [-1.69011597e-03 -3.87671200e-05 9.99998571e-01 -8.39694103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.66, Y:-61.24, Z:-0.84 [[ 9.84213305e-01 1.76978475e-01 1.67031898e-03 4.00660486e+02] [-1.76978287e-01 9.84214721e-01 -2.60824424e-04 -6.12413658e+01] [-1.69011284e-03 -3.89033241e-05 9.99998571e-01 -8.40693902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.69, Y:-61.25, Z:-0.84 [[ 9.84611352e-01 1.74750383e-01 1.67031898e-03 4.00690511e+02] [-1.74750192e-01 9.84612768e-01 -2.60824424e-04 -6.12454249e+01] [-1.69019656e-03 -3.50778744e-05 9.99998571e-01 -8.42854043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.72, Y:-61.25, Z:-0.84 [[ 9.84982390e-01 1.72646753e-01 1.67031597e-03 4.00720836e+02] [-1.72646559e-01 9.84983806e-01 -2.60843734e-04 -6.12511839e+01] [-1.69026800e-03 -3.14478194e-05 9.99998571e-01 -8.44702577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.75, Y:-61.26, Z:-0.84 [[ 9.86105930e-01 1.66109314e-01 1.67030996e-03 4.00751864e+02] [-1.66109111e-01 9.86107345e-01 -2.60882210e-04 -6.12607572e+01] [-1.69043988e-03 -2.01962068e-05 9.99998571e-01 -8.44728218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.78, Y:-61.27, Z:-0.84 [[ 9.86799653e-01 1.61937193e-01 1.67026494e-03 4.00782494e+02] [-1.61936983e-01 9.86801067e-01 -2.61170129e-04 -6.12681242e+01] [-1.69051238e-03 -1.27550707e-05 9.99998571e-01 -8.42857530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:400.81, Y:-61.28, Z:-0.84 [[ 9.87411812e-01 1.58161701e-01 1.67022607e-03 4.00814871e+02] [-1.58161485e-01 9.87413225e-01 -2.61418472e-04 -6.12761186e+01] [-1.69054970e-03 -6.03774847e-06 9.99998571e-01 -8.41566534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.85, Y:-61.29, Z:-0.84 [[ 9.88272534e-01 1.52691222e-01 1.67017838e-03 4.00846657e+02] [-1.52690998e-01 9.88273945e-01 -2.61722772e-04 -6.12873560e+01] [-1.69055655e-03 3.63222356e-06 9.99998571e-01 -8.43133546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.88, Y:-61.30, Z:-0.85 [[ 9.88483939e-01 1.51316600e-01 1.67012972e-03 4.00878249e+02] [-1.51316373e-01 9.88485350e-01 -2.62032951e-04 -6.12956388e+01] [-1.69054869e-03 6.29739238e-06 9.99998571e-01 -8.45523236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.91, Y:-61.30, Z:-0.85 [[ 9.88501585e-01 1.51201279e-01 1.67008616e-03 4.00907953e+02] [-1.51201051e-01 9.88502996e-01 -2.62310257e-04 -6.13042702e+01] [-1.69054682e-03 6.77532203e-06 9.99998571e-01 -8.48945230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.94, Y:-61.31, Z:-0.85 [[ 9.88266478e-01 1.52730411e-01 1.67006151e-03 4.00939952e+02] [-1.52730186e-01 9.88267890e-01 -2.62467134e-04 -6.13112088e+01] [-1.69055487e-03 4.31866637e-06 9.99998571e-01 -8.47331002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.97, Y:-61.32, Z:-0.84 [[ 9.87958952e-01 1.54707209e-01 1.67001336e-03 4.00971851e+02] [-1.54706986e-01 9.87960363e-01 -2.62773121e-04 -6.13185166e+01] [-1.69055990e-03 1.24632419e-06 9.99998571e-01 -8.44583427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.00, Y:-61.33, Z:-0.84 [[ 9.87601517e-01 1.56972781e-01 1.66996506e-03 4.01003075e+02] [-1.56972561e-01 9.87602929e-01 -2.63079734e-04 -6.13262446e+01] [-1.69055874e-03 -2.32074634e-06 9.99998571e-01 -8.42626556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.03, Y:-61.34, Z:-0.84 [[ 9.86996693e-01 1.60731886e-01 1.66993509e-03 4.01034936e+02] [-1.60731670e-01 9.86998106e-01 -2.63269853e-04 -6.13351404e+01] [-1.69053863e-03 -8.56498135e-06 9.99998571e-01 -8.41331613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.07, Y:-61.34, Z:-0.84 [[ 9.86660873e-01 1.62780631e-01 1.66988465e-03 4.01066101e+02] [-1.62780418e-01 9.86662286e-01 -2.63589389e-04 -6.13414007e+01] [-1.69051945e-03 -1.17511835e-05 9.99998571e-01 -8.41451981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.10, Y:-61.35, Z:-0.84 [[ 9.86329681e-01 1.64775520e-01 1.66985328e-03 4.01098885e+02] [-1.64775309e-01 9.86331094e-01 -2.63787962e-04 -6.13482246e+01] [-1.69049401e-03 -1.49686945e-05 9.99998571e-01 -8.41621151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:-61.36, Z:-0.84 [[ 9.85996807e-01 1.66755836e-01 1.66980555e-03 4.01131517e+02] [-1.66755628e-01 9.85998221e-01 -2.64089735e-04 -6.13558441e+01] [-1.69046381e-03 -1.80578378e-05 9.99998571e-01 -8.40631317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.16, Y:-61.36, Z:-0.84 [[ 9.85344927e-01 1.70565492e-01 1.66975441e-03 4.01162342e+02] [-1.70565289e-01 9.85346341e-01 -2.64412679e-04 -6.13645315e+01] [-1.69038608e-03 -2.42644519e-05 9.99998571e-01 -8.41557363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.20, Y:-61.37, Z:-0.84 [[ 9.85035374e-01 1.72344200e-01 1.66970682e-03 4.01195026e+02] [-1.72343999e-01 9.85036789e-01 -2.64712890e-04 -6.13706907e+01] [-1.69034437e-03 -2.70123897e-05 9.99998571e-01 -8.41248552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.23, Y:-61.38, Z:-0.84 [[ 9.84763280e-01 1.73892193e-01 1.66965710e-03 4.01226775e+02] [-1.73891993e-01 9.84764695e-01 -2.65026087e-04 -6.13762903e+01] [-1.69030533e-03 -2.93520432e-05 9.99998571e-01 -8.41136116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.26, Y:-61.38, Z:-0.84 [[ 9.84267859e-01 1.76674828e-01 1.66961064e-03 4.01259779e+02] [-1.76674632e-01 9.84269274e-01 -2.65318469e-04 -6.13816278e+01] [-1.69022155e-03 -3.38334038e-05 9.99998571e-01 -8.41893796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.29, Y:-61.39, Z:-0.84 [[ 9.84014974e-01 1.78077913e-01 1.66956087e-03 4.01291650e+02] [-1.78077719e-01 9.84016390e-01 -2.65631316e-04 -6.13864712e+01] [-1.69017833e-03 -3.59263975e-05 9.99998571e-01 -8.43418959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.32, Y:-61.39, Z:-0.84 [[ 9.83796804e-01 1.79279280e-01 1.66952990e-03 4.01324418e+02] [-1.79279087e-01 9.83798220e-01 -2.65825787e-04 -6.13910661e+01] [-1.69013760e-03 -3.77932370e-05 9.99998571e-01 -8.42493064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.36, Y:-61.39, Z:-0.84 [[ 9.83390285e-01 1.81495898e-01 1.66947996e-03 4.01356002e+02] [-1.81495707e-01 9.83391701e-01 -2.66139076e-04 -6.13933220e+01] [-1.69005589e-03 -4.12848639e-05 9.99998571e-01 -8.40310066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.39, Y:-61.40, Z:-0.84 [[ 9.83111139e-01 1.83001916e-01 1.66943338e-03 4.01388523e+02] [-1.83001728e-01 9.83112555e-01 -2.66430907e-04 -6.13971517e+01] [-1.68999829e-03 -4.35780009e-05 9.99998571e-01 -8.39087295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.42, Y:-61.40, Z:-0.84 [[ 9.82793465e-01 1.84700348e-01 1.66938414e-03 4.01421744e+02] [-1.84700162e-01 9.82794882e-01 -2.66739084e-04 -6.14011339e+01] [-1.68992899e-03 -4.61860921e-05 9.99998571e-01 -8.39803675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.45, Y:-61.40, Z:-0.85 [[ 9.82163812e-01 1.88019838e-01 1.66933506e-03 4.01454584e+02] [-1.88019656e-01 9.82165229e-01 -2.67045900e-04 -6.14024867e+01] [-1.68977278e-03 -5.15849847e-05 9.99998571e-01 -8.46002532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.49, Y:-61.41, Z:-0.85 [[ 9.81767120e-01 1.90080339e-01 1.66931934e-03 4.01485711e+02] [-1.90080159e-01 9.81768538e-01 -2.67144147e-04 -6.14052239e+01] [-1.68966406e-03 -5.50311459e-05 9.99998571e-01 -8.49324175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.52, Y:-61.41, Z:-0.85 [[ 9.81732787e-01 1.90257583e-01 1.66927873e-03 4.01518752e+02] [-1.90257404e-01 9.81734205e-01 -2.67397630e-04 -6.14107112e+01] [-1.68966246e-03 -5.50796167e-05 9.99998571e-01 -8.49380831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.55, Y:-61.41, Z:-0.85 [[ 9.80989743e-01 1.94052412e-01 1.66923040e-03 4.01551443e+02] [-1.94052237e-01 9.80991161e-01 -2.67698992e-04 -6.14119927e+01] [-1.68944791e-03 -6.13079291e-05 9.99998571e-01 -8.47479525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.58, Y:-61.42, Z:-0.85 [[ 9.80589790e-01 1.96063454e-01 1.66918667e-03 4.01582467e+02] [-1.96063281e-01 9.80591208e-01 -2.67971378e-04 -6.14152673e+01] [-1.68932917e-03 -6.44962198e-05 9.99998571e-01 -8.45761922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.61, Y:-61.42, Z:-0.84 [[ 9.80326951e-01 1.97373460e-01 1.66914616e-03 4.01613002e+02] [-1.97373289e-01 9.80328370e-01 -2.68223491e-04 -6.14181354e+01] [-1.68925153e-03 -6.64981502e-05 9.99998571e-01 -8.43553670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.64, Y:-61.42, Z:-0.84 [[ 9.80156204e-01 1.98219649e-01 1.66914317e-03 4.01643924e+02] [-1.98219479e-01 9.80157623e-01 -2.68242114e-04 -6.14209876e+01] [-1.68919426e-03 -6.79375169e-05 9.99998571e-01 -8.40347939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.67, Y:-61.42, Z:-0.84 [[ 9.80153620e-01 1.98232428e-01 1.66913703e-03 4.01674103e+02] [-1.98232258e-01 9.80155039e-01 -2.68280320e-04 -6.14214819e+01] [-1.68919493e-03 -6.79208757e-05 9.99998571e-01 -8.37089351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.70, Y:-61.42, Z:-0.84 [[ 9.80156238e-01 1.98219484e-01 1.66913396e-03 4.01704315e+02] [-1.98219314e-01 9.80157657e-01 -2.68299430e-04 -6.14241018e+01] [-1.68919660e-03 -6.78792271e-05 9.99998571e-01 -8.37056761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.73, Y:-61.43, Z:-0.84 [[ 9.80194059e-01 1.98032372e-01 1.66913092e-03 4.01733665e+02] [-1.98032201e-01 9.80195478e-01 -2.68318342e-04 -6.14265631e+01] [-1.68921029e-03 -6.75376243e-05 9.99998571e-01 -8.37872301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.76, Y:-61.43, Z:-0.84 [[ 9.80282892e-01 1.97592170e-01 1.66912750e-03 4.01763114e+02] [-1.97591999e-01 9.80284311e-01 -2.68339568e-04 -6.14294293e+01] [-1.68924130e-03 -6.67575531e-05 9.99998571e-01 -8.37738203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.79, Y:-61.43, Z:-0.84 [[ 9.80343703e-01 1.97290237e-01 1.66913355e-03 4.01792008e+02] [-1.97290066e-01 9.80345122e-01 -2.68301978e-04 -6.14290368e+01] [-1.68926029e-03 -6.62753130e-05 9.99998571e-01 -8.36883482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.82, Y:-61.43, Z:-0.84 [[ 9.80219500e-01 1.97906408e-01 1.66914066e-03 4.01820810e+02] [-1.97906238e-01 9.80220918e-01 -2.68257687e-04 -6.14309425e+01] [-1.68921651e-03 -6.73819333e-05 9.99998571e-01 -8.37792999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:-61.43, Z:-0.84 [[ 9.80175710e-01 1.98123173e-01 1.66914963e-03 4.01850917e+02] [-1.98123004e-01 9.80177129e-01 -2.68201907e-04 -6.14330394e+01] [-1.68919930e-03 -6.78119425e-05 9.99998571e-01 -8.39120093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.88, Y:-61.43, Z:-0.84 [[ 9.80291218e-01 1.97550861e-01 1.66915557e-03 4.01880690e+02] [-1.97550690e-01 9.80292636e-01 -2.68164923e-04 -6.14324988e+01] [-1.68923712e-03 -6.68631147e-05 9.99998571e-01 -8.39854008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.91, Y:-61.43, Z:-0.84 [[ 9.80489258e-01 1.96565584e-01 1.66916740e-03 4.01909057e+02] [-1.96565412e-01 9.80490677e-01 -2.68091284e-04 -6.14335672e+01] [-1.68930059e-03 -6.52399522e-05 9.99998571e-01 -8.40128459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.94, Y:-61.43, Z:-0.84 [[ 9.80869156e-01 1.94661018e-01 1.66918212e-03 4.01938528e+02] [-1.94660843e-01 9.80870575e-01 -2.67999563e-04 -6.14305613e+01] [-1.68942069e-03 -6.20518947e-05 9.99998571e-01 -8.39250210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.97, Y:-61.43, Z:-0.84 [[ 9.81062142e-01 1.93686053e-01 1.66919387e-03 4.01967277e+02] [-1.93685877e-01 9.81063560e-01 -2.67926373e-04 -6.14313984e+01] [-1.68947888e-03 -6.04468568e-05 9.99998571e-01 -8.38055953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.00, Y:-61.43, Z:-0.84 [[ 9.81249843e-01 1.92732868e-01 1.66920639e-03 4.01995190e+02] [-1.92732691e-01 9.81251261e-01 -2.67848347e-04 -6.14327872e+01] [-1.68953406e-03 -5.88844909e-05 9.99998571e-01 -8.38305625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.02, Y:-61.43, Z:-0.84 [[ 9.81879522e-01 1.89498859e-01 1.66922194e-03 4.02023144e+02] [-1.89498678e-01 9.81880940e-01 -2.67751388e-04 -6.14311543e+01] [-1.68971579e-03 -5.34157459e-05 9.99998571e-01 -8.42203969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.05, Y:-61.43, Z:-0.84 [[ 9.82363875e-01 1.86971738e-01 1.66923635e-03 4.02052340e+02] [-1.86971553e-01 9.82365292e-01 -2.67661550e-04 -6.14325555e+01] [-1.68984500e-03 -4.91586750e-05 9.99998571e-01 -8.43403922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.08, Y:-61.43, Z:-0.84 [[ 9.82892291e-01 1.84173718e-01 1.66924871e-03 4.02080576e+02] [-1.84173529e-01 9.82893707e-01 -2.67584417e-04 -6.14342488e+01] [-1.68997607e-03 -4.44247651e-05 9.99998571e-01 -8.44156605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.11, Y:-61.44, Z:-0.84 [[ 9.83425755e-01 1.81303605e-01 1.66926524e-03 4.02109091e+02] [-1.81303412e-01 9.83427171e-01 -2.67481258e-04 -6.14368671e+01] [-1.69009611e-03 -3.95955260e-05 9.99998571e-01 -8.44277312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.14, Y:-61.44, Z:-0.84 [[ 9.84426682e-01 1.75787716e-01 1.66927751e-03 4.02136968e+02] [-1.75787515e-01 9.84428097e-01 -2.67404665e-04 -6.14392708e+01] [-1.69029014e-03 -3.01978586e-05 9.99998571e-01 -8.43349947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.17, Y:-61.44, Z:-0.84 [[ 9.84886986e-01 1.73190180e-01 1.66929278e-03 4.02165434e+02] [-1.73189975e-01 9.84888400e-01 -2.67309342e-04 -6.14435228e+01] [-1.69036245e-03 -2.58352832e-05 9.99998571e-01 -8.43143704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.19, Y:-61.45, Z:-0.84 [[ 9.85249362e-01 1.71116650e-01 1.66930481e-03 4.02194169e+02] [-1.71116443e-01 9.85250776e-01 -2.67234151e-04 -6.14486135e+01] [-1.69041208e-03 -2.23532244e-05 9.99998571e-01 -8.43008937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.22, Y:-61.46, Z:-0.84 [[ 9.85759065e-01 1.68155520e-01 1.66931684e-03 4.02221809e+02] [-1.68155309e-01 9.85760478e-01 -2.67159010e-04 -6.14564437e+01] [-1.69047083e-03 -1.73500731e-05 9.99998571e-01 -8.42396230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.25, Y:-61.46, Z:-0.84 [[ 9.85900479e-01 1.67324411e-01 1.66932892e-03 4.02250432e+02] [-1.67324198e-01 9.85901892e-01 -2.67083499e-04 -6.14625278e+01] [-1.69048413e-03 -1.60013742e-05 9.99998571e-01 -8.42879174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.28, Y:-61.47, Z:-0.84 [[ 9.85929243e-01 1.67154844e-01 1.66934098e-03 4.02277879e+02] [-1.67154632e-01 9.85930656e-01 -2.67008112e-04 -6.14675351e+01] [-1.69048615e-03 -1.57869707e-05 9.99998571e-01 -8.43778949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.31, Y:-61.47, Z:-0.84 [[ 9.85795400e-01 1.67942381e-01 1.66935596e-03 4.02305095e+02] [-1.67942170e-01 9.85796813e-01 -2.66914420e-04 -6.14724810e+01] [-1.69047203e-03 -1.72322538e-05 9.99998571e-01 -8.43815808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.33, Y:-61.48, Z:-0.84 [[ 9.85616318e-01 1.68990200e-01 1.66937198e-03 4.02334175e+02] [-1.68989990e-01 9.85617731e-01 -2.66814204e-04 -6.14775554e+01] [-1.69045161e-03 -1.91307206e-05 9.99998571e-01 -8.43338027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.36, Y:-61.48, Z:-0.84 [[ 9.85412438e-01 1.70175030e-01 1.66937834e-03 4.02362979e+02] [-1.70174822e-01 9.85413852e-01 -2.66774359e-04 -6.14818672e+01] [-1.69042688e-03 -2.12033910e-05 9.99998571e-01 -8.42528167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.39, Y:-61.49, Z:-0.84 [[ 9.85007222e-01 1.72505033e-01 1.66938785e-03 4.02391897e+02] [-1.72504828e-01 9.85008636e-01 -2.66714876e-04 -6.14852035e+01] [-1.69037111e-03 -2.52613853e-05 9.99998571e-01 -8.40363624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.42, Y:-61.49, Z:-0.84 [[ 9.84785444e-01 1.73766630e-01 1.66939426e-03 4.02421693e+02] [-1.73766428e-01 9.84786859e-01 -2.66674739e-04 -6.14892519e+01] [-1.69033670e-03 -2.74672751e-05 9.99998571e-01 -8.40354036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.45, Y:-61.49, Z:-0.84 [[ 9.84246456e-01 1.76794022e-01 1.66940060e-03 4.02449542e+02] [-1.76793824e-01 9.84247872e-01 -2.66635061e-04 -6.14912234e+01] [-1.69024347e-03 -3.27051016e-05 9.99998571e-01 -8.44722676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.48, Y:-61.49, Z:-0.85 [[ 9.84067711e-01 1.77786256e-01 1.66941637e-03 4.02477183e+02] [-1.77786060e-01 9.84069127e-01 -2.66536276e-04 -6.14940951e+01] [-1.69020759e-03 -3.45092147e-05 9.99998571e-01 -8.46745774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.51, Y:-61.50, Z:-0.85 [[ 9.83968768e-01 1.78333048e-01 1.66943195e-03 4.02505996e+02] [-1.78332852e-01 9.83970184e-01 -2.66438645e-04 -6.14972710e+01] [-1.69018608e-03 -3.55472560e-05 9.99998571e-01 -8.45240145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.53, Y:-61.50, Z:-0.84 [[ 9.83916539e-01 1.78620990e-01 1.66944445e-03 4.02533482e+02] [-1.78620795e-01 9.83917954e-01 -2.66360307e-04 -6.15003861e+01] [-1.69017391e-03 -3.61211842e-05 9.99998571e-01 -8.44278646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3457692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:402.56, Y:-61.50, Z:-0.84 [[ 9.83668148e-01 1.79983852e-01 1.66946001e-03 4.02562098e+02] [-1.79983659e-01 9.83669564e-01 -2.66262728e-04 -6.15020189e+01] [-1.69011999e-03 -3.85613579e-05 9.99998571e-01 -8.44892959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.59, Y:-61.51, Z:-0.85 [[ 9.83460370e-01 1.81115749e-01 1.66947232e-03 4.02590788e+02] [-1.81115558e-01 9.83461786e-01 -2.66185543e-04 -6.15052763e+01] [-1.69007262e-03 -4.05844780e-05 9.99998571e-01 -8.47245799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.62, Y:-61.51, Z:-0.85 [[ 9.83375310e-01 1.81577015e-01 1.66948456e-03 4.02619928e+02] [-1.81576825e-01 9.83376726e-01 -2.66108717e-04 -6.15086597e+01] [-1.69005149e-03 -4.14549642e-05 9.99998571e-01 -8.49223652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.65, Y:-61.51, Z:-0.85 [[ 9.83421494e-01 1.81326717e-01 1.66949698e-03 4.02647110e+02] [-1.81326526e-01 9.83422910e-01 -2.66030774e-04 -6.15123033e+01] [-1.69006007e-03 -4.11037077e-05 9.99998571e-01 -8.53247768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:402.68, Y:-61.52, Z:-0.85 [[ 9.83764314e-01 1.79457480e-01 1.66951240e-03 4.02675407e+02] [-1.79457287e-01 9.83765730e-01 -2.65934029e-04 -6.15152557e+01] [-1.69013293e-03 -3.79897576e-05 9.99998571e-01 -8.48281716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:402.70, Y:-61.52, Z:-0.84 [[ 9.83839356e-01 1.79045619e-01 1.66952442e-03 4.02702732e+02] [-1.79045426e-01 9.83840772e-01 -2.65858489e-04 -6.15185362e+01] [-1.69014700e-03 -3.73586664e-05 9.99998571e-01 -8.44789841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:402.73, Y:-61.52, Z:-0.84 [[ 9.83789376e-01 1.79320041e-01 1.66953943e-03 4.02729996e+02] [-1.79319848e-01 9.83790792e-01 -2.65764221e-04 -6.15219381e+01] [-1.69013437e-03 -3.79255391e-05 9.99998571e-01 -8.43339648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.76, Y:-61.52, Z:-0.85 [[ 9.83333149e-01 1.81805198e-01 1.66955431e-03 4.02759058e+02] [-1.81805009e-01 9.83334566e-01 -2.65670703e-04 -6.15238086e+01] [-1.69003078e-03 -4.22905275e-05 9.99998571e-01 -8.46900951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.79, Y:-61.53, Z:-0.85 [[ 9.83106837e-01 1.83025024e-01 1.66956614e-03 4.02787754e+02] [-1.83024836e-01 9.83108254e-01 -2.65596357e-04 -6.15253325e+01] [-1.68997503e-03 -4.44624745e-05 9.99998571e-01 -8.47422576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61576923100006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:402.82, Y:-61.53, Z:-0.85 [[ 9.82929749e-01 1.83973699e-01 1.66957898e-03 4.02815398e+02] [-1.83973513e-01 9.82931165e-01 -2.65515579e-04 -6.15264383e+01] [-1.68992910e-03 -4.61751499e-05 9.99998571e-01 -8.47970308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64576923100003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:402.84, Y:-61.53, Z:-0.84 [[ 9.82852542e-01 1.84385717e-01 1.66959497e-03 4.02844150e+02] [-1.84385532e-01 9.82853959e-01 -2.65415000e-04 -6.15263931e+01] [-1.68990677e-03 -4.69853507e-05 9.99998571e-01 -8.44693041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:402.87, Y:-61.53, Z:-0.84 [[ 9.83091884e-01 1.83105323e-01 1.66960737e-03 4.02870732e+02] [-1.83105136e-01 9.83093301e-01 -2.65336982e-04 -6.15292973e+01] [-1.68996444e-03 -4.48630519e-05 9.99998571e-01 -8.44257204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.90, Y:-61.53, Z:-0.85 [[ 9.83811373e-01 1.79199317e-01 1.66962901e-03 4.02898884e+02] [-1.79199125e-01 9.83812789e-01 -2.65200756e-04 -6.15317340e+01] [-1.69012617e-03 -3.82885372e-05 9.99998571e-01 -8.46985617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.93, Y:-61.53, Z:-0.85 [[ 9.84199761e-01 1.77053782e-01 1.66964340e-03 4.02927905e+02] [-1.77053587e-01 9.84201177e-01 -2.65110151e-04 -6.15348821e+01] [-1.69020375e-03 -3.46950054e-05 9.99998571e-01 -8.48368952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:402.96, Y:-61.54, Z:-0.85 [[ 9.84473963e-01 1.75522727e-01 1.66965484e-03 4.02955520e+02] [-1.75522530e-01 9.84475379e-01 -2.65038087e-04 -6.15376587e+01] [-1.69025428e-03 -3.21389451e-05 9.99998571e-01 -8.47946524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79576923100007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:402.98, Y:-61.54, Z:-0.84 [[ 9.84421198e-01 1.75818421e-01 1.66967196e-03 4.02984305e+02] [-1.75818225e-01 9.84422613e-01 -2.64930139e-04 -6.15368699e+01] [-1.69024244e-03 -3.27559156e-05 9.99998571e-01 -8.41788443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.01, Y:-61.54, Z:-0.84 [[ 9.84066347e-01 1.77793804e-01 1.66968619e-03 4.03011924e+02] [-1.77793611e-01 9.84067763e-01 -2.64840424e-04 -6.15379379e+01] [-1.69017134e-03 -3.62389885e-05 9.99998571e-01 -8.41511255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.04, Y:-61.54, Z:-0.84 [[ 9.83559166e-01 1.80578455e-01 1.66971378e-03 4.03039784e+02] [-1.80578265e-01 9.83560583e-01 -2.64666388e-04 -6.15386894e+01] [-1.69005771e-03 -4.11989670e-05 9.99998571e-01 -8.42459780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.07, Y:-61.54, Z:-0.84 [[ 9.83136773e-01 1.82864151e-01 1.66973064e-03 4.03069101e+02] [-1.82863965e-01 9.83138190e-01 -2.64559958e-04 -6.15392502e+01] [-1.68995450e-03 -4.52349423e-05 9.99998571e-01 -8.44479604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91576923100007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:403.10, Y:-61.54, Z:-0.85 [[ 9.82744369e-01 1.84961395e-01 1.66974248e-03 4.03098270e+02] [-1.84961213e-01 9.82745786e-01 -2.64485263e-04 -6.15365035e+01] [-1.68985195e-03 -4.89161910e-05 9.99998571e-01 -8.45707022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.13, Y:-61.54, Z:-0.84 [[ 9.82766937e-01 1.84841442e-01 1.66976036e-03 4.03127053e+02] [-1.84841260e-01 9.82768355e-01 -2.64372316e-04 -6.15379415e+01] [-1.68985460e-03 -4.88242365e-05 9.99998571e-01 -8.43052880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.16, Y:-61.54, Z:-0.84 [[ 9.83199052e-01 1.82529003e-01 1.66977262e-03 4.03155635e+02] [-1.82528817e-01 9.83200468e-01 -2.64294822e-04 -6.15383004e+01] [-1.68996270e-03 -4.49272036e-05 9.99998571e-01 -8.38255501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.18, Y:-61.54, Z:-0.84 [[ 9.83535489e-01 1.80707369e-01 1.66978791e-03 4.03183105e+02] [-1.80707180e-01 9.83536906e-01 -2.64198233e-04 -6.15416034e+01] [-1.69004060e-03 -4.18943262e-05 9.99998571e-01 -8.38755844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0357692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.21, Y:-61.55, Z:-0.84 [[ 9.83854393e-01 1.78962973e-01 1.66980464e-03 4.03210609e+02] [-1.78962782e-01 9.83855809e-01 -2.64092420e-04 -6.15450802e+01] [-1.69010976e-03 -3.90043964e-05 9.99998571e-01 -8.41239737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.24, Y:-61.55, Z:-0.84 [[ 9.84401043e-01 1.75931230e-01 1.66982332e-03 4.03239446e+02] [-1.75931035e-01 9.84402459e-01 -2.63974280e-04 -6.15489243e+01] [-1.69021950e-03 -3.39171879e-05 9.99998571e-01 -8.43327830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.27, Y:-61.55, Z:-0.84 [[ 9.84532097e-01 1.75196354e-01 1.66983296e-03 4.03266622e+02] [-1.75196158e-01 9.84533512e-01 -2.63913294e-04 -6.15533691e+01] [-1.69024315e-03 -3.27172102e-05 9.99998571e-01 -8.41602689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.29, Y:-61.56, Z:-0.84 [[ 9.84671871e-01 1.74409056e-01 1.66984902e-03 4.03294808e+02] [-1.74408859e-01 9.84673286e-01 -2.63811605e-04 -6.15585613e+01] [-1.69026686e-03 -3.14685957e-05 9.99998571e-01 -8.37997073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.32, Y:-61.56, Z:-0.84 [[ 9.84684178e-01 1.74339558e-01 1.66986147e-03 4.03322975e+02] [-1.74339361e-01 9.84685593e-01 -2.63732824e-04 -6.15628713e+01] [-1.69026759e-03 -3.14290427e-05 9.99998571e-01 -8.38045244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:403.35, Y:-61.57, Z:-0.83 [[ 9.84922487e-01 1.72988165e-01 1.66988007e-03 4.03349927e+02] [-1.72987967e-01 9.84923903e-01 -2.63614965e-04 -6.15705367e+01] [-1.69030707e-03 -2.92288516e-05 9.99998571e-01 -8.34401085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2157692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.38, Y:-61.58, Z:-0.84 [[ 9.85017390e-01 1.72446958e-01 1.66989880e-03 4.03377400e+02] [-1.72446759e-01 9.85018805e-01 -2.63496252e-04 -6.15768607e+01] [-1.69032085e-03 -2.84202457e-05 9.99998571e-01 -8.36094501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.40, Y:-61.58, Z:-0.84 [[ 9.85155555e-01 1.71655888e-01 1.66991776e-03 4.03404112e+02] [-1.71655688e-01 9.85156970e-01 -2.63376081e-04 -6.15834521e+01] [-1.69034117e-03 -2.71844714e-05 9.99998571e-01 -8.38809912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2757692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.43, Y:-61.59, Z:-0.84 [[ 9.85343363e-01 1.70574525e-01 1.66993972e-03 4.03430941e+02] [-1.70574324e-01 9.85344778e-01 -2.63236738e-04 -6.15906317e+01] [-1.69036786e-03 -2.54702665e-05 9.99998571e-01 -8.41487691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.46, Y:-61.60, Z:-0.84 [[ 9.85881377e-01 1.67436920e-01 1.66995863e-03 4.03457814e+02] [-1.67436715e-01 9.85882791e-01 -2.63116716e-04 -6.16023704e+01] [-1.69043893e-03 -2.02105174e-05 9.99998571e-01 -8.42630672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.49, Y:-61.61, Z:-0.84 [[ 9.86175553e-01 1.65695471e-01 1.66997102e-03 4.03485480e+02] [-1.65695264e-01 9.86176967e-01 -2.63038092e-04 -6.16095649e+01] [-1.69047117e-03 -1.73045512e-05 9.99998571e-01 -8.42767617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.51, Y:-61.62, Z:-0.84 [[ 9.86418293e-01 1.64244217e-01 1.66998357e-03 4.03512259e+02] [-1.64244007e-01 9.86419706e-01 -2.62958343e-04 -6.16160841e+01] [-1.69049409e-03 -1.48978731e-05 9.99998571e-01 -8.44112252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.54, Y:-61.62, Z:-0.85 [[ 9.86638713e-01 1.62914887e-01 1.66999918e-03 4.03540329e+02] [-1.62914675e-01 9.86640127e-01 -2.62859200e-04 -6.16240881e+01] [-1.69051188e-03 -1.27203110e-05 9.99998571e-01 -8.45898161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.57, Y:-61.63, Z:-0.85 [[ 9.86665890e-01 1.62750214e-01 1.67001210e-03 4.03567710e+02] [-1.62750002e-01 9.86667303e-01 -2.62777052e-04 -6.16309818e+01] [-1.69051336e-03 -1.25213193e-05 9.99998571e-01 -8.45532589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.60, Y:-61.64, Z:-0.84 [[ 9.86874626e-01 1.61479667e-01 1.67002819e-03 4.03595268e+02] [-1.61479454e-01 9.86876039e-01 -2.62674752e-04 -6.16392881e+01] [-1.69052744e-03 -1.04481933e-05 9.99998571e-01 -8.39769431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.62, Y:-61.65, Z:-0.84 [[ 9.87025294e-01 1.60556158e-01 1.67004055e-03 4.03623466e+02] [-1.60555944e-01 9.87026707e-01 -2.62596147e-04 -6.16452778e+01] [-1.69053606e-03 -8.94589765e-06 9.99998571e-01 -8.38392820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.65, Y:-61.65, Z:-0.84 [[ 9.87197353e-01 1.59494816e-01 1.67005292e-03 4.03651448e+02] [-1.59494600e-01 9.87198766e-01 -2.62517472e-04 -6.16516345e+01] [-1.69054436e-03 -7.20786930e-06 9.99998571e-01 -8.39395640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.68, Y:-61.66, Z:-0.84 [[ 9.87696604e-01 1.56373364e-01 1.67006583e-03 4.03678371e+02] [-1.56373143e-01 9.87698016e-01 -2.62435350e-04 -6.16607767e+01] [-1.69055860e-03 -1.94693866e-06 9.99998571e-01 -8.43680306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.71, Y:-61.67, Z:-0.85 [[ 9.88027935e-01 1.54266040e-01 1.67008305e-03 4.03706987e+02] [-1.54265817e-01 9.88029346e-01 -2.62325684e-04 -6.16673046e+01] [-1.69055901e-03 1.54837786e-06 9.99998571e-01 -8.45156040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.73, Y:-61.67, Z:-0.85 [[ 9.88359813e-01 1.52125250e-01 1.67009564e-03 4.03734654e+02] [-1.52125024e-01 9.88361224e-01 -2.62245491e-04 -6.16737970e+01] [-1.69055194e-03 5.12956384e-06 9.99998571e-01 -8.47046717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.76, Y:-61.68, Z:-0.85 [[ 9.88662088e-01 1.50148218e-01 1.67010505e-03 4.03763816e+02] [-1.50147989e-01 9.88663498e-01 -2.62185547e-04 -6.16805218e+01] [-1.69053860e-03 8.44999510e-06 9.99998571e-01 -8.47350428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.79, Y:-61.69, Z:-0.85 [[ 9.89172792e-01 1.46746034e-01 1.67011113e-03 4.03792302e+02] [-1.46745800e-01 9.89174202e-01 -2.62146870e-04 -6.16899312e+01] [-1.69049985e-03 1.42267578e-05 9.99998571e-01 -8.45172641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:403.82, Y:-61.70, Z:-0.84 [[ 9.89339687e-01 1.45616601e-01 1.67011745e-03 4.03820579e+02] [-1.45616366e-01 9.89341096e-01 -2.62106555e-04 -6.16974595e+01] [-1.69048290e-03 1.61159820e-05 9.99998571e-01 -8.44334823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.85, Y:-61.70, Z:-0.84 [[ 9.89448469e-01 1.44875595e-01 1.67011446e-03 4.03849611e+02] [-1.44875359e-01 9.89449878e-01 -2.62125626e-04 -6.17047147e+01] [-1.69047015e-03 1.74013681e-05 9.99998571e-01 -8.43529808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.88, Y:-61.71, Z:-0.84 [[ 9.89438990e-01 1.44940317e-01 1.67012062e-03 4.03878548e+02] [-1.44940081e-01 9.89440400e-01 -2.62086394e-04 -6.17131117e+01] [-1.69047169e-03 1.72510796e-05 9.99998571e-01 -8.43411971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:403.91, Y:-61.72, Z:-0.84 [[ 9.89392600e-01 1.45256650e-01 1.67012368e-03 4.03908405e+02] [-1.45256415e-01 9.89394009e-01 -2.62066865e-04 -6.17193958e+01] [-1.69047732e-03 1.66908393e-05 9.99998571e-01 -8.44271594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.94, Y:-61.73, Z:-0.84 [[ 9.89359607e-01 1.45481197e-01 1.67012368e-03 4.03938089e+02] [-1.45480962e-01 9.89361017e-01 -2.62066865e-04 -6.17274577e+01] [-1.69048106e-03 1.63071711e-05 9.99998571e-01 -8.43181343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.97, Y:-61.73, Z:-0.84 [[ 9.89288925e-01 1.45961068e-01 1.67012368e-03 4.03966888e+02] [-1.45960834e-01 9.89290335e-01 -2.62066865e-04 -6.17325136e+01] [-1.69048877e-03 1.54872026e-05 9.99998571e-01 -8.42113677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.00, Y:-61.74, Z:-0.84 [[ 9.89191083e-01 1.46622683e-01 1.67012688e-03 4.03996113e+02] [-1.46622450e-01 9.89192493e-01 -2.62046468e-04 -6.17368453e+01] [-1.69049893e-03 1.43359350e-05 9.99998571e-01 -8.41267311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.03, Y:-61.74, Z:-0.84 [[ 9.88920481e-01 1.48436830e-01 1.67012996e-03 4.04026710e+02] [-1.48436599e-01 9.88921891e-01 -2.62026834e-04 -6.17417005e+01] [-1.69052251e-03 1.12152916e-05 9.99998571e-01 -8.42169084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.06, Y:-61.75, Z:-0.84 [[ 9.88875094e-01 1.48738899e-01 1.67012996e-03 4.04056898e+02] [-1.48738668e-01 9.88876504e-01 -2.62026834e-04 -6.17470480e+01] [-1.69052586e-03 1.06989036e-05 9.99998571e-01 -8.42642305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.09, Y:-61.75, Z:-0.84 [[ 9.88920555e-01 1.48436336e-01 1.67012996e-03 4.04086608e+02] [-1.48436105e-01 9.88921966e-01 -2.62026834e-04 -6.17525271e+01] [-1.69052251e-03 1.12161354e-05 9.99998571e-01 -8.43254050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.12, Y:-61.76, Z:-0.85 [[ 9.88977507e-01 1.48056413e-01 1.67012996e-03 4.04116131e+02] [-1.48056182e-01 9.88978917e-01 -2.62026834e-04 -6.17577358e+01] [-1.69051807e-03 1.18655792e-05 9.99998571e-01 -8.45161712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.15, Y:-61.77, Z:-0.85 [[ 9.89220022e-01 1.46427317e-01 1.67013310e-03 4.04145429e+02] [-1.46427083e-01 9.89221432e-01 -2.62006798e-04 -6.17650289e+01] [-1.69049641e-03 1.46296514e-05 9.99998571e-01 -8.46524922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.18, Y:-61.77, Z:-0.85 [[ 9.89378278e-01 1.45354166e-01 1.67013310e-03 4.04175818e+02] [-1.45353931e-01 9.89379687e-01 -2.62006798e-04 -6.17724743e+01] [-1.69047955e-03 1.64634226e-05 9.99998571e-01 -8.45650709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.21, Y:-61.78, Z:-0.85 [[ 9.89800024e-01 1.42453934e-01 1.67012679e-03 4.04206081e+02] [-1.42453694e-01 9.89801433e-01 -2.62047030e-04 -6.17824598e+01] [-1.69042352e-03 2.14584250e-05 9.99998571e-01 -8.46814627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.24, Y:-61.79, Z:-0.85 [[ 9.89936760e-01 1.41500606e-01 1.67012050e-03 4.04236339e+02] [-1.41500365e-01 9.89938169e-01 -2.62087102e-04 -6.17904544e+01] [-1.69040152e-03 2.31269963e-05 9.99998571e-01 -8.49776062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.27, Y:-61.80, Z:-0.85 [[ 9.90025758e-01 1.40876574e-01 1.67007974e-03 4.04267182e+02] [-1.40876332e-01 9.90027166e-01 -2.62346568e-04 -6.17985054e+01] [-1.69038280e-03 2.44551514e-05 9.99998571e-01 -8.50527935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.30, Y:-61.81, Z:-0.85 [[ 9.89924573e-01 1.41585845e-01 1.67007056e-03 4.04297246e+02] [-1.41585604e-01 9.89925981e-01 -2.62405024e-04 -6.18099477e+01] [-1.69039907e-03 2.33032329e-05 9.99998571e-01 -8.47998553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.33, Y:-61.82, Z:-0.84 [[ 9.89831867e-01 1.42232506e-01 1.67003068e-03 4.04328461e+02] [-1.42232265e-01 9.89833276e-01 -2.62658586e-04 -6.18178812e+01] [-1.69041053e-03 2.24555925e-05 9.99998571e-01 -8.44970615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.36, Y:-61.83, Z:-0.84 [[ 9.89741013e-01 1.42863358e-01 1.66998670e-03 4.04359778e+02] [-1.42863118e-01 9.89742421e-01 -2.62937901e-04 -6.18258212e+01] [-1.69042087e-03 2.16609180e-05 9.99998571e-01 -8.43751943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:404.39, Y:-61.84, Z:-0.85 [[ 9.89522397e-01 1.44369794e-01 1.66995533e-03 4.04390752e+02] [-1.44369556e-01 9.89523806e-01 -2.63137029e-04 -6.18365151e+01] [-1.69044959e-03 1.92892746e-05 9.99998571e-01 -8.45559288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:404.42, Y:-61.84, Z:-0.85 [[ 9.89340566e-01 1.45610633e-01 1.66992452e-03 4.04422831e+02] [-1.45610396e-01 9.89341975e-01 -2.63332414e-04 -6.18443955e+01] [-1.69047042e-03 1.73670704e-05 9.99998571e-01 -8.46906791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.45, Y:-61.85, Z:-0.85 [[ 9.89184005e-01 1.46670432e-01 1.66987524e-03 4.04454226e+02] [-1.46670195e-01 9.89185414e-01 -2.63644483e-04 -6.18511990e+01] [-1.69048509e-03 1.58719770e-05 9.99998571e-01 -8.47247968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.49, Y:-61.86, Z:-0.85 [[ 9.88837012e-01 1.48991864e-01 1.66982919e-03 4.04487125e+02] [-1.48991631e-01 9.88838422e-01 -2.63935864e-04 -6.18567889e+01] [-1.69051556e-03 1.21989764e-05 9.99998571e-01 -8.45739056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.52, Y:-61.86, Z:-0.85 [[ 9.88564103e-01 1.50791994e-01 1.66977960e-03 4.04518415e+02] [-1.50791763e-01 9.88565513e-01 -2.64249210e-04 -6.18613712e+01] [-1.69053319e-03 9.43827381e-06 9.99998571e-01 -8.45176779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:-61.87, Z:-0.84 [[ 9.88247367e-01 1.52854027e-01 1.66974871e-03 4.04551057e+02] [-1.52853798e-01 9.88248778e-01 -2.64444227e-04 -6.18659781e+01] [-1.69054849e-03 6.10887768e-06 9.99998571e-01 -8.43696053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.58, Y:-61.87, Z:-0.84 [[ 9.87895217e-01 1.55113675e-01 1.66969930e-03 4.04582968e+02] [-1.55113449e-01 9.87896628e-01 -2.64755882e-04 -6.18701167e+01] [-1.69055756e-03 2.55825338e-06 9.99998571e-01 -8.42691618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.61, Y:-61.87, Z:-0.84 [[ 9.87652987e-01 1.56648619e-01 1.66965312e-03 4.04614347e+02] [-1.56648395e-01 9.87654398e-01 -2.65046760e-04 -6.18736442e+01] [-1.69055946e-03 2.25743255e-07 9.99998571e-01 -8.41595153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.65, Y:-61.88, Z:-0.84 [[ 9.87553649e-01 1.57273657e-01 1.66964705e-03 4.04646375e+02] [-1.57273434e-01 9.87555060e-01 -2.65084999e-04 -6.18756956e+01] [-1.69055928e-03 -8.05467080e-07 9.99998571e-01 -8.42067168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.68, Y:-61.88, Z:-0.84 [[ 9.87751676e-01 1.56025125e-01 1.66960463e-03 4.04676859e+02] [-1.56024900e-01 9.87753087e-01 -2.65351946e-04 -6.18797181e+01] [-1.69055869e-03 1.60193525e-06 9.99998571e-01 -8.43934226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.71, Y:-61.88, Z:-0.85 [[ 9.88556971e-01 1.50838746e-01 1.66958096e-03 4.04707776e+02] [-1.50838513e-01 9.88558381e-01 -2.65500786e-04 -6.18848419e+01] [-1.69052605e-03 1.06255444e-05 9.99998571e-01 -8.47233655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.74, Y:-61.89, Z:-0.85 [[ 9.88950885e-01 1.48234135e-01 1.66954196e-03 4.04739769e+02] [-1.48233898e-01 9.88952295e-01 -2.65745783e-04 -6.18900841e+01] [-1.69048995e-03 1.53268144e-05 9.99998571e-01 -8.47745116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.77, Y:-61.90, Z:-0.85 [[ 9.89176952e-01 1.46717997e-01 1.66950029e-03 4.04771891e+02] [-1.46717757e-01 9.89178361e-01 -2.66007312e-04 -6.18955668e+01] [-1.69046162e-03 1.81829647e-05 9.99998571e-01 -8.46573374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.80, Y:-61.90, Z:-0.84 [[ 9.89277118e-01 1.46041080e-01 1.66945869e-03 4.04803568e+02] [-1.46040839e-01 9.89278526e-01 -2.66268130e-04 -6.19012875e+01] [-1.69044572e-03 1.96038202e-05 9.99998571e-01 -8.44853291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.83, Y:-61.91, Z:-0.84 [[ 9.89305749e-01 1.45847004e-01 1.66941725e-03 4.04834782e+02] [-1.45846762e-01 9.89307157e-01 -2.66527686e-04 -6.19062979e+01] [-1.69043870e-03 2.01982710e-05 9.99998571e-01 -8.44360973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.87, Y:-61.91, Z:-0.85 [[ 9.89167660e-01 1.46780634e-01 1.66937882e-03 4.04866775e+02] [-1.46780393e-01 9.89169068e-01 -2.66768160e-04 -6.19109110e+01] [-1.69045429e-03 1.88463578e-05 9.99998571e-01 -8.46866492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.90, Y:-61.92, Z:-0.85 [[ 9.88934586e-01 1.48342838e-01 1.66933709e-03 4.04897394e+02] [-1.48342599e-01 9.88935995e-01 -2.67029032e-04 -6.19152926e+01] [-1.69047938e-03 1.64404431e-05 9.99998571e-01 -8.49787689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.93, Y:-61.92, Z:-0.85 [[ 9.88684219e-01 1.50002431e-01 1.66929857e-03 4.04927067e+02] [-1.50002193e-01 9.88685628e-01 -2.67269636e-04 -6.19198330e+01] [-1.69050260e-03 1.38468237e-05 9.99998571e-01 -8.51783545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:-61.92, Z:-0.85 [[ 9.88131140e-01 1.53603590e-01 1.66929563e-03 4.04958288e+02] [-1.53603358e-01 9.88132550e-01 -2.67288008e-04 -6.19234944e+01] [-1.69054175e-03 7.70619050e-06 9.99998571e-01 -8.48499753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.99, Y:-61.93, Z:-0.85 [[ 9.87786908e-01 1.55801920e-01 1.66928930e-03 4.04988355e+02] [-1.55801691e-01 9.87788318e-01 -2.67327507e-04 -6.19263286e+01] [-1.69055461e-03 3.98451500e-06 9.99998571e-01 -8.48039274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.02, Y:-61.93, Z:-0.85 [[ 9.87377837e-01 1.58373673e-01 1.66928616e-03 4.05017562e+02] [-1.58373447e-01 9.87379248e-01 -2.67347164e-04 -6.19287790e+01] [-1.69055926e-03 -3.97938874e-07 9.99998571e-01 -8.47189656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.05, Y:-61.93, Z:-0.85 [[ 9.86795696e-01 1.61961316e-01 1.66928335e-03 4.05047218e+02] [-1.61961095e-01 9.86797108e-01 -2.67364666e-04 -6.19285432e+01] [-1.69054672e-03 -6.52465779e-06 9.99998571e-01 -8.45512113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.08, Y:-61.93, Z:-0.84 [[ 9.86648281e-01 1.62856939e-01 1.66928913e-03 4.05077477e+02] [-1.62856720e-01 9.86649693e-01 -2.67328595e-04 -6.19315984e+01] [-1.69053992e-03 -8.09565297e-06 9.99998571e-01 -8.44887007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.11, Y:-61.94, Z:-0.84 [[ 9.86685692e-01 1.62630127e-01 1.66928913e-03 4.05108111e+02] [-1.62629908e-01 9.86687104e-01 -2.67328596e-04 -6.19350127e+01] [-1.69054174e-03 -7.70703700e-06 9.99998571e-01 -8.43850107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.14, Y:-61.94, Z:-0.84 [[ 9.87116877e-01 1.59992138e-01 1.66928913e-03 4.05139708e+02] [-1.59991915e-01 9.87118289e-01 -2.67328596e-04 -6.19384194e+01] [-1.69055630e-03 -3.18819624e-06 9.99998571e-01 -8.41269658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.17, Y:-61.94, Z:-0.84 [[ 9.87465871e-01 1.57823846e-01 1.66928264e-03 4.05169266e+02] [-1.57823619e-01 9.87467282e-01 -2.67369093e-04 -6.19436802e+01] [-1.69055921e-03 5.65626237e-07 9.99998571e-01 -8.40786854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.20, Y:-61.95, Z:-0.84 [[ 9.87937681e-01 1.54842991e-01 1.66926754e-03 4.05199749e+02] [-1.54842760e-01 9.87939091e-01 -2.67463358e-04 -6.19495951e+01] [-1.69054948e-03 5.76313606e-06 9.99998571e-01 -8.41457852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.23, Y:-61.95, Z:-0.84 [[ 9.87934052e-01 1.54866144e-01 1.66926126e-03 4.05231174e+02] [-1.54865913e-01 9.87935462e-01 -2.67502512e-04 -6.19546777e+01] [-1.69054948e-03 5.76317154e-06 9.99998571e-01 -8.41511671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.26, Y:-61.96, Z:-0.84 [[ 9.88404370e-01 1.51835484e-01 1.66925499e-03 4.05261676e+02] [-1.51835248e-01 9.88405780e-01 -2.67541632e-04 -6.19610009e+01] [-1.69052360e-03 1.09875712e-05 9.99998571e-01 -8.43828714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.29, Y:-61.97, Z:-0.85 [[ 9.89110079e-01 1.47168152e-01 1.66921440e-03 4.05294293e+02] [-1.47167909e-01 9.89111488e-01 -2.67794654e-04 -6.19679273e+01] [-1.69044998e-03 1.92235972e-05 9.99998571e-01 -8.45842645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.32, Y:-61.97, Z:-0.85 [[ 9.89198929e-01 1.46569754e-01 1.66916095e-03 4.05324486e+02] [-1.46569511e-01 9.89200337e-01 -2.68127372e-04 -6.19734995e+01] [-1.69043394e-03 2.05832045e-05 9.99998571e-01 -8.45987436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.36, Y:-61.98, Z:-0.85 [[ 9.89195557e-01 1.46592513e-01 1.66911776e-03 4.05355798e+02] [-1.46592269e-01 9.89196965e-01 -2.68395969e-04 -6.19795922e+01] [-1.69043107e-03 2.08163397e-05 9.99998571e-01 -8.45384785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.39, Y:-61.99, Z:-0.85 [[ 9.89118652e-01 1.47110528e-01 1.66907106e-03 4.05386495e+02] [-1.47110284e-01 9.89120060e-01 -2.68686122e-04 -6.19861308e+01] [-1.69043822e-03 2.02249384e-05 9.99998571e-01 -8.45446624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.42, Y:-61.99, Z:-0.85 [[ 9.89037872e-01 1.47652639e-01 1.66902805e-03 4.05417374e+02] [-1.47652395e-01 9.89039280e-01 -2.68952977e-04 -6.19933437e+01] [-1.69044592e-03 1.95686908e-05 9.99998571e-01 -8.45115903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.45, Y:-62.00, Z:-0.85 [[ 9.88963091e-01 1.48152690e-01 1.66898703e-03 4.05448937e+02] [-1.48152447e-01 9.88964499e-01 -2.69207289e-04 -6.19993479e+01] [-1.69045271e-03 1.89715599e-05 9.99998571e-01 -8.45153258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.48, Y:-62.01, Z:-0.85 [[ 9.88840385e-01 1.48969485e-01 1.66894167e-03 4.05480459e+02] [-1.48969242e-01 9.88841793e-01 -2.69488224e-04 -6.20068038e+01] [-1.69046480e-03 1.78598640e-05 9.99998571e-01 -8.48026817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.51, Y:-62.01, Z:-0.85 [[ 9.88831061e-01 1.49031366e-01 1.66889338e-03 4.05512258e+02] [-1.49031123e-01 9.88832469e-01 -2.69786922e-04 -6.20140058e+01] [-1.69046268e-03 1.80566334e-05 9.99998571e-01 -8.50777825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:-62.02, Z:-0.85 [[ 9.88833016e-01 1.49018390e-01 1.66884854e-03 4.05543165e+02] [-1.49018147e-01 9.88834424e-01 -2.70064023e-04 -6.20215354e+01] [-1.69045939e-03 1.83595058e-05 9.99998571e-01 -8.52083005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.57, Y:-62.03, Z:-0.85 [[ 9.88885896e-01 1.48667080e-01 1.66880121e-03 4.05574101e+02] [-1.48666836e-01 9.88887303e-01 -2.70356207e-04 -6.20311042e+01] [-1.69044939e-03 1.92560456e-05 9.99998571e-01 -8.49838870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.61, Y:-62.04, Z:-0.85 [[ 9.88816968e-01 1.49124843e-01 1.66875082e-03 4.05606076e+02] [-1.49124598e-01 9.88818376e-01 -2.70666874e-04 -6.20379638e+01] [-1.69045463e-03 1.87882030e-05 9.99998571e-01 -8.46320781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.64, Y:-62.04, Z:-0.84 [[ 9.88668327e-01 1.50107141e-01 1.66869678e-03 4.05637395e+02] [-1.50106897e-01 9.88669736e-01 -2.70999616e-04 -6.20443913e+01] [-1.69046898e-03 1.74458415e-05 9.99998571e-01 -8.44203424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.67, Y:-62.05, Z:-0.84 [[ 9.88286660e-01 1.52599781e-01 1.66864633e-03 4.05669722e+02] [-1.52599540e-01 9.88288069e-01 -2.71309865e-04 -6.20533511e+01] [-1.69050509e-03 1.34972569e-05 9.99998571e-01 -8.44401587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.70, Y:-62.06, Z:-0.85 [[ 9.88146155e-01 1.53506977e-01 1.66859254e-03 4.05700758e+02] [-1.53506737e-01 9.88147564e-01 -2.71640325e-04 -6.20610159e+01] [-1.69051433e-03 1.22801478e-05 9.99998571e-01 -8.46167611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:-62.07, Z:-0.85 [[ 9.88068059e-01 1.54008854e-01 1.66854236e-03 4.05732283e+02] [-1.54008614e-01 9.88069468e-01 -2.71948172e-04 -6.20690059e+01] [-1.69051819e-03 1.17334050e-05 9.99998571e-01 -8.47775040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.76, Y:-62.08, Z:-0.85 [[ 9.87971992e-01 1.54623928e-01 1.66849439e-03 4.05764105e+02] [-1.54623689e-01 9.87973401e-01 -2.72242148e-04 -6.20767439e+01] [-1.69052323e-03 1.09788584e-05 9.99998571e-01 -8.47805423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.79, Y:-62.09, Z:-0.84 [[ 9.87816156e-01 1.55616381e-01 1.66844185e-03 4.05794445e+02] [-1.55616142e-01 9.87817565e-01 -2.72563759e-04 -6.20869697e+01] [-1.69053156e-03 9.60639938e-06 9.99998571e-01 -8.44352409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:-62.10, Z:-0.84 [[ 9.87733771e-01 1.56138445e-01 1.66840909e-03 4.05826953e+02] [-1.56138207e-01 9.87735180e-01 -2.72764162e-04 -6.20953413e+01] [-1.69053533e-03 8.91596992e-06 9.99998571e-01 -8.43998418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.86, Y:-62.10, Z:-0.84 [[ 9.87665971e-01 1.56566749e-01 1.66835660e-03 4.05858124e+02] [-1.56566511e-01 9.87667380e-01 -2.73084871e-04 -6.21032702e+01] [-1.69053740e-03 8.50786307e-06 9.99998571e-01 -8.44800710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.89, Y:-62.11, Z:-0.85 [[ 9.87553089e-01 1.57277187e-01 1.66830754e-03 4.05889668e+02] [-1.57276949e-01 9.87554498e-01 -2.73384234e-04 -6.21143304e+01] [-1.69054172e-03 7.59512476e-06 9.99998571e-01 -8.45989371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.92, Y:-62.12, Z:-0.84 [[ 9.87410087e-01 1.58172490e-01 1.66825582e-03 4.05922042e+02] [-1.58172253e-01 9.87411496e-01 -2.73699479e-04 -6.21228824e+01] [-1.69054670e-03 6.38184447e-06 9.99998571e-01 -8.44768678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.95, Y:-62.13, Z:-0.84 [[ 9.87195927e-01 1.59503667e-01 1.66820381e-03 4.05952659e+02] [-1.59503431e-01 9.87197336e-01 -2.74016090e-04 -6.21312373e+01] [-1.69055293e-03 4.42333555e-06 9.99998571e-01 -8.42498940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:-62.14, Z:-0.84 [[ 9.86874316e-01 1.61481582e-01 1.66815526e-03 4.05983944e+02] [-1.61481349e-01 9.86875726e-01 -2.74311378e-04 -6.21388555e+01] [-1.69055817e-03 1.33489235e-06 9.99998571e-01 -8.40749300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.01, Y:-62.15, Z:-0.84 [[ 9.85946691e-01 1.67051910e-01 1.66810759e-03 4.06014778e+02] [-1.67051685e-01 9.85948102e-01 -2.74600914e-04 -6.21471873e+01] [-1.69054012e-03 -7.91832084e-06 9.99998571e-01 -8.42388420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.05, Y:-62.15, Z:-0.84 [[ 9.85444728e-01 1.69987955e-01 1.66806039e-03 4.06046943e+02] [-1.69987733e-01 9.85446140e-01 -2.74887359e-04 -6.21537213e+01] [-1.69051121e-03 -1.26635055e-05 9.99998571e-01 -8.44880764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.08, Y:-62.16, Z:-0.85 [[ 9.84910135e-01 1.73058498e-01 1.66800829e-03 4.06078390e+02] [-1.73058280e-01 9.84911547e-01 -2.75203127e-04 -6.21603017e+01] [-1.69046687e-03 -1.76122970e-05 9.99998571e-01 -8.47166946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.11, Y:-62.17, Z:-0.85 [[ 9.84383108e-01 1.76031574e-01 1.66795966e-03 4.06110288e+02] [-1.76031360e-01 9.84384521e-01 -2.75497538e-04 -6.21670166e+01] [-1.69040994e-03 -2.24180854e-05 9.99998571e-01 -8.47565896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.14, Y:-62.17, Z:-0.85 [[ 9.83436109e-01 1.81247448e-01 1.66790823e-03 4.06141422e+02] [-1.81247241e-01 9.83437523e-01 -2.75808582e-04 -6.21738000e+01] [-1.69027314e-03 -3.10636455e-05 9.99998571e-01 -8.45299128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.17, Y:-62.18, Z:-0.84 [[ 9.82970481e-01 1.83755959e-01 1.66786039e-03 4.06174250e+02] [-1.83755754e-01 9.82971895e-01 -2.76097564e-04 -6.21793096e+01] [-1.69019446e-03 -3.50831890e-05 9.99998571e-01 -8.44140628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.21, Y:-62.18, Z:-0.84 [[ 9.82624534e-01 1.85596993e-01 1.66781082e-03 4.06206860e+02] [-1.85596791e-01 9.82625949e-01 -2.76396654e-04 -6.21843841e+01] [-1.69013258e-03 -3.79462031e-05 9.99998571e-01 -8.43843192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.24, Y:-62.19, Z:-0.85 [[ 9.82224532e-01 1.87702392e-01 1.66776026e-03 4.06238728e+02] [-1.87702192e-01 9.82225947e-01 -2.76701428e-04 -6.21899864e+01] [-1.69005492e-03 -4.12593259e-05 9.99998571e-01 -8.46007823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.27, Y:-62.20, Z:-0.85 [[ 9.81983572e-01 1.88958943e-01 1.66772882e-03 4.06270472e+02] [-1.88958745e-01 9.81984988e-01 -2.76890802e-04 -6.21958479e+01] [-1.69000565e-03 -4.32297263e-05 9.99998571e-01 -8.46995178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.30, Y:-62.20, Z:-0.85 [[ 9.81654932e-01 1.90658892e-01 1.66768347e-03 4.06302796e+02] [-1.90658696e-01 9.81656348e-01 -2.77163622e-04 -6.22014875e+01] [-1.68993578e-03 -4.58793194e-05 9.99998571e-01 -8.47161973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.34, Y:-62.21, Z:-0.85 [[ 9.81205289e-01 1.92959580e-01 1.66763274e-03 4.06335326e+02] [-1.92959386e-01 9.81206705e-01 -2.77468520e-04 -6.22063648e+01] [-1.68983264e-03 -4.95318119e-05 9.99998571e-01 -8.46577595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.37, Y:-62.21, Z:-0.85 [[ 9.80298616e-01 1.97514160e-01 1.66758005e-03 4.06367313e+02] [-1.97513973e-01 9.80300032e-01 -2.77784855e-04 -6.22098364e+01] [-1.68959522e-03 -5.70582518e-05 9.99998571e-01 -8.47310374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.40, Y:-62.21, Z:-0.85 [[ 9.79991495e-01 1.99032381e-01 1.66753074e-03 4.06398875e+02] [-1.99032196e-01 9.79992912e-01 -2.78080565e-04 -6.22144688e+01] [-1.68951534e-03 -5.93757152e-05 9.99998571e-01 -8.47701812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.43, Y:-62.22, Z:-0.85 [[ 9.79825752e-01 1.99846730e-01 1.66748246e-03 4.06431435e+02] [-1.99846546e-01 9.79827169e-01 -2.78369737e-04 -6.22192022e+01] [-1.68947590e-03 -6.04867726e-05 9.99998571e-01 -8.48252928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.46, Y:-62.22, Z:-0.85 [[ 9.79475828e-01 2.01554760e-01 1.66743065e-03 4.06462976e+02] [-2.01554577e-01 9.79477246e-01 -2.78679740e-04 -6.22227877e+01] [-1.68937961e-03 -6.31182109e-05 9.99998571e-01 -8.47964333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.50, Y:-62.23, Z:-0.85 [[ 9.79134673e-01 2.03205590e-01 1.66738236e-03 4.06495422e+02] [-2.03205409e-01 9.79136091e-01 -2.78968385e-04 -6.22274168e+01] [-1.68928218e-03 -6.56734952e-05 9.99998571e-01 -8.47082323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.53, Y:-62.23, Z:-0.85 [[ 9.78471695e-01 2.06374325e-01 1.66733090e-03 4.06528191e+02] [-2.06374149e-01 9.78473113e-01 -2.79275592e-04 -6.22309671e+01] [-1.68907377e-03 -7.08307333e-05 9.99998571e-01 -8.47981013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.56, Y:-62.24, Z:-0.85 [[ 9.78164332e-01 2.07826274e-01 1.66727952e-03 4.06559753e+02] [-2.07826099e-01 9.78165750e-01 -2.79582030e-04 -6.22353462e+01] [-1.68898021e-03 -7.30270280e-05 9.99998571e-01 -8.48935426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.59, Y:-62.24, Z:-0.85 [[ 9.77990360e-01 2.08643416e-01 1.66723159e-03 4.06591432e+02] [-2.08643242e-01 9.77991779e-01 -2.79867540e-04 -6.22390205e+01] [-1.68893131e-03 -7.41488473e-05 9.99998571e-01 -8.48552453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.62, Y:-62.24, Z:-0.85 [[ 9.77881088e-01 2.09154964e-01 1.66718703e-03 4.06624635e+02] [-2.09154790e-01 9.77882506e-01 -2.80132712e-04 -6.22421582e+01] [-1.68890418e-03 -7.47636719e-05 9.99998571e-01 -8.49632526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.66, Y:-62.25, Z:-0.85 [[ 9.77912760e-01 2.09006829e-01 1.66713391e-03 4.06655981e+02] [-2.09006654e-01 9.77914178e-01 -2.80448495e-04 -6.22469274e+01] [-1.68892954e-03 -7.41879190e-05 9.99998571e-01 -8.50730912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.69, Y:-62.25, Z:-0.85 [[ 9.77939351e-01 2.08882374e-01 1.66708434e-03 4.06688669e+02] [-2.08882199e-01 9.77940769e-01 -2.80742844e-04 -6.22521588e+01] [-1.68895197e-03 -7.36747679e-05 9.99998571e-01 -8.50017992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.72, Y:-62.25, Z:-0.85 [[ 9.78029202e-01 2.08461272e-01 1.66703148e-03 4.06720260e+02] [-2.08461095e-01 9.78030620e-01 -2.81056391e-04 -6.22549100e+01] [-1.68899720e-03 -7.26298501e-05 9.99998571e-01 -8.46905519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.75, Y:-62.26, Z:-0.85 [[ 9.78015894e-01 2.08523696e-01 1.66698203e-03 4.06752887e+02] [-2.08523519e-01 9.78017312e-01 -2.81349358e-04 -6.22588558e+01] [-1.68900529e-03 -7.24408151e-05 9.99998571e-01 -8.45772777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.79, Y:-62.26, Z:-0.85 [[ 9.77952118e-01 2.08822593e-01 1.66692934e-03 4.06785359e+02] [-2.08822416e-01 9.77953536e-01 -2.81661205e-04 -6.22623211e+01] [-1.68899667e-03 -7.26410397e-05 9.99998571e-01 -8.45804701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.82, Y:-62.26, Z:-0.85 [[ 9.77884417e-01 2.09139398e-01 1.66688352e-03 4.06817677e+02] [-2.09139221e-01 9.77885835e-01 -2.81932129e-04 -6.22645903e+01] [-1.68898489e-03 -7.29136847e-05 9.99998571e-01 -8.46734238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.85, Y:-62.26, Z:-0.85 [[ 9.77618057e-01 2.10380978e-01 1.66683585e-03 4.06849411e+02] [-2.10380802e-01 9.77619475e-01 -2.82213658e-04 -6.22620322e+01] [-1.68890357e-03 -7.47730940e-05 9.99998571e-01 -8.50887188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.88, Y:-62.26, Z:-0.85 [[ 9.77600931e-01 2.10460546e-01 1.66679178e-03 4.06879655e+02] [-2.10460369e-01 9.77602349e-01 -2.82473690e-04 -6.22627246e+01] [-1.68890913e-03 -7.46470718e-05 9.99998571e-01 -8.53036737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.91, Y:-62.26, Z:-0.85 [[ 9.77807920e-01 2.09496762e-01 1.66678846e-03 4.06910188e+02] [-2.09496584e-01 9.77809338e-01 -2.82493282e-04 -6.22641546e+01] [-1.68898275e-03 -7.29623203e-05 9.99998571e-01 -8.52331235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.94, Y:-62.26, Z:-0.85 [[ 9.78789809e-01 2.04860272e-01 1.66678846e-03 4.06940888e+02] [-2.04860088e-01 9.78791226e-01 -2.82493282e-04 -6.22630305e+01] [-1.68930957e-03 -6.49568846e-05 9.99998571e-01 -8.49795470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.97, Y:-62.27, Z:-0.85 [[ 9.79509318e-01 2.01391952e-01 1.66677345e-03 4.06971612e+02] [-2.01391763e-01 9.79510734e-01 -2.82581845e-04 -6.22653287e+01] [-1.68953219e-03 -5.88828922e-05 9.99998571e-01 -8.47314023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.00, Y:-62.27, Z:-0.85 [[ 9.80210200e-01 1.97952481e-01 1.66677345e-03 4.07001102e+02] [-1.97952287e-01 9.80211616e-01 -2.82581845e-04 -6.22685569e+01] [-1.68972847e-03 -5.29520083e-05 9.99998571e-01 -8.47183909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.03, Y:-62.27, Z:-0.85 [[ 9.81630179e-01 1.90786303e-01 1.66677345e-03 4.07031755e+02] [-1.90786098e-01 9.81631593e-01 -2.82581845e-04 -6.22722360e+01] [-1.69007022e-03 -4.06063354e-05 9.99998571e-01 -8.47704583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.06, Y:-62.28, Z:-0.85 [[ 9.82313405e-01 1.87236737e-01 1.66677345e-03 4.07061751e+02] [-1.87236526e-01 9.82314819e-01 -2.82581845e-04 -6.22770575e+01] [-1.69020596e-03 -3.44969359e-05 9.99998571e-01 -8.47523189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.09, Y:-62.28, Z:-0.85 [[ 9.82940502e-01 1.83916259e-01 1.66677345e-03 4.07091142e+02] [-1.83916044e-01 9.82941915e-01 -2.82581845e-04 -6.22813297e+01] [-1.69031288e-03 -2.87852383e-05 9.99998571e-01 -8.47231046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.12, Y:-62.29, Z:-0.85 [[ 9.83468992e-01 1.81068946e-01 1.66677671e-03 4.07121762e+02] [-1.81068727e-01 9.83470404e-01 -2.82562573e-04 -6.22858712e+01] [-1.69038888e-03 -2.39096087e-05 9.99998571e-01 -8.47580745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.15, Y:-62.29, Z:-0.85 [[ 9.84270842e-01 1.76658232e-01 1.66677671e-03 4.07152238e+02] [-1.76658006e-01 9.84272253e-01 -2.82562573e-04 -6.22915594e+01] [-1.69047908e-03 -1.63313497e-05 9.99998571e-01 -8.47070161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.18, Y:-62.30, Z:-0.85 [[ 9.84592980e-01 1.74853899e-01 1.66677671e-03 4.07182189e+02] [-1.74853672e-01 9.84594390e-01 -2.82562573e-04 -6.22974742e+01] [-1.69050617e-03 -1.32329022e-05 9.99998571e-01 -8.46700621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.21, Y:-62.30, Z:-0.85 [[ 9.84592980e-01 1.74853899e-01 1.66676113e-03 4.07212752e+02] [-1.74853672e-01 9.84594390e-01 -2.82654450e-04 -6.23026572e+01] [-1.69050689e-03 -1.31397161e-05 9.99998571e-01 -8.46753038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.24, Y:-62.31, Z:-0.85 [[ 9.84845626e-01 1.73425242e-01 1.66676113e-03 4.07241891e+02] [-1.73425012e-01 9.84847037e-01 -2.82654450e-04 -6.23086502e+01] [-1.69052418e-03 -1.06870697e-05 9.99998571e-01 -8.46328142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.27, Y:-62.32, Z:-0.85 [[ 9.85058110e-01 1.72214234e-01 1.66676440e-03 4.07272546e+02] [-1.72214002e-01 9.85059520e-01 -2.82635173e-04 -6.23163129e+01] [-1.69053594e-03 -8.62809932e-06 9.99998571e-01 -8.47056742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.30, Y:-62.32, Z:-0.85 [[ 9.85012103e-01 1.72477183e-01 1.66675769e-03 4.07302119e+02] [-1.72476952e-01 9.85013513e-01 -2.82674752e-04 -6.23220946e+01] [-1.69053379e-03 -9.03923416e-06 9.99998571e-01 -8.47220666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.33, Y:-62.33, Z:-0.85 [[ 9.84934729e-01 1.72918480e-01 1.66675434e-03 4.07330932e+02] [-1.72918249e-01 9.84936140e-01 -2.82694473e-04 -6.23281741e+01] [-1.69052969e-03 -9.77663839e-06 9.99998571e-01 -8.46355216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.36, Y:-62.33, Z:-0.85 [[ 9.84950090e-01 1.72830962e-01 1.66675759e-03 4.07360194e+02] [-1.72830731e-01 9.84951501e-01 -2.82675331e-04 -6.23342759e+01] [-1.69053044e-03 -9.64583980e-06 9.99998571e-01 -8.45361070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.39, Y:-62.34, Z:-0.84 [[ 9.85169354e-01 1.71576705e-01 1.66675441e-03 4.07390871e+02] [-1.71576472e-01 9.85170764e-01 -2.82694070e-04 -6.23435300e+01] [-1.69054143e-03 -7.47430761e-06 9.99998571e-01 -8.44203309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.42, Y:-62.35, Z:-0.84 [[ 9.85342658e-01 1.70578629e-01 1.66674808e-03 4.07420320e+02] [-1.70578395e-01 9.85344067e-01 -2.82731403e-04 -6.23509199e+01] [-1.69054827e-03 -5.72390021e-06 9.99998571e-01 -8.44788196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.45, Y:-62.36, Z:-0.85 [[ 9.85456278e-01 1.69920998e-01 1.66674492e-03 4.07451089e+02] [-1.69920763e-01 9.85457688e-01 -2.82749998e-04 -6.23590326e+01] [-1.69055176e-03 -4.57680851e-06 9.99998571e-01 -8.46392011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.48, Y:-62.37, Z:-0.85 [[ 9.85338461e-01 1.70602869e-01 1.66673861e-03 4.07480606e+02] [-1.70602634e-01 9.85339871e-01 -2.82787204e-04 -6.23687848e+01] [-1.69054832e-03 -5.70889018e-06 9.99998571e-01 -8.48413368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.51, Y:-62.38, Z:-0.85 [[ 9.85027037e-01 1.72391876e-01 1.66669781e-03 4.07513151e+02] [-1.72391644e-01 9.85028447e-01 -2.83027464e-04 -6.23760924e+01] [-1.69053639e-03 -8.53507253e-06 9.99998571e-01 -8.46700771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.54, Y:-62.38, Z:-0.85 [[ 9.84493191e-01 1.75414875e-01 1.66664425e-03 4.07544884e+02] [-1.75414646e-01 9.84494602e-01 -2.83342532e-04 -6.23828459e+01] [-1.69050476e-03 -1.34050181e-05 9.99998571e-01 -8.45477802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.58, Y:-62.39, Z:-0.84 [[ 9.83080620e-01 1.83165817e-01 1.66659424e-03 4.07577178e+02] [-1.83165599e-01 9.83082033e-01 -2.83636391e-04 -6.23883759e+01] [-1.69035134e-03 -2.64252930e-05 9.99998571e-01 -8.43874312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.61, Y:-62.39, Z:-0.85 [[ 9.82249016e-01 1.87574235e-01 1.66653818e-03 4.07608441e+02] [-1.87574023e-01 9.82250429e-01 -2.83965397e-04 -6.23928007e+01] [-1.69022243e-03 -3.36745383e-05 9.99998571e-01 -8.45304168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.64, Y:-62.40, Z:-0.85 [[ 9.81365979e-01 1.92140673e-01 1.66650334e-03 4.07640531e+02] [-1.92140467e-01 9.81367393e-01 -2.84169696e-04 -6.23966959e+01] [-1.69005260e-03 -4.13282588e-05 9.99998571e-01 -8.47095212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.67, Y:-62.40, Z:-0.85 [[ 9.79670277e-01 2.00607505e-01 1.66645452e-03 4.07670774e+02] [-2.00607311e-01 9.79671693e-01 -2.84455730e-04 -6.23977626e+01] [-1.68964227e-03 -5.56301353e-05 9.99998571e-01 -8.47672180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.70, Y:-62.40, Z:-0.85 [[ 9.78865335e-01 2.04499090e-01 1.66645798e-03 4.07700764e+02] [-2.04498902e-01 9.78866752e-01 -2.84435442e-04 -6.24001881e+01] [-1.68940710e-03 -6.23648328e-05 9.99998571e-01 -8.47528310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.73, Y:-62.40, Z:-0.85 [[ 9.78091661e-01 2.08168023e-01 1.66646139e-03 4.07731053e+02] [-2.08167840e-01 9.78093078e-01 -2.84415480e-04 -6.24019201e+01] [-1.68916055e-03 -6.87192581e-05 9.99998571e-01 -8.47133793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.76, Y:-62.40, Z:-0.85 [[ 9.77336314e-01 2.11685977e-01 1.66646139e-03 4.07760073e+02] [-2.11685799e-01 9.77337732e-01 -2.84415480e-04 -6.24027864e+01] [-1.68890236e-03 -7.47966335e-05 9.99998571e-01 -8.49209831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.79, Y:-62.40, Z:-0.85 [[ 9.75973395e-01 2.17883351e-01 1.66647148e-03 4.07789142e+02] [-2.17883182e-01 9.75974814e-01 -2.84356336e-04 -6.23977562e+01] [-1.68839070e-03 -8.55718898e-05 9.99998571e-01 -8.53882044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.82, Y:-62.40, Z:-0.85 [[ 9.75436549e-01 2.20274289e-01 1.66648781e-03 4.07818077e+02] [-2.20274124e-01 9.75437968e-01 -2.84260582e-04 -6.23970369e+01] [-1.68817078e-03 -8.98059815e-05 9.99998571e-01 -8.52369240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.85, Y:-62.39, Z:-0.85 [[ 9.74739397e-01 2.23339047e-01 1.66650109e-03 4.07847877e+02] [-2.23338887e-01 9.74740817e-01 -2.84182730e-04 -6.23892728e+01] [-1.68787573e-03 -9.51903939e-05 9.99998571e-01 -8.48098349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:-62.39, Z:-0.85 [[ 9.74611594e-01 2.23896098e-01 1.66651761e-03 4.07877686e+02] [-2.23895939e-01 9.74613014e-01 -2.84085783e-04 -6.23871125e+01] [-1.68781545e-03 -9.62532280e-05 9.99998571e-01 -8.45627237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:-62.38, Z:-0.84 [[ 9.74663204e-01 2.23671324e-01 1.66653075e-03 4.07906091e+02] [-2.23671164e-01 9.74664624e-01 -2.84008708e-04 -6.23844330e+01] [-1.68783317e-03 -9.59420358e-05 9.99998571e-01 -8.44540082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.94, Y:-62.38, Z:-0.85 [[ 9.75253931e-01 2.21081418e-01 1.66654705e-03 4.07935520e+02] [-2.21081255e-01 9.75255350e-01 -2.83913034e-04 -6.23760923e+01] [-1.68807682e-03 -9.15550094e-05 9.99998571e-01 -8.45165386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.96, Y:-62.37, Z:-0.85 [[ 9.75682520e-01 2.19182213e-01 1.66656642e-03 4.07963037e+02] [-2.19182047e-01 9.75683939e-01 -2.83799294e-04 -6.23746140e+01] [-1.68824584e-03 -8.83834285e-05 9.99998571e-01 -8.46558511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.99, Y:-62.37, Z:-0.85 [[ 9.76191052e-01 2.16906092e-01 1.66658900e-03 4.07991313e+02] [-2.16905923e-01 9.76192471e-01 -2.83666633e-04 -6.23729779e+01] [-1.68844065e-03 -8.45801944e-05 9.99998571e-01 -8.47371131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.02, Y:-62.36, Z:-0.85 [[ 9.77420276e-01 2.11297956e-01 1.66660835e-03 4.08021589e+02] [-2.11297779e-01 9.77421694e-01 -2.83552890e-04 -6.23638201e+01] [-1.68889330e-03 -7.50002974e-05 9.99998571e-01 -8.45355679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.05, Y:-62.36, Z:-0.84 [[ 9.77975860e-01 2.08711380e-01 1.66662119e-03 4.08050162e+02] [-2.08711199e-01 9.77977277e-01 -2.83477366e-04 -6.23626622e+01] [-1.68908261e-03 -7.06084868e-05 9.99998571e-01 -8.44559278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.08, Y:-62.36, Z:-0.84 [[ 9.78518696e-01 2.06151359e-01 1.66664036e-03 4.08077707e+02] [-2.06151175e-01 9.78520114e-01 -2.83364661e-04 -6.23616758e+01] [-1.68925712e-03 -6.63022497e-05 9.99998571e-01 -8.44881186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:-62.36, Z:-0.85 [[ 9.79048522e-01 2.03620267e-01 1.66666258e-03 4.08105732e+02] [-2.03620080e-01 9.79049939e-01 -2.83233882e-04 -6.23610284e+01] [-1.68941806e-03 -6.20662541e-05 9.99998571e-01 -8.45075951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:-62.36, Z:-0.84 [[ 9.80223342e-01 1.97887397e-01 1.66668166e-03 4.08134212e+02] [-1.97887202e-01 9.80224758e-01 -2.83121538e-04 -6.23562693e+01] [-1.68974881e-03 -5.22926304e-05 9.99998571e-01 -8.42378441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.16, Y:-62.36, Z:-0.84 [[ 9.81030264e-01 1.93847472e-01 1.66670384e-03 4.08161479e+02] [-1.93847271e-01 9.81031679e-01 -2.82990945e-04 -6.23572305e+01] [-1.68994634e-03 -4.54633083e-05 9.99998571e-01 -8.39977051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:-62.36, Z:-0.84 [[ 9.81899219e-01 1.89396793e-01 1.66672596e-03 4.08189865e+02] [-1.89396585e-01 9.81900633e-01 -2.82860608e-04 -6.23598041e+01] [-1.69013217e-03 -3.79315946e-05 9.99998571e-01 -8.38089889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.22, Y:-62.36, Z:-0.84 [[ 9.83540640e-01 1.80679359e-01 1.66673859e-03 4.08218521e+02] [-1.80679139e-01 9.83542052e-01 -2.82786135e-04 -6.23619153e+01] [-1.69040111e-03 -2.30132381e-05 9.99998571e-01 -8.42361174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.25, Y:-62.37, Z:-0.85 [[ 9.84259210e-01 1.76723031e-01 1.66675217e-03 4.08245540e+02] [-1.76722806e-01 9.84260621e-01 -2.82706079e-04 -6.23654101e+01] [-1.69047920e-03 -1.62970582e-05 9.99998571e-01 -8.46819202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.27, Y:-62.37, Z:-0.85 [[ 9.84784016e-01 1.73774750e-01 1.66678613e-03 4.08272770e+02] [-1.73774521e-01 9.84785426e-01 -2.82505715e-04 -6.23691069e+01] [-1.69051905e-03 -1.14378491e-05 9.99998571e-01 -8.50193965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.30, Y:-62.37, Z:-0.85 [[ 9.85140270e-01 1.71743618e-01 1.66680822e-03 4.08300784e+02] [-1.71743386e-01 9.85141680e-01 -2.82375303e-04 -6.23736357e+01] [-1.69053841e-03 -8.08400665e-06 9.99998571e-01 -8.50083706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.33, Y:-62.38, Z:-0.85 [[ 9.85419112e-01 1.70136403e-01 1.66682828e-03 4.08327822e+02] [-1.70136169e-01 9.85420522e-01 -2.82256849e-04 -6.23784278e+01] [-1.69054896e-03 -5.44648445e-06 9.99998571e-01 -8.47993546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.35, Y:-62.38, Z:-0.85 [[ 9.85377084e-01 1.70379645e-01 1.66685157e-03 4.08354827e+02] [-1.70379412e-01 9.85378494e-01 -2.82119267e-04 -6.23821718e+01] [-1.69054707e-03 -6.00332945e-06 9.99998571e-01 -8.48912654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.38, Y:-62.39, Z:-0.85 [[ 9.85201663e-01 1.71391089e-01 1.66688460e-03 4.08383808e+02] [-1.71390857e-01 9.85203073e-01 -2.81923971e-04 -6.23861812e+01] [-1.69053909e-03 -7.93681530e-06 9.99998571e-01 -8.51216864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.41, Y:-62.39, Z:-0.85 [[ 9.84709328e-01 1.74197475e-01 1.66689685e-03 4.08411406e+02] [-1.74197248e-01 9.84710739e-01 -2.81851530e-04 -6.23886482e+01] [-1.69050905e-03 -1.28270128e-05 9.99998571e-01 -8.51752563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:-62.39, Z:-0.85 [[ 9.84452312e-01 1.75644150e-01 1.66691659e-03 4.08439586e+02] [-1.75643925e-01 9.84453723e-01 -2.81734761e-04 -6.23922926e+01] [-1.69048730e-03 -1.54293347e-05 9.99998571e-01 -8.50631827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.47, Y:-62.40, Z:-0.85 [[ 9.84291632e-01 1.76542359e-01 1.66692970e-03 4.08466608e+02] [-1.76542135e-01 9.84293043e-01 -2.81657124e-04 -6.23956858e+01] [-1.69047172e-03 -1.70505795e-05 9.99998571e-01 -8.49916150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:-62.40, Z:-0.85 [[ 9.84226300e-01 1.76906221e-01 1.66695260e-03 4.08493962e+02] [-1.76905998e-01 9.84227712e-01 -2.81521525e-04 -6.23987702e+01] [-1.69046386e-03 -1.78130255e-05 9.99998571e-01 -8.48717761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.52, Y:-62.40, Z:-0.85 [[ 9.84352954e-01 1.76200121e-01 1.66697354e-03 4.08521686e+02] [-1.76199897e-01 9.84354366e-01 -2.81397488e-04 -6.24009411e+01] [-1.69047496e-03 -1.67261189e-05 9.99998571e-01 -8.49924259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.55, Y:-62.41, Z:-0.85 [[ 9.84535398e-01 1.75177829e-01 1.66699194e-03 4.08550707e+02] [-1.75177604e-01 9.84536809e-01 -2.81288484e-04 -6.24051558e+01] [-1.69049043e-03 -1.50811839e-05 9.99998571e-01 -8.51606700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.58, Y:-62.41, Z:-0.85 [[ 9.84777787e-01 1.73810041e-01 1.66700150e-03 4.08578080e+02] [-1.73809814e-01 9.84779198e-01 -2.81231768e-04 -6.24096003e+01] [-1.69050931e-03 -1.27904230e-05 9.99998571e-01 -8.54357643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.61, Y:-62.41, Z:-0.86 [[ 9.84980829e-01 1.72655690e-01 1.66701729e-03 4.08606379e+02] [-1.72655461e-01 9.84982240e-01 -2.81138152e-04 -6.24143211e+01] [-1.69052253e-03 -1.09039491e-05 9.99998571e-01 -8.55221029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.63, Y:-62.42, Z:-0.85 [[ 9.85024275e-01 1.72407654e-01 1.66703054e-03 4.08634585e+02] [-1.72407425e-01 9.85025685e-01 -2.81059575e-04 -6.24184536e+01] [-1.69052472e-03 -1.05579386e-05 9.99998571e-01 -8.52218983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.66, Y:-62.42, Z:-0.85 [[ 9.84939756e-01 1.72889845e-01 1.66704389e-03 4.08661903e+02] [-1.72889617e-01 9.84941166e-01 -2.80980355e-04 -6.24223622e+01] [-1.69051881e-03 -1.14658573e-05 9.99998571e-01 -8.48559795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.69, Y:-62.43, Z:-0.84 [[ 9.84590787e-01 1.74866242e-01 1.66706052e-03 4.08690323e+02] [-1.74866017e-01 9.84592198e-01 -2.80881655e-04 -6.24263082e+01] [-1.69049150e-03 -1.49587441e-05 9.99998571e-01 -8.43676027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.72, Y:-62.43, Z:-0.84 [[ 9.84501395e-01 1.75368823e-01 1.66707373e-03 4.08718305e+02] [-1.75368599e-01 9.84502806e-01 -2.80803266e-04 -6.24306227e+01] [-1.69048290e-03 -1.59011769e-05 9.99998571e-01 -8.42306761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.75, Y:-62.43, Z:-0.84 [[ 9.84465052e-01 1.75572724e-01 1.66709389e-03 4.08745313e+02] [-1.75572501e-01 9.84466464e-01 -2.80683484e-04 -6.24348781e+01] [-1.69047839e-03 -1.63727627e-05 9.99998571e-01 -8.41779460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.77, Y:-62.44, Z:-0.84 [[ 9.84624699e-01 1.74675194e-01 1.66711738e-03 4.08772791e+02] [-1.74674969e-01 9.84626110e-01 -2.80543907e-04 -6.24393298e+01] [-1.69049136e-03 -1.49732175e-05 9.99998571e-01 -8.42296508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:-62.44, Z:-0.84 [[ 9.84805128e-01 1.73655063e-01 1.66713573e-03 4.08800344e+02] [-1.73654837e-01 9.84806539e-01 -2.80434803e-04 -6.24448514e+01] [-1.69050510e-03 -1.33325524e-05 9.99998571e-01 -8.43371148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.83, Y:-62.45, Z:-0.84 [[ 9.85420545e-01 1.70128099e-01 1.66715610e-03 4.08826681e+02] [-1.70127869e-01 9.85421955e-01 -2.80313696e-04 -6.24524802e+01] [-1.69054146e-03 -7.40283863e-06 9.99998571e-01 -8.42777486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:-62.46, Z:-0.84 [[ 9.85863602e-01 1.67541576e-01 1.66719008e-03 4.08853485e+02] [-1.67541341e-01 9.85865011e-01 -2.80111420e-04 -6.24582560e+01] [-1.69055468e-03 -3.17160972e-06 9.99998571e-01 -8.42855414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.88, Y:-62.46, Z:-0.84 [[ 9.86252585e-01 1.65236376e-01 1.66721326e-03 4.08880738e+02] [-1.65236139e-01 9.86253994e-01 -2.79973425e-04 -6.24638398e+01] [-1.69055753e-03 6.40633375e-07 9.99998571e-01 -8.43619731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.91, Y:-62.47, Z:-0.85 [[ 9.86597862e-01 1.63162122e-01 1.66723231e-03 4.08907871e+02] [-1.63161882e-01 9.86599271e-01 -2.79859935e-04 -6.24692026e+01] [-1.69055272e-03 4.08045260e-06 9.99998571e-01 -8.45725414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.94, Y:-62.48, Z:-0.85 [[ 9.87043410e-01 1.60444777e-01 1.66725206e-03 4.08935304e+02] [-1.60444533e-01 9.87044818e-01 -2.79742230e-04 -6.24786732e+01] [-1.69053568e-03 8.61624729e-06 9.99998571e-01 -8.51350550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.96, Y:-62.49, Z:-0.85 [[ 9.87191944e-01 1.59528321e-01 1.66726520e-03 4.08962880e+02] [-1.59528077e-01 9.87193352e-01 -2.79663875e-04 -6.24860107e+01] [-1.69052743e-03 1.01063143e-05 9.99998571e-01 -8.51794403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.99, Y:-62.50, Z:-0.85 [[ 9.87446314e-01 1.57946181e-01 1.66728491e-03 4.08989776e+02] [-1.57945934e-01 9.87447722e-01 -2.79546338e-04 -6.24956886e+01] [-1.69050996e-03 1.26961288e-05 9.99998571e-01 -8.48582456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.02, Y:-62.50, Z:-0.85 [[ 9.87511295e-01 1.57539399e-01 1.66730119e-03 4.09017076e+02] [-1.57539151e-01 9.87512703e-01 -2.79449205e-04 -6.25028049e+01] [-1.69050536e-03 1.32940329e-05 9.99998571e-01 -8.46801723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.05, Y:-62.51, Z:-0.85 [[ 9.87522126e-01 1.57471489e-01 1.66731735e-03 4.09045201e+02] [-1.57471242e-01 9.87523534e-01 -2.79352726e-04 -6.25073765e+01] [-1.69050521e-03 1.33124639e-05 9.99998571e-01 -8.46849894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.07, Y:-62.51, Z:-0.85 [[ 9.87440224e-01 1.57984255e-01 1.66733655e-03 4.09072628e+02] [-1.57984009e-01 9.87441631e-01 -2.79238067e-04 -6.25147229e+01] [-1.69051274e-03 1.23183869e-05 9.99998571e-01 -8.47072546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.10, Y:-62.52, Z:-0.85 [[ 9.87056970e-01 1.60361338e-01 1.66735573e-03 4.09098956e+02] [-1.60361095e-01 9.87058378e-01 -2.79123538e-04 -6.25225358e+01] [-1.69053806e-03 8.13184336e-06 9.99998571e-01 -8.48797715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.13, Y:-62.53, Z:-0.85 [[ 9.86770941e-01 1.62112088e-01 1.66737800e-03 4.09125268e+02] [-1.62111848e-01 9.86772350e-01 -2.78990424e-04 -6.25271520e+01] [-1.69055023e-03 4.99791417e-06 9.99998571e-01 -8.49266079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.15, Y:-62.53, Z:-0.85 [[ 9.86482596e-01 1.63857583e-01 1.66740008e-03 4.09152634e+02] [-1.63857345e-01 9.86484005e-01 -2.78858378e-04 -6.25315363e+01] [-1.69055657e-03 1.87318557e-06 9.99998571e-01 -8.47314747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.18, Y:-62.54, Z:-0.85 [[ 9.86167172e-01 1.65745373e-01 1.66741902e-03 4.09179903e+02] [-1.65745139e-01 9.86168582e-01 -2.78745109e-04 -6.25358581e+01] [-1.69055696e-03 -1.47732004e-06 9.99998571e-01 -8.45923994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.21, Y:-62.54, Z:-0.85 [[ 9.85403116e-01 1.70229019e-01 1.66743791e-03 4.09207614e+02] [-1.70228792e-01 9.85404527e-01 -2.78632065e-04 -6.25396174e+01] [-1.69053212e-03 -9.28103466e-06 9.99998571e-01 -8.45256936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:-62.54, Z:-0.85 [[ 9.84979888e-01 1.72661053e-01 1.66745682e-03 4.09234342e+02] [-1.72660829e-01 9.84981300e-01 -2.78518824e-04 -6.25437505e+01] [-1.69050314e-03 -1.35690360e-05 9.99998571e-01 -8.46725255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.26, Y:-62.55, Z:-0.85 [[ 9.84661994e-01 1.74464830e-01 1.66747881e-03 4.09262904e+02] [-1.74464609e-01 9.84663406e-01 -2.78387114e-04 -6.25479448e+01] [-1.69047413e-03 -1.67988281e-05 9.99998571e-01 -8.48639570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.29, Y:-62.55, Z:-0.85 [[ 9.84339116e-01 1.76277407e-01 1.66749143e-03 4.09289374e+02] [-1.76277189e-01 9.84340528e-01 -2.78311535e-04 -6.25514179e+01] [-1.69043943e-03 -1.99877703e-05 9.99998571e-01 -8.50324650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.32, Y:-62.56, Z:-0.85 [[ 9.84246084e-01 1.76796112e-01 1.66751344e-03 4.09315799e+02] [-1.76795894e-01 9.84247496e-01 -2.78179603e-04 -6.25554245e+01] [-1.69042700e-03 -2.10123441e-05 9.99998571e-01 -8.49516128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.34, Y:-62.56, Z:-0.85 [[ 9.84123705e-01 1.77476063e-01 1.66754369e-03 4.09344624e+02] [-1.77475847e-01 9.84125117e-01 -2.77998128e-04 -6.25604228e+01] [-1.69040964e-03 -2.23641810e-05 9.99998571e-01 -8.46821051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.37, Y:-62.57, Z:-0.84 [[ 9.84023256e-01 1.78032162e-01 1.66755585e-03 4.09372095e+02] [-1.78031946e-01 9.84024669e-01 -2.77925132e-04 -6.25651701e+01] [-1.69039571e-03 -2.33934210e-05 9.99998571e-01 -8.43468874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.40, Y:-62.57, Z:-0.84 [[ 9.83947042e-01 1.78452903e-01 1.66757102e-03 4.09399328e+02] [-1.78452688e-01 9.83948454e-01 -2.77834140e-04 -6.25696038e+01] [-1.69038423e-03 -2.42084511e-05 9.99998571e-01 -8.41951870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.43, Y:-62.57, Z:-0.84 [[ 9.84021355e-01 1.78042670e-01 1.66758914e-03 4.09425568e+02] [-1.78042455e-01 9.84022768e-01 -2.77725306e-04 -6.25741165e+01] [-1.69039264e-03 -2.36140325e-05 9.99998571e-01 -8.44021238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.45, Y:-62.58, Z:-0.85 [[ 9.84105781e-01 1.77575422e-01 1.66761018e-03 4.09453172e+02] [-1.77575207e-01 9.84107194e-01 -2.77598892e-04 -6.25788044e+01] [-1.69040192e-03 -2.29395492e-05 9.99998571e-01 -8.46516204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.48, Y:-62.58, Z:-0.85 [[ 9.83970139e-01 1.78325500e-01 1.66762924e-03 4.09480325e+02] [-1.78325286e-01 9.83971552e-01 -2.77484352e-04 -6.25837149e+01] [-1.69038227e-03 -2.43441449e-05 9.99998571e-01 -8.49421971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.51, Y:-62.59, Z:-0.85 [[ 9.83804469e-01 1.79237230e-01 1.66765216e-03 4.09508209e+02] [-1.79237018e-01 9.83805883e-01 -2.77346525e-04 -6.25881418e+01] [-1.69035683e-03 -2.60502495e-05 9.99998571e-01 -8.49578979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.53, Y:-62.59, Z:-0.85 [[ 9.83650332e-01 1.80081212e-01 1.66767094e-03 4.09534843e+02] [-1.80081001e-01 9.83651745e-01 -2.77233593e-04 -6.25919821e+01] [-1.69033199e-03 -2.76149366e-05 9.99998571e-01 -8.49879773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:409.56, Y:-62.60, Z:-0.85 [[ 9.83501104e-01 1.80894439e-01 1.66769266e-03 4.09562027e+02] [-1.80894229e-01 9.83502517e-01 -2.77102880e-04 -6.25966557e+01] [-1.69030630e-03 -2.91449893e-05 9.99998571e-01 -8.48738140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.59, Y:-62.60, Z:-0.85 [[ 9.83522132e-01 1.80780073e-01 1.66771128e-03 4.09588894e+02] [-1.80779863e-01 9.83523545e-01 -2.76990748e-04 -6.26039210e+01] [-1.69030772e-03 -2.90620859e-05 9.99998571e-01 -8.47650232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:-62.61, Z:-0.85 [[ 9.83587134e-01 1.80426076e-01 1.66772674e-03 4.09615945e+02] [-1.80425866e-01 9.83588547e-01 -2.76897627e-04 -6.26101301e+01] [-1.69031648e-03 -2.85480987e-05 9.99998571e-01 -8.47012050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:-62.62, Z:-0.85 [[ 9.83608580e-01 1.80309122e-01 1.66774508e-03 4.09643172e+02] [-1.80308911e-01 9.83609994e-01 -2.76787166e-04 -6.26154457e+01] [-1.69031797e-03 -2.84590677e-05 9.99998571e-01 -8.46370279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:-62.62, Z:-0.85 [[ 9.83421703e-01 1.81325596e-01 1.66776462e-03 4.09670441e+02] [-1.81325388e-01 9.83423117e-01 -2.76669384e-04 -6.26193017e+01] [-1.69028552e-03 -3.03253885e-05 9.99998571e-01 -8.49957598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.70, Y:-62.62, Z:-0.85 [[ 9.83261030e-01 1.82194858e-01 1.66778086e-03 4.09698153e+02] [-1.82194650e-01 9.83262444e-01 -2.76571411e-04 -6.26232949e+01] [-1.69025617e-03 -3.19188604e-05 9.99998571e-01 -8.50339408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.73, Y:-62.63, Z:-0.85 [[ 9.82534073e-01 1.86075289e-01 1.66780065e-03 4.09725432e+02] [-1.86075088e-01 9.82535488e-01 -2.76452058e-04 -6.26259669e+01] [-1.69011422e-03 -3.87125856e-05 9.99998571e-01 -8.52300285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.75, Y:-62.63, Z:-0.85 [[ 9.82038267e-01 1.88674482e-01 1.66782354e-03 4.09754507e+02] [-1.88674285e-01 9.82039682e-01 -2.76313897e-04 -6.26289311e+01] [-1.69000228e-03 -4.33245918e-05 9.99998571e-01 -8.51981532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:-62.63, Z:-0.85 [[ 9.81554709e-01 1.91174193e-01 1.66783652e-03 4.09783340e+02] [-1.91173999e-01 9.81556125e-01 -2.76235472e-04 -6.26321856e+01] [-1.68988425e-03 -4.77067500e-05 9.99998571e-01 -8.54123049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:-62.63, Z:-0.86 [[ 9.81034445e-01 1.93826303e-01 1.66784946e-03 4.09812490e+02] [-1.93826113e-01 9.81035862e-01 -2.76157349e-04 -6.26349280e+01] [-1.68974669e-03 -5.23529072e-05 9.99998571e-01 -8.57659006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:-62.64, Z:-0.86 [[ 9.80956370e-01 1.94221056e-01 1.66786231e-03 4.09839599e+02] [-1.94220867e-01 9.80957786e-01 -2.76079711e-04 -6.26384122e+01] [-1.68972301e-03 -5.31115138e-05 9.99998571e-01 -8.57143488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.87, Y:-62.64, Z:-0.86 [[ 9.80955059e-01 1.94227676e-01 1.66789681e-03 4.09867707e+02] [-1.94227487e-01 9.80956476e-01 -2.75871137e-04 -6.26416809e+01] [-1.68971599e-03 -5.33342188e-05 9.99998571e-01 -8.56270636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.90, Y:-62.65, Z:-0.86 [[ 9.80978098e-01 1.94111280e-01 1.66791264e-03 4.09896339e+02] [-1.94111092e-01 9.80979515e-01 -2.75775392e-04 -6.26450375e+01] [-1.68971925e-03 -5.32307245e-05 9.99998571e-01 -8.55852568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:-62.65, Z:-0.86 [[ 9.80887251e-01 1.94569828e-01 1.66792513e-03 4.09925022e+02] [-1.94569641e-01 9.80888668e-01 -2.75699854e-04 -6.26463208e+01] [-1.68969173e-03 -5.40971210e-05 9.99998571e-01 -8.58504218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.95, Y:-62.65, Z:-0.86 [[ 9.80674795e-01 1.95637838e-01 1.66793764e-03 4.09952733e+02] [-1.95637652e-01 9.80676212e-01 -2.75624139e-04 -6.26495702e+01] [-1.68962928e-03 -5.60137566e-05 9.99998571e-01 -8.60661637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:-62.65, Z:-0.86 [[ 9.80077631e-01 1.98607793e-01 1.66795319e-03 4.09979466e+02] [-1.98607611e-01 9.80079048e-01 -2.75529985e-04 -6.26520519e+01] [-1.68944838e-03 -6.12274240e-05 9.99998571e-01 -8.60600714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:-62.66, Z:-0.86 [[ 9.79703620e-01 2.00444595e-01 1.66797470e-03 4.10008373e+02] [-2.00444416e-01 9.79705037e-01 -2.75399704e-04 -6.26558932e+01] [-1.68932560e-03 -6.45261285e-05 9.99998571e-01 -8.58800976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.04, Y:-62.66, Z:-0.86 [[ 9.79271576e-01 2.02544806e-01 1.66798695e-03 4.10037220e+02] [-2.02544631e-01 9.79272994e-01 -2.75325516e-04 -6.26595352e+01] [-1.68918033e-03 -6.82233487e-05 9.99998571e-01 -8.57072735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.07, Y:-62.66, Z:-0.85 [[ 9.78522549e-01 2.06133061e-01 1.66799923e-03 4.10065636e+02] [-2.06132890e-01 9.78523968e-01 -2.75251093e-04 -6.26611425e+01] [-1.68891557e-03 -7.44901009e-05 9.99998571e-01 -8.53757770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:-62.66, Z:-0.85 [[ 9.78215771e-01 2.07584017e-01 1.66801447e-03 4.10094623e+02] [-2.07583849e-01 9.78217190e-01 -2.75158690e-04 -6.26639275e+01] [-1.68879898e-03 -7.70882940e-05 9.99998571e-01 -8.52977818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.12, Y:-62.67, Z:-0.85 [[ 9.77976453e-01 2.08708589e-01 1.66802658e-03 4.10122687e+02] [-2.08708423e-01 9.77977872e-01 -2.75085267e-04 -6.26660540e+01] [-1.68870574e-03 -7.91042834e-05 9.99998571e-01 -8.52464750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.15, Y:-62.66, Z:-0.85 [[ 9.77671775e-01 2.10131193e-01 1.66804473e-03 4.10151043e+02] [-2.10131028e-01 9.77673195e-01 -2.74975187e-04 -6.26640323e+01] [-1.68858348e-03 -8.16724754e-05 9.99998571e-01 -8.51889079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:-62.66, Z:-0.85 [[ 9.77495064e-01 2.10951696e-01 1.66806309e-03 4.10178044e+02] [-2.10951533e-01 9.77496483e-01 -2.74863729e-04 -6.26641562e+01] [-1.68850878e-03 -8.32025289e-05 9.99998571e-01 -8.51161843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:-62.66, Z:-0.85 [[ 9.77239973e-01 2.12130271e-01 1.66808444e-03 4.10205015e+02] [-2.12130110e-01 9.77241393e-01 -2.74734136e-04 -6.26643790e+01] [-1.68840059e-03 -8.53697552e-05 9.99998571e-01 -8.50390468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.23, Y:-62.66, Z:-0.85 [[ 9.76985796e-01 2.13297846e-01 1.66810516e-03 4.10233514e+02] [-2.13297687e-01 9.76987216e-01 -2.74608245e-04 -6.26603720e+01] [-1.68829077e-03 -8.75146187e-05 9.99998571e-01 -8.49182628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:-62.66, Z:-0.85 [[ 9.77072981e-01 2.12898113e-01 1.66811987e-03 4.10262112e+02] [-2.12897953e-01 9.77074402e-01 -2.74518885e-04 -6.26610335e+01] [-1.68832177e-03 -8.69143206e-05 9.99998571e-01 -8.48814393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.29, Y:-62.66, Z:-0.85 [[ 9.77284388e-01 2.11925556e-01 1.66816796e-03 4.10290498e+02] [-2.11925396e-01 9.77285808e-01 -2.74226330e-04 -6.26618047e+01] [-1.68839244e-03 -8.55300450e-05 9.99998571e-01 -8.49000767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.32, Y:-62.66, Z:-0.85 [[ 9.77951084e-01 2.08827425e-01 1.66821988e-03 4.10318522e+02] [-2.08827261e-01 9.77952504e-01 -2.73910090e-04 -6.26590681e+01] [-1.68863975e-03 -8.04991189e-05 9.99998571e-01 -8.49870650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:-62.66, Z:-0.85 [[ 9.78499373e-01 2.06243044e-01 1.66824244e-03 4.10346331e+02] [-2.06242876e-01 9.78500793e-01 -2.73772632e-04 -6.26590067e+01] [-1.68884025e-03 -7.61767708e-05 9.99998571e-01 -8.51243592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.37, Y:-62.66, Z:-0.85 [[ 9.79044746e-01 2.03638410e-01 1.66827743e-03 4.10373167e+02] [-2.03638239e-01 9.79046165e-01 -2.73559237e-04 -6.26595378e+01] [-1.68902779e-03 -7.18983453e-05 9.99998571e-01 -8.52682519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:-62.66, Z:-0.85 [[ 9.80027871e-01 1.98853186e-01 1.66829817e-03 4.10401132e+02] [-1.98853008e-01 9.80029289e-01 -2.73432706e-04 -6.26566661e+01] [-1.68935404e-03 -6.37744378e-05 9.99998571e-01 -8.53370609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.43, Y:-62.66, Z:-0.85 [[ 9.80445746e-01 1.96782508e-01 1.66831887e-03 4.10429130e+02] [-1.96782327e-01 9.80447164e-01 -2.73306382e-04 -6.26581811e+01] [-1.68948042e-03 -6.03335893e-05 9.99998571e-01 -8.52044845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.46, Y:-62.66, Z:-0.85 [[ 9.80874133e-01 1.94635947e-01 1.66837026e-03 4.10456202e+02] [-1.94635764e-01 9.80875550e-01 -2.72992313e-04 -6.26592451e+01] [-1.68959771e-03 -5.69534213e-05 9.99998571e-01 -8.52725375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.49, Y:-62.66, Z:-0.85 [[ 9.81805599e-01 1.89881496e-01 1.66839258e-03 4.10485381e+02] [-1.89881306e-01 9.81807015e-01 -2.72855833e-04 -6.26566677e+01] [-1.68984981e-03 -4.89051771e-05 9.99998571e-01 -8.51849499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.51, Y:-62.66, Z:-0.85 [[ 9.82337611e-01 1.87109684e-01 1.66844385e-03 4.10512073e+02] [-1.87109490e-01 9.82339027e-01 -2.72541981e-04 -6.26577138e+01] [-1.68997275e-03 -4.44534395e-05 9.99998571e-01 -8.53132160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.54, Y:-62.66, Z:-0.85 [[ 9.82888862e-01 1.84192024e-01 1.66847874e-03 4.10539574e+02] [-1.84191827e-01 9.82890277e-01 -2.72328215e-04 -6.26597298e+01] [-1.69009221e-03 -3.96517785e-05 9.99998571e-01 -8.54934165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.57, Y:-62.66, Z:-0.86 [[ 9.83918387e-01 1.78610818e-01 1.66850087e-03 4.10567486e+02] [-1.78610614e-01 9.83919801e-01 -2.72192528e-04 -6.26597013e+01] [-1.69028758e-03 -3.01967321e-05 9.99998571e-01 -8.57563123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.59, Y:-62.66, Z:-0.86 [[ 9.84433342e-01 1.75750425e-01 1.66851660e-03 4.10594139e+02] [-1.75750217e-01 9.84434755e-01 -2.72096097e-04 -6.26613724e+01] [-1.69036673e-03 -2.53816839e-05 9.99998571e-01 -8.57321372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.62, Y:-62.66, Z:-0.86 [[ 9.84950310e-01 1.72829695e-01 1.66855069e-03 4.10622199e+02] [-1.72829482e-01 9.84951723e-01 -2.71886892e-04 -6.26634823e+01] [-1.69043200e-03 -2.05796737e-05 9.99998571e-01 -8.56474737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:-62.67, Z:-0.86 [[ 9.85456211e-01 1.69921372e-01 1.66860041e-03 4.10650190e+02] [-1.69921156e-01 9.85457623e-01 -2.71581415e-04 -6.26667043e+01] [-1.69048248e-03 -1.58989182e-05 9.99998571e-01 -8.56124509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:-62.67, Z:-0.86 [[ 9.86464973e-01 1.63963631e-01 1.66864995e-03 4.10677628e+02] [-1.63963407e-01 9.86466384e-01 -2.71276679e-04 -6.26708840e+01] [-1.69054659e-03 -5.99258838e-06 9.99998571e-01 -8.57609279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:-62.68, Z:-0.86 [[ 9.86968809e-01 1.60903035e-01 1.66866534e-03 4.10705229e+02] [-1.60902806e-01 9.86970219e-01 -2.71181970e-04 -6.26751154e+01] [-1.69055700e-03 -8.44789588e-07 9.99998571e-01 -8.57724646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:-62.68, Z:-0.86 [[ 9.87825776e-01 1.55555299e-01 1.66871635e-03 4.10732004e+02] [-1.55555064e-01 9.87827186e-01 -2.70867732e-04 -6.26791998e+01] [-1.69053828e-03 7.99285049e-06 9.99998571e-01 -8.58084837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.76, Y:-62.68, Z:-0.86 [[ 9.88213846e-01 1.53070606e-01 1.66873852e-03 4.10760481e+02] [-1.53070367e-01 9.88215255e-01 -2.70731093e-04 -6.26842869e+01] [-1.69051383e-03 1.21057981e-05 9.99998571e-01 -8.55714492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.79, Y:-62.69, Z:-0.86 [[ 9.88224683e-01 1.53000626e-01 1.66875133e-03 4.10788622e+02] [-1.53000387e-01 9.88226092e-01 -2.70652106e-04 -6.26887159e+01] [-1.69051354e-03 1.21454931e-05 9.99998571e-01 -8.55762659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.82, Y:-62.69, Z:-0.85 [[ 9.88538790e-01 1.50957858e-01 1.66877048e-03 4.10816120e+02] [-1.50957616e-01 9.88540199e-01 -2.70533934e-04 -6.26943314e+01] [-1.69048593e-03 1.55196735e-05 9.99998571e-01 -8.54780088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.84, Y:-62.70, Z:-0.85 [[ 9.89085583e-01 1.47332704e-01 1.66878636e-03 4.10842035e+02] [-1.47332457e-01 9.89086990e-01 -2.70435984e-04 -6.27018879e+01] [-1.69041894e-03 2.16179383e-05 9.99998571e-01 -8.54366463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.87, Y:-62.71, Z:-0.85 [[ 9.89277465e-01 1.46038737e-01 1.66881940e-03 4.10869480e+02] [-1.46038488e-01 9.89278872e-01 -2.70231915e-04 -6.27079298e+01] [-1.69039210e-03 2.36224808e-05 9.99998571e-01 -8.53891928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.90, Y:-62.71, Z:-0.85 [[ 9.89388205e-01 1.45286596e-01 1.66883883e-03 4.10895515e+02] [-1.45286347e-01 9.89389612e-01 -2.70111864e-04 -6.27142658e+01] [-1.69037544e-03 2.47859947e-05 9.99998571e-01 -8.54880172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.92, Y:-62.72, Z:-0.86 [[ 9.89637078e-01 1.43581577e-01 1.66886132e-03 4.10922393e+02] [-1.43581326e-01 9.89638484e-01 -2.69972855e-04 -6.27245558e+01] [-1.69033252e-03 2.75578255e-05 9.99998571e-01 -8.55221422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:-62.73, Z:-0.85 [[ 9.89767090e-01 1.42682592e-01 1.66887672e-03 4.10948618e+02] [-1.42682340e-01 9.89768497e-01 -2.69877638e-04 -6.27316466e+01] [-1.69030844e-03 2.89967701e-05 9.99998571e-01 -8.54983988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.98, Y:-62.74, Z:-0.85 [[ 9.89912991e-01 1.41666812e-01 1.66889730e-03 4.10977029e+02] [-1.41666559e-01 9.89914397e-01 -2.69750324e-04 -6.27384966e+01] [-1.69028013e-03 3.06024131e-05 9.99998571e-01 -8.53459909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:-62.75, Z:-0.85 [[ 9.90110266e-01 1.40281418e-01 1.66890888e-03 4.11004266e+02] [-1.40281163e-01 9.90111672e-01 -2.69678648e-04 -6.27490246e+01] [-1.69023706e-03 3.28951191e-05 9.99998571e-01 -8.50363779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.03, Y:-62.76, Z:-0.85 [[ 9.90176291e-01 1.39814621e-01 1.66892157e-03 4.11031696e+02] [-1.39814365e-01 9.90177696e-01 -2.69600096e-04 -6.27566525e+01] [-1.69022295e-03 3.36124129e-05 9.99998571e-01 -8.49955157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.06, Y:-62.77, Z:-0.85 [[ 9.90317818e-01 1.38808623e-01 1.66894055e-03 4.11057390e+02] [-1.38808366e-01 9.90319224e-01 -2.69482547e-04 -6.27660463e+01] [-1.69019041e-03 3.52104586e-05 9.99998571e-01 -8.49449707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.09, Y:-62.77, Z:-0.85 [[ 9.90354753e-01 1.38544856e-01 1.66896254e-03 4.11085149e+02] [-1.38544599e-01 9.90356159e-01 -2.69346264e-04 -6.27727260e+01] [-1.69018387e-03 3.55226063e-05 9.99998571e-01 -8.50001656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.11, Y:-62.78, Z:-0.85 [[ 9.90441715e-01 1.37921802e-01 1.66898104e-03 4.11112164e+02] [-1.37921544e-01 9.90443121e-01 -2.69231631e-04 -6.27793630e+01] [-1.69016370e-03 3.64697968e-05 9.99998571e-01 -8.51131827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.14, Y:-62.79, Z:-0.85 [[ 9.90541335e-01 1.37204513e-01 1.66900083e-03 4.11138452e+02] [-1.37204254e-01 9.90542740e-01 -2.69108834e-04 -6.27868620e+01] [-1.69013961e-03 3.75694094e-05 9.99998571e-01 -8.53921721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.17, Y:-62.80, Z:-0.86 [[ 9.90902663e-01 1.34570156e-01 1.66903180e-03 4.11165753e+02] [-1.34569894e-01 9.90904068e-01 -2.68916622e-04 -6.27984205e+01] [-1.69003856e-03 4.18687643e-05 9.99998571e-01 -8.55170783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.19, Y:-62.81, Z:-0.86 [[ 9.91123911e-01 1.32930837e-01 1.66904422e-03 4.11191522e+02] [-1.32930572e-01 9.91125315e-01 -2.68839525e-04 -6.28068980e+01] [-1.68996904e-03 4.45862777e-05 9.99998571e-01 -8.55023442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.22, Y:-62.82, Z:-0.86 [[ 9.91583483e-01 1.29458143e-01 1.66906581e-03 4.11217151e+02] [-1.29457874e-01 9.91584886e-01 -2.68705458e-04 -6.28206027e+01] [-1.68980654e-03 5.03701830e-05 9.99998571e-01 -8.56065506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.24, Y:-62.83, Z:-0.86 [[ 9.91837129e-01 1.27500290e-01 1.66908666e-03 4.11244308e+02] [-1.27500018e-01 9.91838532e-01 -2.68575863e-04 -6.28295710e+01] [-1.68970796e-03 5.35749333e-05 9.99998571e-01 -8.57824681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.27, Y:-62.84, Z:-0.86 [[ 9.92031447e-01 1.25979450e-01 1.66910340e-03 4.11271954e+02] [-1.25979177e-01 9.92032850e-01 -2.68471800e-04 -6.28385477e+01] [-1.68962733e-03 5.60601965e-05 9.99998571e-01 -8.59597029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.30, Y:-62.85, Z:-0.86 [[ 9.92154301e-01 1.25008227e-01 1.66911516e-03 4.11299576e+02] [-1.25007952e-01 9.92155703e-01 -2.68398675e-04 -6.28510855e+01] [-1.68957416e-03 5.76402333e-05 9.99998571e-01 -8.58190791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.33, Y:-62.86, Z:-0.86 [[ 9.92098960e-01 1.25446675e-01 1.66912755e-03 4.11327153e+02] [-1.25446401e-01 9.92100362e-01 -2.68321569e-04 -6.28596344e+01] [-1.68960210e-03 5.68155063e-05 9.99998571e-01 -8.56544519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:-62.87, Z:-0.86 [[ 9.91922760e-01 1.26832380e-01 1.66914004e-03 4.11354313e+02] [-1.26832108e-01 9.91924163e-01 -2.68243851e-04 -6.28685023e+01] [-1.68968234e-03 5.43766300e-05 9.99998571e-01 -8.57415111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.38, Y:-62.88, Z:-0.86 [[ 9.91653192e-01 1.28923080e-01 1.66915558e-03 4.11381707e+02] [-1.28922811e-01 9.91654596e-01 -2.68147127e-04 -6.28807800e+01] [-1.68979616e-03 5.07167250e-05 9.99998571e-01 -8.56165912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.41, Y:-62.89, Z:-0.86 [[ 9.91591182e-01 1.29399160e-01 1.66916792e-03 4.11408234e+02] [-1.29398892e-01 9.91592585e-01 -2.68070269e-04 -6.28879956e+01] [-1.68982260e-03 4.98276355e-05 9.99998571e-01 -8.55015587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.44, Y:-62.90, Z:-0.85 [[ 9.91577404e-01 1.29504696e-01 1.66917816e-03 4.11435676e+02] [-1.29504428e-01 9.91578807e-01 -2.68006522e-04 -6.28951076e+01] [-1.68982979e-03 4.95832490e-05 9.99998571e-01 -8.53528670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:-62.90, Z:-0.85 [[ 9.91551790e-01 1.29700662e-01 1.66919428e-03 4.11463195e+02] [-1.29700395e-01 9.91553194e-01 -2.67906109e-04 -6.29041254e+01] [-1.68984251e-03 4.91476249e-05 9.99998571e-01 -8.50961471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.49, Y:-62.91, Z:-0.85 [[ 9.91472004e-01 1.30309168e-01 1.66920563e-03 4.11491708e+02] [-1.30308901e-01 9.91473408e-01 -2.67835348e-04 -6.29109858e+01] [-1.68987440e-03 4.80388973e-05 9.99998571e-01 -8.50560605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.52, Y:-62.92, Z:-0.85 [[ 9.91386728e-01 1.30956367e-01 1.66921808e-03 4.11518777e+02] [-1.30956102e-01 9.91388132e-01 -2.67757716e-04 -6.29172849e+01] [-1.68990757e-03 4.68571529e-05 9.99998571e-01 -8.52321539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.55, Y:-62.93, Z:-0.86 [[ 9.91177542e-01 1.32530348e-01 1.66923357e-03 4.11546312e+02] [-1.32530085e-01 9.91178947e-01 -2.67661099e-04 -6.29260197e+01] [-1.68998240e-03 4.40760029e-05 9.99998571e-01 -8.55458390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.57, Y:-62.93, Z:-0.85 [[ 9.91079863e-01 1.33258838e-01 1.66924598e-03 4.11574212e+02] [-1.33258576e-01 9.91081268e-01 -2.67583741e-04 -6.29321307e+01] [-1.69001632e-03 4.27555155e-05 9.99998571e-01 -8.54658605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.60, Y:-62.94, Z:-0.85 [[ 9.90976555e-01 1.34024930e-01 1.66925842e-03 4.11602642e+02] [-1.34024670e-01 9.90977960e-01 -2.67506065e-04 -6.29376100e+01] [-1.69005079e-03 4.13704292e-05 9.99998571e-01 -8.53166871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.63, Y:-62.94, Z:-0.85 [[ 9.90897154e-01 1.34610711e-01 1.66927163e-03 4.11629669e+02] [-1.34610451e-01 9.90898559e-01 -2.67423643e-04 -6.29432791e+01] [-1.69007694e-03 4.02879201e-05 9.99998571e-01 -8.51190721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.66, Y:-62.95, Z:-0.85 [[ 9.90925118e-01 1.34404705e-01 1.66928808e-03 4.11656788e+02] [-1.34404445e-01 9.90926523e-01 -2.67320908e-04 -6.29481551e+01] [-1.69007102e-03 4.05352631e-05 9.99998571e-01 -8.50367772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.69, Y:-62.95, Z:-0.85 [[ 9.90981503e-01 1.33988339e-01 1.66930352e-03 4.11685575e+02] [-1.33988079e-01 9.90982908e-01 -2.67224484e-04 -6.29532761e+01] [-1.69005622e-03 4.11477499e-05 9.99998571e-01 -8.49742526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.71, Y:-62.96, Z:-0.85 [[ 9.91058442e-01 1.33418059e-01 1.66931600e-03 4.11712298e+02] [-1.33417798e-01 9.91059847e-01 -2.67146501e-04 -6.29594993e+01] [-1.69003422e-03 4.20413308e-05 9.99998571e-01 -8.50894531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.74, Y:-62.96, Z:-0.85 [[ 9.91140708e-01 1.32805533e-01 1.66933141e-03 4.11740645e+02] [-1.32805272e-01 9.91142113e-01 -2.67050167e-04 -6.29645901e+01] [-1.69001040e-03 4.29882805e-05 9.99998571e-01 -8.50699424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.77, Y:-62.97, Z:-0.85 [[ 9.91219436e-01 1.32216648e-01 1.66934412e-03 4.11767875e+02] [-1.32216386e-01 9.91220841e-01 -2.66970644e-04 -6.29687659e+01] [-1.68998665e-03 4.39118435e-05 9.99998571e-01 -8.50561390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.80, Y:-62.97, Z:-0.85 [[ 9.91364408e-01 1.31125225e-01 1.66936125e-03 4.11796073e+02] [-1.31124961e-01 9.91365812e-01 -2.66863535e-04 -6.29724497e+01] [-1.68994021e-03 4.56640816e-05 9.99998571e-01 -8.50361438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.82, Y:-62.98, Z:-0.85 [[ 9.91418766e-01 1.30713592e-01 1.66937382e-03 4.11823696e+02] [-1.30713328e-01 9.91420171e-01 -2.66784874e-04 -6.29765137e+01] [-1.68992328e-03 4.62861236e-05 9.99998571e-01 -8.50012662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.85, Y:-62.98, Z:-0.85 [[ 9.91385055e-01 1.30969027e-01 1.66938938e-03 4.11852612e+02] [-1.30968763e-01 9.91386459e-01 -2.66687446e-04 -6.29801032e+01] [-1.68993782e-03 4.57520856e-05 9.99998571e-01 -8.51290974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.88, Y:-62.98, Z:-0.85 [[ 9.91372149e-01 1.31066684e-01 1.66940159e-03 4.11881485e+02] [-1.31066421e-01 9.91373553e-01 -2.66610981e-04 -6.29841145e+01] [-1.68994441e-03 4.55082093e-05 9.99998571e-01 -8.53295154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.91, Y:-62.99, Z:-0.85 [[ 9.91386404e-01 1.30958815e-01 1.66941404e-03 4.11910073e+02] [-1.30958552e-01 9.91387808e-01 -2.66533037e-04 -6.29883714e+01] [-1.68994158e-03 4.56131847e-05 9.99998571e-01 -8.54849689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.94, Y:-62.99, Z:-0.85 [[ 9.91422859e-01 1.30682542e-01 1.66942642e-03 4.11938569e+02] [-1.30682278e-01 9.91424264e-01 -2.66455464e-04 -6.29936599e+01] [-1.68993094e-03 4.60055900e-05 9.99998571e-01 -8.52889833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.97, Y:-63.00, Z:-0.85 [[ 9.91486923e-01 1.30195602e-01 1.66943941e-03 4.11966113e+02] [-1.30195338e-01 9.91488327e-01 -2.66374033e-04 -6.29992185e+01] [-1.68991042e-03 4.67531417e-05 9.99998571e-01 -8.52446835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.99, Y:-63.01, Z:-0.85 [[ 9.91630316e-01 1.29098917e-01 1.66945558e-03 4.11994834e+02] [-1.29098651e-01 9.91631720e-01 -2.66272687e-04 -6.30053067e+01] [-1.68986062e-03 4.85196056e-05 9.99998571e-01 -8.50394928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.02, Y:-63.01, Z:-0.85 [[ 9.91964768e-01 1.26503406e-01 1.66946806e-03 4.12022718e+02] [-1.26503137e-01 9.91966172e-01 -2.66194396e-04 -6.30137783e+01] [-1.68973034e-03 5.28625159e-05 9.99998571e-01 -8.49650114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.05, Y:-63.02, Z:-0.85 [[ 9.92091338e-01 1.25506935e-01 1.66947474e-03 4.12051032e+02] [-1.25506665e-01 9.92092741e-01 -2.66152524e-04 -6.30201258e+01] [-1.68967775e-03 5.45174078e-05 9.99998571e-01 -8.50899702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.08, Y:-63.03, Z:-0.85 [[ 9.92101686e-01 1.25425107e-01 1.66948695e-03 4.12078998e+02] [-1.25424836e-01 9.92103089e-01 -2.66075900e-04 -6.30291243e+01] [-1.68967576e-03 5.45792224e-05 9.99998571e-01 -8.54243031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.11, Y:-63.04, Z:-0.86 [[ 9.92001460e-01 1.26215355e-01 1.66949606e-03 4.12107973e+02] [-1.26215086e-01 9.92002864e-01 -2.66018697e-04 -6.30366633e+01] [-1.68972052e-03 5.31753474e-05 9.99998571e-01 -8.55234534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.14, Y:-63.04, Z:-0.86 [[ 9.91875919e-01 1.27198166e-01 1.66950199e-03 4.12137208e+02] [-1.27197898e-01 9.91877323e-01 -2.65981483e-04 -6.30442195e+01] [-1.68977352e-03 5.14634836e-05 9.99998571e-01 -8.55693960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.17, Y:-63.05, Z:-0.86 [[ 9.91681081e-01 1.28708376e-01 1.66950797e-03 4.12165930e+02] [-1.28708111e-01 9.91682485e-01 -2.65943951e-04 -6.30543944e+01] [-1.68985103e-03 4.88523683e-05 9.99998571e-01 -8.55406368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.19, Y:-63.06, Z:-0.85 [[ 9.91557801e-01 1.29654699e-01 1.66951095e-03 4.12194431e+02] [-1.29654435e-01 9.91559205e-01 -2.65925237e-04 -6.30616638e+01] [-1.68989741e-03 4.72207445e-05 9.99998571e-01 -8.54526048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.22, Y:-63.07, Z:-0.85 [[ 9.91005287e-01 1.33812311e-01 1.66950818e-03 4.12222845e+02] [-1.33812052e-01 9.91006692e-01 -2.65942651e-04 -6.30700946e+01] [-1.69008018e-03 4.01502579e-05 9.99998571e-01 -8.53448244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.25, Y:-63.08, Z:-0.85 [[ 9.90613157e-01 1.36684987e-01 1.66951407e-03 4.12252458e+02] [-1.36684733e-01 9.90614563e-01 -2.65905679e-04 -6.30761725e+01] [-1.69019026e-03 3.52125797e-05 9.99998571e-01 -8.52360915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.28, Y:-63.08, Z:-0.85 [[ 9.90255767e-01 1.39250594e-01 1.66951407e-03 4.12281687e+02] [-1.39250343e-01 9.90257174e-01 -2.65905679e-04 -6.30817708e+01] [-1.69027580e-03 3.08342257e-05 9.99998571e-01 -8.52281952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.31, Y:-63.09, Z:-0.85 [[ 9.89918184e-01 1.41630508e-01 1.66951126e-03 4.12309459e+02] [-1.41630261e-01 9.89919592e-01 -2.65923265e-04 -6.30868376e+01] [-1.69034476e-03 2.67889597e-05 9.99998571e-01 -8.51745892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.34, Y:-63.09, Z:-0.85 [[ 9.89273857e-01 1.46063166e-01 1.66952006e-03 4.12338196e+02] [-1.46062925e-01 9.89275266e-01 -2.65868008e-04 -6.30924208e+01] [-1.69044843e-03 1.91612855e-05 9.99998571e-01 -8.50359417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.37, Y:-63.10, Z:-0.85 [[ 9.88940802e-01 1.48301391e-01 1.66952626e-03 4.12366497e+02] [-1.48301154e-01 9.88942211e-01 -2.65829083e-04 -6.30971974e+01] [-1.69048782e-03 1.52965557e-05 9.99998571e-01 -8.51525796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.39, Y:-63.10, Z:-0.85 [[ 9.88605942e-01 1.50517457e-01 1.66953551e-03 4.12394916e+02] [-1.50517222e-01 9.88607351e-01 -2.65771001e-04 -6.31013495e+01] [-1.69051825e-03 1.14489430e-05 9.99998571e-01 -8.53220104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.42, Y:-63.10, Z:-0.85 [[ 9.87905958e-01 1.55045252e-01 1.66954152e-03 4.12423346e+02] [-1.55045025e-01 9.87907369e-01 -2.65733239e-04 -6.31035873e+01] [-1.69055305e-03 3.66534496e-06 9.99998571e-01 -8.54429407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.45, Y:-63.11, Z:-0.85 [[ 9.87522529e-01 1.57468942e-01 1.66955369e-03 4.12453259e+02] [-1.57468718e-01 9.87523940e-01 -2.65656773e-04 -6.31073015e+01] [-1.69055692e-03 -5.60430137e-07 9.99998571e-01 -8.52018264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.48, Y:-63.11, Z:-0.85 [[ 9.86828972e-01 1.61758440e-01 1.66956003e-03 4.12482315e+02] [-1.61758222e-01 9.86830384e-01 -2.65616898e-04 -6.31092558e+01] [-1.69053834e-03 -7.94661149e-06 9.99998571e-01 -8.46918856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.51, Y:-63.11, Z:-0.85 [[ 9.86533807e-01 1.63548955e-01 1.66957268e-03 4.12510686e+02] [-1.63548739e-01 9.86535220e-01 -2.65537341e-04 -6.31119341e+01] [-1.69052061e-03 -1.10949432e-05 9.99998571e-01 -8.48417892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.54, Y:-63.11, Z:-0.85 [[ 9.86315467e-01 1.64860583e-01 1.66958524e-03 4.12539574e+02] [-1.64860370e-01 9.86316880e-01 -2.65458387e-04 -6.31145849e+01] [-1.69050372e-03 -1.34227271e-05 9.99998571e-01 -8.52010407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.57, Y:-63.12, Z:-0.85 [[ 9.86323322e-01 1.64813584e-01 1.66959784e-03 4.12568557e+02] [-1.64813371e-01 9.86324735e-01 -2.65379090e-04 -6.31190990e+01] [-1.69050373e-03 -1.34224627e-05 9.99998571e-01 -8.52059990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.60, Y:-63.12, Z:-0.86 [[ 9.85956198e-01 1.66995772e-01 1.66961048e-03 4.12596925e+02] [-1.66995562e-01 9.85957612e-01 -2.65299532e-04 -6.31214489e+01] [-1.69046906e-03 -1.72438235e-05 9.99998571e-01 -8.59788313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.62, Y:-63.12, Z:-0.86 [[ 9.85805152e-01 1.67885125e-01 1.66962311e-03 4.12624230e+02] [-1.67884917e-01 9.85806565e-01 -2.65220017e-04 -6.31239236e+01] [-1.69045192e-03 -1.88492778e-05 9.99998571e-01 -8.60373692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.65, Y:-63.12, Z:-0.86 [[ 9.85321211e-01 1.70702439e-01 1.66963883e-03 4.12652599e+02] [-1.70702235e-01 9.85322626e-01 -2.65121013e-04 -6.31232965e+01] [-1.69038972e-03 -2.37817218e-05 9.99998571e-01 -8.56197974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.68, Y:-63.12, Z:-0.86 [[ 9.85085180e-01 1.72059295e-01 1.66965429e-03 4.12680765e+02] [-1.72059093e-01 9.85086594e-01 -2.65023630e-04 -6.31248282e+01] [-1.69035384e-03 -2.62083529e-05 9.99998571e-01 -8.55155285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8457692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.71, Y:-63.13, Z:-0.85 [[ 9.84737081e-01 1.74040497e-01 1.66966957e-03 4.12706301e+02] [-1.74040298e-01 9.84738496e-01 -2.64927329e-04 -6.31264319e+01] [-1.69029598e-03 -2.97060246e-05 9.99998571e-01 -8.53571417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.74, Y:-63.13, Z:-0.86 [[ 9.84368846e-01 1.76111285e-01 1.67058279e-03 4.12737986e+02] [-1.76111098e-01 9.84370263e-01 -2.59165705e-04 -6.31251391e+01] [-1.69011403e-03 -3.90935243e-05 9.99998571e-01 -8.57784405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.77, Y:-63.13, Z:-0.86 [[ 9.84120319e-01 1.77494814e-01 1.66970078e-03 4.12767056e+02] [-1.77494620e-01 9.84121735e-01 -2.64728730e-04 -6.31259615e+01] [-1.69017681e-03 -3.58379839e-05 9.99998571e-01 -8.55071392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.80, Y:-63.13, Z:-0.85 [[ 9.83954914e-01 1.78409471e-01 1.66976836e-03 4.12796610e+02] [-1.78409279e-01 9.83956330e-01 -2.64302541e-04 -6.31263948e+01] [-1.69013322e-03 -3.78403845e-05 9.99998571e-01 -8.53895196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.83, Y:-63.12, Z:-0.85 [[ 9.83565620e-01 1.80543301e-01 1.66971655e-03 4.12825940e+02] [-1.80543112e-01 9.83567036e-01 -2.64629424e-04 -6.31219694e+01] [-1.69005523e-03 -4.11754190e-05 9.99998571e-01 -8.49333137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:412.85, Y:-63.12, Z:-0.85 [[ 9.83443149e-01 1.81209231e-01 1.66973250e-03 4.12854301e+02] [-1.81209042e-01 9.83444565e-01 -2.64528744e-04 -6.31217613e+01] [-1.69002441e-03 -4.24216469e-05 9.99998571e-01 -8.49539672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.88, Y:-63.12, Z:-0.85 [[ 9.83522867e-01 1.80776057e-01 1.66975125e-03 4.12883056e+02] [-1.80775868e-01 9.83524283e-01 -2.64410330e-04 -6.31215870e+01] [-1.69003996e-03 -4.17971273e-05 9.99998571e-01 -8.51198613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.91, Y:-63.12, Z:-0.85 [[ 9.84542200e-01 1.75139568e-01 1.66977015e-03 4.12911347e+02] [-1.75139372e-01 9.84543615e-01 -2.64290944e-04 -6.31184829e+01] [-1.69024934e-03 -3.22369075e-05 9.99998571e-01 -8.53729641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.94, Y:-63.12, Z:-0.85 [[ 9.85472084e-01 1.69829275e-01 1.66979212e-03 4.12938696e+02] [-1.69829071e-01 9.85473499e-01 -2.64152070e-04 -6.31206395e+01] [-1.69039664e-03 -2.32647531e-05 9.99998571e-01 -8.51846454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.97, Y:-63.12, Z:-0.85 [[ 9.87545470e-01 1.57325002e-01 1.66982224e-03 4.12966226e+02] [-1.57324780e-01 9.87546882e-01 -2.63961531e-04 -6.31239502e+01] [-1.69055549e-03 -2.03040247e-06 9.99998571e-01 -8.48362890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.99, Y:-63.13, Z:-0.85 [[ 9.88439569e-01 1.51606169e-01 1.66984096e-03 4.12993635e+02] [-1.51605940e-01 9.88440979e-01 -2.63843069e-04 -6.31285996e+01] [-1.69053947e-03 7.63512232e-06 9.99998571e-01 -8.49502920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.02, Y:-63.13, Z:-0.85 [[ 9.89183373e-01 1.46674694e-01 1.66985651e-03 4.13022042e+02] [-1.46674458e-01 9.89184782e-01 -2.63744615e-04 -6.31333317e+01] [-1.69048131e-03 1.59664897e-05 9.99998571e-01 -8.52519542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.05, Y:-63.14, Z:-0.86 [[ 9.90221927e-01 1.39491028e-01 1.66986867e-03 4.13050353e+02] [-1.39490782e-01 9.90223335e-01 -2.63667569e-04 -6.31402940e+01] [-1.69032219e-03 2.81581209e-05 9.99998571e-01 -8.56541027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.08, Y:-63.15, Z:-0.86 [[ 9.90587835e-01 1.36868380e-01 1.66988082e-03 4.13078891e+02] [-1.36868130e-01 9.90589242e-01 -2.63590616e-04 -6.31471803e+01] [-1.69024320e-03 3.25561919e-05 9.99998571e-01 -8.56223712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.11, Y:-63.16, Z:-0.85 [[ 9.91002174e-01 1.33835355e-01 1.66989294e-03 4.13106341e+02] [-1.33835101e-01 9.91003580e-01 -2.63513813e-04 -6.31590865e+01] [-1.69013735e-03 3.76524722e-05 9.99998571e-01 -8.51833208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.13, Y:-63.17, Z:-0.85 [[ 9.91136262e-01 1.32838705e-01 1.66990573e-03 4.13133988e+02] [-1.32838450e-01 9.91137668e-01 -2.63432714e-04 -6.31675764e+01] [-1.69010054e-03 3.92700258e-05 9.99998571e-01 -8.50257074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.16, Y:-63.18, Z:-0.85 [[ 9.91223446e-01 1.32186579e-01 1.66991849e-03 4.13160911e+02] [-1.32186323e-01 9.91224852e-01 -2.63351838e-04 -6.31756182e+01] [-1.69007628e-03 4.03001320e-05 9.99998571e-01 -8.49568816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.19, Y:-63.18, Z:-0.85 [[ 9.91245164e-01 1.32023616e-01 1.66993565e-03 4.13188534e+02] [-1.32023360e-01 9.91246570e-01 -2.63242965e-04 -6.31837113e+01] [-1.69007227e-03 4.04678000e-05 9.99998571e-01 -8.49994778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.22, Y:-63.20, Z:-0.85 [[ 9.91134932e-01 1.32848625e-01 1.66994793e-03 4.13215663e+02] [-1.32848370e-01 9.91136338e-01 -2.63165048e-04 -6.31956136e+01] [-1.69010719e-03 3.89822126e-05 9.99998571e-01 -8.52944867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.24, Y:-63.21, Z:-0.86 [[ 9.90768291e-01 1.35555909e-01 1.66996022e-03 4.13242882e+02] [-1.35555658e-01 9.90769698e-01 -2.63087062e-04 -6.32060620e+01] [-1.69020898e-03 3.42857630e-05 9.99998571e-01 -8.55475144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.27, Y:-63.21, Z:-0.86 [[ 9.90432698e-01 1.37986527e-01 1.66997294e-03 4.13271318e+02] [-1.37986280e-01 9.90434106e-01 -2.63006259e-04 -6.32124040e+01] [-1.69028948e-03 3.00566453e-05 9.99998571e-01 -8.56730454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.30, Y:-63.22, Z:-0.86 [[ 9.90080076e-01 1.40494318e-01 1.66998588e-03 4.13298377e+02] [-1.40494074e-01 9.90081485e-01 -2.62924088e-04 -6.32174565e+01] [-1.69036144e-03 2.56927816e-05 9.99998571e-01 -8.58240103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:413.33, Y:-63.22, Z:-0.86 [[ 9.89151404e-01 1.46890130e-01 1.67000314e-03 4.13325380e+02] [-1.46889895e-01 9.89152814e-01 -2.62814414e-04 -6.32240676e+01] [-1.69049315e-03 1.46566603e-05 9.99998571e-01 -8.58922679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:413.35, Y:-63.23, Z:-0.86 [[ 9.88711382e-01 1.49823275e-01 1.67001585e-03 4.13353364e+02] [-1.49823045e-01 9.88712793e-01 -2.62733614e-04 -6.32291604e+01] [-1.69052964e-03 9.56085514e-06 9.99998571e-01 -8.57701221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.38, Y:-63.23, Z:-0.86 [[ 9.88303770e-01 1.52488913e-01 1.67002829e-03 4.13380579e+02] [-1.52488687e-01 9.88305181e-01 -2.62654512e-04 -6.32334324e+01] [-1.69054951e-03 4.92202399e-06 9.99998571e-01 -8.57350915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.41, Y:-63.24, Z:-0.85 [[ 9.87433716e-01 1.58024897e-01 1.67004376e-03 4.13409264e+02] [-1.58024679e-01 9.87435128e-01 -2.62556142e-04 -6.32382551e+01] [-1.69055028e-03 -4.65134223e-06 9.99998571e-01 -8.54832054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.44, Y:-63.24, Z:-0.85 [[ 9.87044167e-01 1.60440094e-01 1.67005619e-03 4.13437599e+02] [-1.60439880e-01 9.87045580e-01 -2.62477022e-04 -6.32432153e+01] [-1.69053342e-03 -8.86720112e-06 9.99998571e-01 -8.53335729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.47, Y:-63.25, Z:-0.85 [[ 9.86227940e-01 1.65383374e-01 1.67006853e-03 4.13465566e+02] [-1.65383167e-01 9.86229354e-01 -2.62398492e-04 -6.32493479e+01] [-1.69046695e-03 -1.74164982e-05 9.99998571e-01 -8.52860067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.49, Y:-63.25, Z:-0.85 [[ 9.85853942e-01 1.67598378e-01 1.67008082e-03 4.13494193e+02] [-1.67598174e-01 9.85855356e-01 -2.62320242e-04 -6.32538386e+01] [-1.69042257e-03 -2.12930518e-05 9.99998571e-01 -8.54066137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.52, Y:-63.26, Z:-0.86 [[ 9.85494735e-01 1.69697783e-01 1.67009333e-03 4.13521477e+02] [-1.69697582e-01 9.85496150e-01 -2.62240566e-04 -6.32579992e+01] [-1.69037219e-03 -2.49741028e-05 9.99998571e-01 -8.56524215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.55, Y:-63.26, Z:-0.86 [[ 9.85122475e-01 1.71845628e-01 1.67010887e-03 4.13549648e+02] [-1.71845431e-01 9.85123890e-01 -2.62141568e-04 -6.32620970e+01] [-1.69031203e-03 -2.87590281e-05 9.99998571e-01 -8.58197665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.58, Y:-63.27, Z:-0.86 [[ 9.84617909e-01 1.74713432e-01 1.67012136e-03 4.13578446e+02] [-1.74713239e-01 9.84619325e-01 -2.62061985e-04 -6.32664511e+01] [-1.69021951e-03 -3.37613871e-05 9.99998571e-01 -8.59675120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.61, Y:-63.27, Z:-0.86 [[ 9.84577682e-01 1.74939987e-01 1.67013430e-03 4.13606400e+02] [-1.74939794e-01 9.84579098e-01 -2.61979473e-04 -6.32705011e+01] [-1.69021001e-03 -3.42338086e-05 9.99998571e-01 -8.58697603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.63, Y:-63.27, Z:-0.86 [[ 9.84700355e-01 1.74248162e-01 1.67015037e-03 4.13634690e+02] [-1.74247969e-01 9.84701770e-01 -2.61876974e-04 -6.32745003e+01] [-1.69023161e-03 -3.31499609e-05 9.99998571e-01 -8.56702760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.66, Y:-63.28, Z:-0.86 [[ 9.84831714e-01 1.73504193e-01 1.67016245e-03 4.13663422e+02] [-1.73503999e-01 9.84833130e-01 -2.61799893e-04 -6.32784307e+01] [-1.69025470e-03 -3.19510272e-05 9.99998571e-01 -8.55822918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.69, Y:-63.28, Z:-0.85 [[ 9.84951036e-01 1.72825539e-01 1.67017474e-03 4.13692319e+02] [-1.72825344e-01 9.84952452e-01 -2.61721493e-04 -6.32811811e+01] [-1.69027486e-03 -3.08656670e-05 9.99998571e-01 -8.53428366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.72, Y:-63.28, Z:-0.85 [[ 9.84860401e-01 1.73341284e-01 1.67018708e-03 4.13719550e+02] [-1.73341089e-01 9.84861817e-01 -2.61642724e-04 -6.32842762e+01] [-1.69025697e-03 -3.18304896e-05 9.99998571e-01 -8.53805211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.75, Y:-63.29, Z:-0.85 [[ 9.84769623e-01 1.73856265e-01 1.67020363e-03 4.13748419e+02] [-1.73856072e-01 9.84771038e-01 -2.61537004e-04 -6.32872901e+01] [-1.69023801e-03 -3.28213462e-05 9.99998571e-01 -8.53883820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.78, Y:-63.29, Z:-0.86 [[ 9.84596421e-01 1.74834490e-01 1.67021606e-03 4.13777074e+02] [-1.74834298e-01 9.84597837e-01 -2.61457633e-04 -6.32896799e+01] [-1.69020293e-03 -3.45808017e-05 9.99998571e-01 -8.56135258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.80, Y:-63.29, Z:-0.86 [[ 9.84620285e-01 1.74700044e-01 1.67022842e-03 4.13804296e+02] [-1.74699852e-01 9.84621701e-01 -2.61378665e-04 -6.32926326e+01] [-1.69020601e-03 -3.44299217e-05 9.99998571e-01 -8.56243180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.83, Y:-63.30, Z:-0.86 [[ 9.84690757e-01 1.74302391e-01 1.67024501e-03 4.13832482e+02] [-1.74302198e-01 9.84692173e-01 -2.61272562e-04 -6.32957952e+01] [-1.69021762e-03 -3.38547001e-05 9.99998571e-01 -8.55086179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.86, Y:-63.30, Z:-0.85 [[ 9.84991892e-01 1.72592536e-01 1.67026137e-03 4.13861699e+02] [-1.72592341e-01 9.84993307e-01 -2.61167973e-04 -6.32976088e+01] [-1.69027191e-03 -3.10259841e-05 9.99998571e-01 -8.54934457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.89, Y:-63.30, Z:-0.86 [[ 9.85226163e-01 1.71250161e-01 1.67027352e-03 4.13889145e+02] [-1.71249964e-01 9.85227579e-01 -2.61090249e-04 -6.33008497e+01] [-1.69031128e-03 -2.88013356e-05 9.99998571e-01 -8.55724109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.92, Y:-63.30, Z:-0.86 [[ 9.85665937e-01 1.68700533e-01 1.67028976e-03 4.13917015e+02] [-1.68700333e-01 9.85667352e-01 -2.60986297e-04 -6.33036751e+01] [-1.69037861e-03 -2.45331356e-05 9.99998571e-01 -8.55782450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.94, Y:-63.31, Z:-0.86 [[ 9.85790762e-01 1.67969590e-01 1.67030474e-03 4.13944437e+02] [-1.67969389e-01 9.85792177e-01 -2.60890382e-04 -6.33074246e+01] [-1.69039500e-03 -2.33767383e-05 9.99998571e-01 -8.56078195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.97, Y:-63.31, Z:-0.86 [[ 9.85888000e-01 1.67397915e-01 1.67032258e-03 4.13973335e+02] [-1.67397713e-01 9.85889415e-01 -2.60776149e-04 -6.33122341e+01] [-1.69040673e-03 -2.25121037e-05 9.99998571e-01 -8.55738123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.00, Y:-63.32, Z:-0.85 [[ 9.86083389e-01 1.66243073e-01 1.67033455e-03 4.14000281e+02] [-1.66242869e-01 9.86084804e-01 -2.60699461e-04 -6.33175531e+01] [-1.69043099e-03 -2.06098001e-05 9.99998571e-01 -8.54351637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.03, Y:-63.32, Z:-0.85 [[ 9.86175115e-01 1.65698078e-01 1.67034939e-03 4.14028496e+02] [-1.65697875e-01 9.86176529e-01 -2.60604326e-04 -6.33220742e+01] [-1.69044100e-03 -1.97718424e-05 9.99998571e-01 -8.53536187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.06, Y:-63.33, Z:-0.86 [[ 9.86322067e-01 1.64821086e-01 1.67036114e-03 4.14055852e+02] [-1.64820881e-01 9.86323481e-01 -2.60529008e-04 -6.33267209e+01] [-1.69045708e-03 -1.83448846e-05 9.99998571e-01 -8.55056586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.08, Y:-63.33, Z:-0.86 [[ 9.86463484e-01 1.63972571e-01 1.67037574e-03 4.14083169e+02] [-1.63972365e-01 9.86464898e-01 -2.60435364e-04 -6.33312543e+01] [-1.69047129e-03 -1.69854822e-05 9.99998571e-01 -8.56423074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.11, Y:-63.34, Z:-0.86 [[ 9.86907769e-01 1.61276982e-01 1.67039025e-03 4.14111498e+02] [-1.61276773e-01 9.86909183e-01 -2.60342223e-04 -6.33366965e+01] [-1.69051069e-03 -1.24613867e-05 9.99998571e-01 -8.57791855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.14, Y:-63.34, Z:-0.86 [[ 9.87076806e-01 1.60239158e-01 1.67040275e-03 4.14138925e+02] [-1.60238947e-01 9.87078220e-01 -2.60262020e-04 -6.33416277e+01] [-1.69052234e-03 -1.07649743e-05 9.99998571e-01 -8.58161212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.17, Y:-63.35, Z:-0.85 [[ 9.87182282e-01 1.59588067e-01 1.67041835e-03 4.14167061e+02] [-1.59587855e-01 9.87183696e-01 -2.60161853e-04 -6.33459326e+01] [-1.69052849e-03 -9.75130943e-06 9.99998571e-01 -8.54662282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.20, Y:-63.35, Z:-0.85 [[ 9.86968216e-01 1.60906653e-01 1.67043072e-03 4.14195953e+02] [-1.60906443e-01 9.86969629e-01 -2.60082378e-04 -6.33496317e+01] [-1.69051338e-03 -1.20900263e-05 9.99998571e-01 -8.51838468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.22, Y:-63.35, Z:-0.85 [[ 9.86653508e-01 1.62825261e-01 1.67044306e-03 4.14224544e+02] [-1.62825054e-01 9.86654921e-01 -2.60003096e-04 -6.33529136e+01] [-1.69048594e-03 -1.54570160e-05 9.99998571e-01 -8.52229237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.25, Y:-63.35, Z:-0.85 [[ 9.85870237e-01 1.67502493e-01 1.67045531e-03 4.14253045e+02] [-1.67502293e-01 9.85871652e-01 -2.59924379e-04 -6.33535076e+01] [-1.69039252e-03 -2.35533860e-05 9.99998571e-01 -8.54555498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.28, Y:-63.36, Z:-0.86 [[ 9.85454988e-01 1.69928445e-01 1.67047059e-03 4.14280763e+02] [-1.69928248e-01 9.85456403e-01 -2.59826127e-04 -6.33560307e+01] [-1.69032779e-03 -2.78131896e-05 9.99998571e-01 -8.55869258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.31, Y:-63.36, Z:-0.86 [[ 9.85069930e-01 1.72146575e-01 1.67048569e-03 4.14309162e+02] [-1.72146382e-01 9.85071346e-01 -2.59729068e-04 -6.33586820e+01] [-1.69025905e-03 -3.17167722e-05 9.99998571e-01 -8.55843670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.34, Y:-63.36, Z:-0.86 [[ 9.85082073e-01 1.72077073e-01 1.67050398e-03 4.14337342e+02] [-1.72076880e-01 9.85083489e-01 -2.59611377e-04 -6.33629221e+01] [-1.69025905e-03 -3.17165990e-05 9.99998571e-01 -8.55891841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.36, Y:-63.36, Z:-0.86 [[ 9.84402843e-01 1.75921155e-01 1.67052228e-03 4.14364338e+02] [-1.75920967e-01 9.84404259e-01 -2.59493514e-04 -6.33637921e+01] [-1.69011965e-03 -3.84337437e-05 9.99998571e-01 -8.56033646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.39, Y:-63.37, Z:-0.85 [[ 9.84204366e-01 1.77028177e-01 1.67054352e-03 4.14391955e+02] [-1.77027992e-01 9.84205783e-01 -2.59356736e-04 -6.33659409e+01] [-1.69007204e-03 -4.04729334e-05 9.99998571e-01 -8.54158564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.42, Y:-63.37, Z:-0.85 [[ 9.84227772e-01 1.76898000e-01 1.67056170e-03 4.14420140e+02] [-1.76897815e-01 9.84229189e-01 -2.59239566e-04 -6.33659048e+01] [-1.69007455e-03 -4.03679342e-05 9.99998571e-01 -8.52669497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.45, Y:-63.37, Z:-0.85 [[ 9.84419532e-01 1.75827741e-01 1.67057988e-03 4.14448207e+02] [-1.75827554e-01 9.84420949e-01 -2.59122355e-04 -6.33688157e+01] [-1.69011473e-03 -3.86488674e-05 9.99998571e-01 -8.53152146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.48, Y:-63.37, Z:-0.85 [[ 9.84767336e-01 1.73869210e-01 1.67059798e-03 4.14476283e+02] [-1.73869020e-01 9.84768753e-01 -2.59005640e-04 -6.33717977e+01] [-1.69018579e-03 -3.54049394e-05 9.99998571e-01 -8.54439970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.50, Y:-63.37, Z:-0.85 [[ 9.85489575e-01 1.69727742e-01 1.67061602e-03 4.14503228e+02] [-1.69727547e-01 9.85490991e-01 -2.58889234e-04 -6.33734951e+01] [-1.69031772e-03 -2.84169174e-05 9.99998571e-01 -8.53429818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.53, Y:-63.38, Z:-0.85 [[ 9.85808683e-01 1.67864376e-01 1.67063692e-03 4.14530474e+02] [-1.67864178e-01 9.85810099e-01 -2.58754258e-04 -6.33761407e+01] [-1.69036637e-03 -2.53578995e-05 9.99998571e-01 -8.51910028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.56, Y:-63.38, Z:-0.85 [[ 9.86065417e-01 1.66349639e-01 1.67065772e-03 4.14558392e+02] [-1.66349440e-01 9.86066832e-01 -2.58619909e-04 -6.33790390e+01] [-1.69040149e-03 -2.28968276e-05 9.99998571e-01 -8.51281891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.59, Y:-63.38, Z:-0.85 [[ 9.86414567e-01 1.64266586e-01 1.67067544e-03 4.14586737e+02] [-1.64266383e-01 9.86415981e-01 -2.58505352e-04 -6.33820899e+01] [-1.69044475e-03 -1.94423680e-05 9.99998571e-01 -8.52231896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.61, Y:-63.39, Z:-0.85 [[ 9.86476667e-01 1.63893242e-01 1.67069308e-03 4.14613566e+02] [-1.63893040e-01 9.86478081e-01 -2.58391300e-04 -6.33853838e+01] [-1.69045070e-03 -1.89179797e-05 9.99998571e-01 -8.54482491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.64, Y:-63.39, Z:-0.86 [[ 9.86556496e-01 1.63412021e-01 1.67071362e-03 4.14641837e+02] [-1.63411818e-01 9.86557911e-01 -2.58258462e-04 -6.33885022e+01] [-1.69045827e-03 -1.82277870e-05 9.99998571e-01 -8.56591325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.67, Y:-63.39, Z:-0.86 [[ 9.86775722e-01 1.62082950e-01 1.67072529e-03 4.14668641e+02] [-1.62082745e-01 9.86777136e-01 -2.58182952e-04 -6.33901554e+01] [-1.69048057e-03 -1.60270723e-05 9.99998571e-01 -8.57331581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.70, Y:-63.39, Z:-0.85 [[ 9.86969682e-01 1.60897658e-01 1.67074565e-03 4.14697840e+02] [-1.60897452e-01 9.86971096e-01 -2.58051106e-04 -6.33930970e+01] [-1.69049748e-03 -1.41300998e-05 9.99998571e-01 -8.54741180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.73, Y:-63.39, Z:-0.85 [[ 9.87302400e-01 1.58843257e-01 1.67075725e-03 4.14727332e+02] [-1.58843048e-01 9.87303813e-01 -2.57976004e-04 -6.33937973e+01] [-1.69052275e-03 -1.06878455e-05 9.99998571e-01 -8.51073851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.75, Y:-63.40, Z:-0.85 [[ 9.87511927e-01 1.57535403e-01 1.67076879e-03 4.14753757e+02] [-1.57535192e-01 9.87513340e-01 -2.57901247e-04 -6.33963893e+01] [-1.69053504e-03 -8.52432380e-06 9.99998571e-01 -8.51988962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.78, Y:-63.40, Z:-0.85 [[ 9.87773562e-01 1.55886493e-01 1.67079336e-03 4.14780674e+02] [-1.55886280e-01 9.87774975e-01 -2.57741959e-04 -6.33998346e+01] [-1.69054636e-03 -5.86306904e-06 9.99998571e-01 -8.53607295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0957692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.81, Y:-63.40, Z:-0.85 [[ 9.88115068e-01 1.53706933e-01 1.67081327e-03 4.14808070e+02] [-1.53706717e-01 9.88116480e-01 -2.57612845e-04 -6.34036333e+01] [-1.69055500e-03 -2.26408772e-06 9.99998571e-01 -8.54106169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.83, Y:-63.41, Z:-0.85 [[ 9.88942185e-01 1.48292154e-01 1.67083028e-03 4.14834873e+02] [-1.48291931e-01 9.88943596e-01 -2.57502430e-04 -6.34081756e+01] [-1.69054250e-03 6.88436752e-06 9.99998571e-01 -8.53295364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1557692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:414.86, Y:-63.42, Z:-0.85 [[ 9.89654395e-01 1.43462141e-01 1.67085008e-03 4.14861603e+02] [-1.43461911e-01 9.89655806e-01 -2.57373897e-04 -6.34161122e+01] [-1.69048989e-03 1.50078628e-05 9.99998571e-01 -8.52481487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.89, Y:-63.42, Z:-0.85 [[ 9.89896148e-01 1.41784432e-01 1.67086669e-03 4.14889381e+02] [-1.41784199e-01 9.89897558e-01 -2.57266022e-04 -6.34231044e+01] [-1.69046317e-03 1.77641478e-05 9.99998571e-01 -8.52210176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.92, Y:-63.43, Z:-0.85 [[ 9.90007765e-01 1.41002953e-01 1.67087774e-03 4.14917767e+02] [-1.41002719e-01 9.90009175e-01 -2.57194260e-04 -6.34303383e+01] [-1.69044944e-03 1.90260105e-05 9.99998571e-01 -8.52660920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:414.94, Y:-63.44, Z:-0.85 [[ 9.90036031e-01 1.40804354e-01 1.67089016e-03 4.14944837e+02] [-1.40804120e-01 9.90037441e-01 -2.57113516e-04 -6.34370842e+01] [-1.69044652e-03 1.92834258e-05 9.99998571e-01 -8.53457511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.97, Y:-63.45, Z:-0.85 [[ 9.89664785e-01 1.43390451e-01 1.67090558e-03 4.14972161e+02] [-1.43390221e-01 9.89666195e-01 -2.57013291e-04 -6.34469079e+01] [-1.69049202e-03 1.47654832e-05 9.99998571e-01 -8.54113694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.00, Y:-63.45, Z:-0.85 [[ 9.89254154e-01 1.46196534e-01 1.67091753e-03 4.14999942e+02] [-1.46196309e-01 9.89255565e-01 -2.56935580e-04 -6.34538766e+01] [-1.69052756e-03 9.89261458e-06 9.99998571e-01 -8.53835303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.03, Y:-63.46, Z:-0.85 [[ 9.88215118e-01 1.53062368e-01 1.67092967e-03 4.15027907e+02] [-1.53062153e-01 9.88216531e-01 -2.56856628e-04 -6.34622921e+01] [-1.69055540e-03 -1.92648873e-06 9.99998571e-01 -8.54888275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.06, Y:-63.47, Z:-0.85 [[ 9.87675920e-01 1.56503943e-01 1.67093879e-03 4.15056597e+02] [-1.56503733e-01 9.87677334e-01 -2.56797274e-04 -6.34677605e+01] [-1.69053815e-03 -7.87567355e-06 9.99998571e-01 -8.54827492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.08, Y:-63.47, Z:-0.85 [[ 9.87164912e-01 1.59695475e-01 1.67095097e-03 4.15083966e+02] [-1.59695269e-01 9.87166326e-01 -2.56717990e-04 -6.34726700e+01] [-1.69050323e-03 -1.34199725e-05 9.99998571e-01 -8.54477118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.11, Y:-63.48, Z:-0.85 [[ 9.86295622e-01 1.64979255e-01 1.67096612e-03 4.15110996e+02] [-1.64979057e-01 9.86297037e-01 -2.56619327e-04 -6.34765530e+01] [-1.69040580e-03 -2.25718968e-05 9.99998571e-01 -8.54842215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.14, Y:-63.48, Z:-0.86 [[ 9.85959073e-01 1.66978782e-01 1.67099094e-03 4.15139125e+02] [-1.66978587e-01 9.85960489e-01 -2.56457589e-04 -6.34802224e+01] [-1.69035402e-03 -2.61630204e-05 9.99998571e-01 -8.55922143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.17, Y:-63.48, Z:-0.86 [[ 9.85679178e-01 1.68623149e-01 1.67100882e-03 4.15166738e+02] [-1.68622956e-01 9.85680594e-01 -2.56341077e-04 -6.34840645e+01] [-1.69030600e-03 -2.91003851e-05 9.99998571e-01 -8.56252622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.19, Y:-63.49, Z:-0.86 [[ 9.85337195e-01 1.70610142e-01 1.67102662e-03 4.15193269e+02] [-1.70609953e-01 9.85338611e-01 -2.56224944e-04 -6.34875091e+01] [-1.69024163e-03 -3.26258060e-05 9.99998571e-01 -8.55187965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.22, Y:-63.49, Z:-0.85 [[ 9.85262860e-01 1.71038897e-01 1.67104725e-03 4.15220796e+02] [-1.71038709e-01 9.85264277e-01 -2.56090363e-04 -6.34909909e+01] [-1.69022457e-03 -3.34974394e-05 9.99998571e-01 -8.54901548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.25, Y:-63.49, Z:-0.86 [[ 9.85275738e-01 1.70964698e-01 1.67106526e-03 4.15247977e+02] [-1.70964510e-01 9.85277154e-01 -2.55972771e-04 -6.34937132e+01] [-1.69022473e-03 -3.34890922e-05 9.99998571e-01 -8.55278762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.28, Y:-63.50, Z:-0.86 [[ 9.85224318e-01 1.71260770e-01 1.67108613e-03 4.15275427e+02] [-1.71260582e-01 9.85225734e-01 -2.55836427e-04 -6.34964005e+01] [-1.69021181e-03 -3.41349148e-05 9.99998571e-01 -8.55946222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.30, Y:-63.50, Z:-0.86 [[ 9.85123062e-01 1.71842256e-01 1.67110403e-03 4.15302777e+02] [-1.71842070e-01 9.85124478e-01 -2.55719500e-04 -6.34969720e+01] [-1.69018890e-03 -3.52507973e-05 9.99998571e-01 -8.57424929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.33, Y:-63.50, Z:-0.86 [[ 9.85104660e-01 1.71947713e-01 1.67112479e-03 4.15331151e+02] [-1.71947527e-01 9.85106077e-01 -2.55583766e-04 -6.34990398e+01] [-1.69018223e-03 -3.55690153e-05 9.99998571e-01 -8.57563405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.36, Y:-63.50, Z:-0.86 [[ 9.85068362e-01 1.72155540e-01 1.67114306e-03 4.15357696e+02] [-1.72155354e-01 9.85069779e-01 -2.55464207e-04 -6.35009760e+01] [-1.69017211e-03 -3.60465181e-05 9.99998571e-01 -8.57387437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7257692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.39, Y:-63.50, Z:-0.86 [[ 9.85023114e-01 1.72414248e-01 1.67116422e-03 4.15385402e+02] [-1.72414063e-01 9.85024531e-01 -2.55325722e-04 -6.35032518e+01] [-1.69015955e-03 -3.66304750e-05 9.99998571e-01 -8.57180705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.41, Y:-63.50, Z:-0.86 [[ 9.85139442e-01 1.71748324e-01 1.67118219e-03 4.15413946e+02] [-1.71748138e-01 9.85140859e-01 -2.55208089e-04 -6.35049045e+01] [-1.69018142e-03 -3.56068752e-05 9.99998571e-01 -8.57487741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.44, Y:-63.51, Z:-0.86 [[ 9.85348165e-01 1.70546772e-01 1.67120004e-03 4.15440659e+02] [-1.70546585e-01 9.85349581e-01 -2.55091148e-04 -6.35073735e+01] [-1.69022123e-03 -3.36638640e-05 9.99998571e-01 -8.57833368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.47, Y:-63.51, Z:-0.86 [[ 9.85674451e-01 1.68650776e-01 1.67122081e-03 4.15468592e+02] [-1.68650586e-01 9.85675867e-01 -2.54954998e-04 -6.35081955e+01] [-1.69028037e-03 -3.05497417e-05 9.99998571e-01 -8.55518210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8457692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:415.50, Y:-63.51, Z:-0.85 [[ 9.85686375e-01 1.68581070e-01 1.67123871e-03 4.15495308e+02] [-1.68580880e-01 9.85687791e-01 -2.54837571e-04 -6.35101770e+01] [-1.69028038e-03 -3.05489709e-05 9.99998571e-01 -8.54222813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87576923100005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:415.52, Y:-63.51, Z:-0.85 [[ 9.85601277e-01 1.69077880e-01 1.67125943e-03 4.15523759e+02] [-1.69077692e-01 9.85602693e-01 -2.54701622e-04 -6.35123617e+01] [-1.69026221e-03 -3.15384423e-05 9.99998571e-01 -8.53162857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9057692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:415.55, Y:-63.51, Z:-0.85 [[ 9.85481116e-01 1.69776842e-01 1.67127697e-03 4.15550742e+02] [-1.69776654e-01 9.85482533e-01 -2.54586498e-04 -6.35135187e+01] [-1.69023715e-03 -3.28536250e-05 9.99998571e-01 -8.52098137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93576923100005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:415.58, Y:-63.51, Z:-0.85 [[ 9.85116616e-01 1.71879202e-01 1.67129728e-03 4.15578783e+02] [-1.71879017e-01 9.85118033e-01 -2.54453106e-04 -6.35114003e+01] [-1.69016028e-03 -3.65949501e-05 9.99998571e-01 -8.52466964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9657692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:415.61, Y:-63.51, Z:-0.85 [[ 9.85029816e-01 1.72375950e-01 1.67131733e-03 4.15606004e+02] [-1.72375766e-01 9.85031233e-01 -2.54321285e-04 -6.35122115e+01] [-1.69013865e-03 -3.75805575e-05 9.99998571e-01 -8.53247747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.63, Y:-63.51, Z:-0.85 [[ 9.84987271e-01 1.72618894e-01 1.67133436e-03 4.15634341e+02] [-1.72618711e-01 9.84988688e-01 -2.54209359e-04 -6.35132841e+01] [-1.69012678e-03 -3.81105995e-05 9.99998571e-01 -8.53980409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.66, Y:-63.51, Z:-0.85 [[ 9.85068903e-01 1.72152442e-01 1.67135145e-03 4.15662978e+02] [-1.72152258e-01 9.85070320e-01 -2.54096916e-04 -6.35140745e+01] [-1.69014212e-03 -3.74239564e-05 9.99998571e-01 -8.54951399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.69, Y:-63.51, Z:-0.86 [[ 9.85414853e-01 1.70161025e-01 1.67136985e-03 4.15690583e+02] [-1.70160839e-01 9.85416270e-01 -2.53975873e-04 -6.35125553e+01] [-1.69021183e-03 -3.41300969e-05 9.99998571e-01 -8.56602081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0857692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:415.72, Y:-63.51, Z:-0.86 [[ 9.85704208e-01 1.68476764e-01 1.67140090e-03 4.15717907e+02] [-1.68476576e-01 9.85705625e-01 -2.53771342e-04 -6.35147230e+01] [-1.69026384e-03 -3.14484220e-05 9.99998571e-01 -8.57507084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:415.75, Y:-63.52, Z:-0.86 [[ 9.86034612e-01 1.66532133e-01 1.67142210e-03 4.15746074e+02] [-1.66531942e-01 9.86036028e-01 -2.53631620e-04 -6.35167992e+01] [-1.69032023e-03 -2.82556128e-05 9.99998571e-01 -8.58143925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1457692310001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:415.77, Y:-63.52, Z:-0.86 [[ 9.86730529e-01 1.62357842e-01 1.67144031e-03 4.15773357e+02] [-1.62357645e-01 9.86731945e-01 -2.53511568e-04 -6.35170436e+01] [-1.69042314e-03 -2.12235100e-05 9.99998571e-01 -8.58206199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:415.80, Y:-63.52, Z:-0.86 [[ 9.87092928e-01 1.60139809e-01 1.67146147e-03 4.15801370e+02] [-1.60139610e-01 9.87094343e-01 -2.53372010e-04 -6.35191373e+01] [-1.69046510e-03 -1.75654685e-05 9.99998571e-01 -8.57004569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.83, Y:-63.52, Z:-0.86 [[ 9.87462174e-01 1.57846957e-01 1.67147935e-03 4.15828557e+02] [-1.57846755e-01 9.87463588e-01 -2.53253973e-04 -6.35219082e+01] [-1.69050037e-03 -1.37588730e-05 9.99998571e-01 -8.56879532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:415.86, Y:-63.53, Z:-0.86 [[ 9.87859698e-01 1.55339701e-01 1.67150011e-03 4.15856106e+02] [-1.55339495e-01 9.87861112e-01 -2.53116909e-04 -6.35250190e+01] [-1.69052906e-03 -9.60598901e-06 9.99998571e-01 -8.56933522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:415.88, Y:-63.53, Z:-0.86 [[ 9.88470632e-01 1.51403488e-01 1.67151661e-03 4.15884430e+02] [-1.51403277e-01 9.88472045e-01 -2.53007882e-04 -6.35281608e+01] [-1.69055372e-03 -2.98223118e-06 9.99998571e-01 -8.56429168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:415.91, Y:-63.53, Z:-0.86 [[ 9.88671661e-01 1.50085150e-01 1.67153450e-03 4.15911423e+02] [-1.50084937e-01 9.88673074e-01 -2.52889628e-04 -6.35313026e+01] [-1.69055613e-03 -8.47341358e-07 9.99998571e-01 -8.56794140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32576923100004 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:415.94, Y:-63.54, Z:-0.86 [[ 9.88868289e-01 1.48784114e-01 1.67155515e-03 4.15938537e+02] [-1.48783899e-01 9.88869702e-01 -2.52753049e-04 -6.35351657e+01] [-1.69055588e-03 1.23898202e-06 9.99998571e-01 -8.57074599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35576923100007 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:415.97, Y:-63.54, Z:-0.86 [[ 9.88924767e-01 1.48408260e-01 1.67157384e-03 4.15966453e+02] [-1.48408045e-01 9.88926179e-01 -2.52629404e-04 -6.35400568e+01] [-1.69055542e-03 1.75646789e-06 9.99998571e-01 -8.55807391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38576923100004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:415.99, Y:-63.54, Z:-0.85 [[ 9.89034239e-01 1.47676946e-01 1.67158987e-03 4.15994587e+02] [-1.47676730e-01 9.89035651e-01 -2.52523313e-04 -6.35444192e+01] [-1.69055384e-03 2.89927766e-06 9.99998571e-01 -8.54860490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41576923100007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:416.02, Y:-63.55, Z:-0.85 [[ 9.89097356e-01 1.47253610e-01 1.67160723e-03 4.16020904e+02] [-1.47253394e-01 9.89098769e-01 -2.52408291e-04 -6.35476415e+01] [-1.69055269e-03 3.50653529e-06 9.99998571e-01 -8.54775894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44576923100004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:416.05, Y:-63.55, Z:-0.86 [[ 9.88985323e-01 1.48004175e-01 1.67163646e-03 4.16047928e+02] [-1.48003960e-01 9.88986736e-01 -2.52214565e-04 -6.35515469e+01] [-1.69055510e-03 2.02768660e-06 9.99998571e-01 -8.57020449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.4757692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:416.08, Y:-63.56, Z:-0.86 [[ 9.88843274e-01 1.48950279e-01 1.67165641e-03 4.16075384e+02] [-1.48950066e-01 9.88844687e-01 -2.52082262e-04 -6.35555219e+01] [-1.69055629e-03 2.76516138e-07 9.99998571e-01 -8.58342736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:416.10, Y:-63.56, Z:-0.86 [[ 9.88853352e-01 1.48883355e-01 1.67167347e-03 4.16103578e+02] [-1.48883142e-01 9.88854765e-01 -2.51969119e-04 -6.35596293e+01] [-1.69055628e-03 2.76508868e-07 9.99998571e-01 -8.58390907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5357692310001 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:416.13, Y:-63.56, Z:-0.86 [[ 9.88494557e-01 1.51247205e-01 1.67169051e-03 4.16131298e+02] [-1.51246995e-01 9.88495970e-01 -2.51855982e-04 -6.35607066e+01] [-1.69055185e-03 -3.87990004e-06 9.99998571e-01 -8.55879796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56576923100005 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:416.16, Y:-63.56, Z:-0.85 [[ 9.88309097e-01 1.52454365e-01 1.67170755e-03 4.16159136e+02] [-1.52454158e-01 9.88310511e-01 -2.51742873e-04 -6.35620140e+01] [-1.69054544e-03 -6.05899373e-06 9.99998571e-01 -8.54205874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5957692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:416.19, Y:-63.56, Z:-0.85 [[ 9.88085683e-01 1.53895706e-01 1.67172530e-03 4.16185727e+02] [-1.53895500e-01 9.88087097e-01 -2.51624917e-04 -6.35637810e+01] [-1.69053419e-03 -8.64402328e-06 9.99998571e-01 -8.54050559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62576923100005 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:416.21, Y:-63.57, Z:-0.86 [[ 9.87968134e-01 1.54648542e-01 1.67174582e-03 4.16213407e+02] [-1.54648338e-01 9.87969548e-01 -2.51488519e-04 -6.35666099e+01] [-1.69052630e-03 -1.00700696e-05 9.99998571e-01 -8.56162686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6557692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:416.24, Y:-63.57, Z:-0.86 [[ 9.87839191e-01 1.55470055e-01 1.67176375e-03 4.16240527e+02] [-1.55469852e-01 9.87840606e-01 -2.51369275e-04 -6.35676699e+01] [-1.69051651e-03 -1.15964413e-05 9.99998571e-01 -8.58192127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68576923100005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:416.27, Y:-63.57, Z:-0.86 [[ 9.87908890e-01 1.55026549e-01 1.67178458e-03 4.16267381e+02] [-1.55026346e-01 9.87910304e-01 -2.51230652e-04 -6.35688195e+01] [-1.69052064e-03 -1.09776611e-05 9.99998571e-01 -8.57312902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7157692310001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:416.30, Y:-63.57, Z:-0.86 [[ 9.87941648e-01 1.54817652e-01 1.67181679e-03 4.16295204e+02] [-1.54817449e-01 9.87943062e-01 -2.51016116e-04 -6.35707940e+01] [-1.69052153e-03 -1.08371365e-05 9.99998571e-01 -8.55697926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74576923100005 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:416.32, Y:-63.57, Z:-0.85 [[ 9.88120950e-01 1.53669102e-01 1.67183468e-03 4.16324438e+02] [-1.53668898e-01 9.88122364e-01 -2.50896900e-04 -6.35718239e+01] [-1.69053234e-03 -8.99251063e-06 9.99998571e-01 -8.53802539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7757692310001 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:416.35, Y:-63.57, Z:-0.85 [[ 9.88194647e-01 1.53194468e-01 1.67184693e-03 4.16351561e+02] [-1.53194263e-01 9.88196061e-01 -2.50815257e-04 -6.35745297e+01] [-1.69053606e-03 -8.26306510e-06 9.99998571e-01 -8.53300894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80576923100006 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:416.38, Y:-63.58, Z:-0.85 [[ 9.88216465e-01 1.53053658e-01 1.67186823e-03 4.16379930e+02] [-1.53053453e-01 9.88217880e-01 -2.50673246e-04 -6.35771605e+01] [-1.69053653e-03 -8.16577636e-06 9.99998571e-01 -8.54501328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8357692310001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:416.41, Y:-63.58, Z:-0.86 [[ 9.88216653e-01 1.53052445e-01 1.67187943e-03 4.16408298e+02] [-1.53052240e-01 9.88218068e-01 -2.50598518e-04 -6.35801236e+01] [-1.69053617e-03 -8.23926221e-06 9.99998571e-01 -8.56611805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86576923100006 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:416.44, Y:-63.58, Z:-0.86 [[ 9.88221131e-01 1.53023530e-01 1.67189154e-03 4.16435499e+02] [-1.53023325e-01 9.88222545e-01 -2.50517697e-04 -6.35826089e+01] [-1.69053601e-03 -8.27152123e-06 9.99998571e-01 -8.57493886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8957692310001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:416.46, Y:-63.59, Z:-0.86 [[ 9.88305086e-01 1.52480362e-01 1.67191258e-03 4.16462291e+02] [-1.52480157e-01 9.88306501e-01 -2.50377155e-04 -6.35860353e+01] [-1.69053967e-03 -7.48447748e-06 9.99998571e-01 -8.58088452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92576923100006 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:416.49, Y:-63.59, Z:-0.86 [[ 9.88462923e-01 1.51453803e-01 1.67193344e-03 4.16490452e+02] [-1.51453597e-01 9.88464337e-01 -2.50237811e-04 -6.35893287e+01] [-1.69054605e-03 -5.86953463e-06 9.99998571e-01 -8.58989661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95576923100003 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:416.52, Y:-63.59, Z:-0.86 [[ 9.88729558e-01 1.49703261e-01 1.67195127e-03 4.16518734e+02] [-1.49703052e-01 9.88730971e-01 -2.50118595e-04 -6.35922640e+01] [-1.69055358e-03 -2.99656028e-06 9.99998571e-01 -8.62464668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98576923100006 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:416.55, Y:-63.60, Z:-0.86 [[ 9.88845630e-01 1.48934630e-01 1.67196907e-03 4.16545782e+02] [-1.48934420e-01 9.88847044e-01 -2.49999585e-04 -6.35964727e+01] [-1.69055527e-03 -1.80274532e-06 9.99998571e-01 -8.64667115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01576923100004 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:416.57, Y:-63.60, Z:-0.87 [[ 9.88976512e-01 1.48063035e-01 1.67198967e-03 4.16573093e+02] [-1.48062824e-01 9.88977926e-01 -2.49861703e-04 -6.36014183e+01] [-1.69055616e-03 -4.52156767e-07 9.99998571e-01 -8.65929195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04576923100007 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:416.60, Y:-63.61, Z:-0.86 [[ 9.89302939e-01 1.45866030e-01 1.67200728e-03 4.16601809e+02] [-1.45865816e-01 9.89304352e-01 -2.49743822e-04 -6.36068619e+01] [-1.69055322e-03 3.18359049e-06 9.99998571e-01 -8.64196328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07576923100004 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:416.63, Y:-63.61, Z:-0.86 [[ 9.89482406e-01 1.44643606e-01 1.67201913e-03 4.16628023e+02] [-1.44643391e-01 9.89483819e-01 -2.49664465e-04 -6.36110324e+01] [-1.69054824e-03 5.19207879e-06 9.99998571e-01 -8.63012871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10576923100007 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:416.65, Y:-63.62, Z:-0.86 [[ 9.89644213e-01 1.43532352e-01 1.67203970e-03 4.16654704e+02] [-1.43532135e-01 9.89645625e-01 -2.49526655e-04 -6.36159271e+01] [-1.69054192e-03 6.95118279e-06 9.99998571e-01 -8.62556020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13576923100004 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:416.68, Y:-63.62, Z:-0.87 [[ 9.89865093e-01 1.42001060e-01 1.67205991e-03 4.16681085e+02] [-1.42000841e-01 9.89866506e-01 -2.49391123e-04 -6.36236868e+01] [-1.69052991e-03 9.42965277e-06 9.99998571e-01 -8.65152840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16576923100007 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:416.71, Y:-63.63, Z:-0.87 [[ 9.89974988e-01 1.41232882e-01 1.67208002e-03 4.16708509e+02] [-1.41232662e-01 9.89976400e-01 -2.49256222e-04 -6.36288259e+01] [-1.69052293e-03 1.06051126e-05 9.99998571e-01 -8.66379863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19576923100004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:416.74, Y:-63.63, Z:-0.86 [[ 9.90042973e-01 1.40755520e-01 1.67209705e-03 4.16735786e+02] [-1.40755300e-01 9.90044385e-01 -2.49141944e-04 -6.36333061e+01] [-1.69051840e-03 1.13047088e-05 9.99998571e-01 -8.64988092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2257692310001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:416.76, Y:-63.64, Z:-0.86 [[ 9.90003203e-01 1.41034970e-01 1.67211445e-03 4.16763891e+02] [-1.41034751e-01 9.90004615e-01 -2.49025083e-04 -6.36382898e+01] [-1.69052227e-03 1.07093847e-05 9.99998571e-01 -8.60976425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25576923100004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:416.79, Y:-63.64, Z:-0.86 [[ 9.89955602e-01 1.41368700e-01 1.67212599e-03 4.16791786e+02] [-1.41368481e-01 9.89957015e-01 -2.48947570e-04 -6.36434631e+01] [-1.69052625e-03 1.00611299e-05 9.99998571e-01 -8.59757993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2857692310001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:416.82, Y:-63.65, Z:-0.86 [[ 9.89910807e-01 1.41682028e-01 1.67214404e-03 4.16818119e+02] [-1.41681810e-01 9.89912220e-01 -2.48826316e-04 -6.36486326e+01] [-1.69053003e-03 9.40346537e-06 9.99998571e-01 -8.58049035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31576923100005 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:416.84, Y:-63.65, Z:-0.86 [[ 9.89869356e-01 1.41971339e-01 1.67216494e-03 4.16844811e+02] [-1.41971121e-01 9.89870769e-01 -2.48685753e-04 -6.36539020e+01] [-1.69053344e-03 8.76727522e-06 9.99998571e-01 -8.56129622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3457692310001 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:416.87, Y:-63.66, Z:-0.86 [[ 9.89950358e-01 1.41405420e-01 1.67218486e-03 4.16871973e+02] [-1.41405202e-01 9.89951770e-01 -2.48551715e-04 -6.36613687e+01] [-1.69052893e-03 9.59822172e-06 9.99998571e-01 -8.56657694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37576923100005 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:416.90, Y:-63.67, Z:-0.86 [[ 9.90117150e-01 1.40232785e-01 1.67220207e-03 4.16899492e+02] [-1.40232565e-01 9.90118562e-01 -2.48435911e-04 -6.36670880e+01] [-1.69051717e-03 1.14834700e-05 9.99998571e-01 -8.57807531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4057692310001 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:416.93, Y:-63.67, Z:-0.86 [[ 9.90297241e-01 1.38955312e-01 1.67222160e-03 4.16927211e+02] [-1.38955091e-01 9.90298652e-01 -2.48304357e-04 -6.36725187e+01] [-1.69050201e-03 1.35314147e-05 9.99998571e-01 -8.59322925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43576923100005 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:416.95, Y:-63.68, Z:-0.86 [[ 9.90564355e-01 1.37038175e-01 1.67223972e-03 4.16953918e+02] [-1.37037951e-01 9.90565767e-01 -2.48182307e-04 -6.36793326e+01] [-1.69047387e-03 1.66802427e-05 9.99998571e-01 -8.61821310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4657692310001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:416.98, Y:-63.69, Z:-0.86 [[ 9.90704854e-01 1.36018731e-01 1.67225478e-03 4.16981689e+02] [-1.36018506e-01 9.90706266e-01 -2.48080756e-04 -6.36854406e+01] [-1.69045692e-03 1.83172126e-05 9.99998571e-01 -8.64689991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49576923100005 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:417.01, Y:-63.70, Z:-0.87 [[ 9.91086202e-01 1.33211648e-01 1.67227239e-03 4.17009600e+02] [-1.33211420e-01 9.91087613e-01 -2.47961981e-04 -6.36963671e+01] [-1.69039988e-03 2.29859190e-05 9.99998571e-01 -8.69224240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5257692310001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:417.04, Y:-63.70, Z:-0.87 [[ 9.91381080e-01 1.30999074e-01 1.67228424e-03 4.17037328e+02] [-1.30998842e-01 9.91382490e-01 -2.47882032e-04 -6.37045923e+01] [-1.69034564e-03 2.66782579e-05 9.99998571e-01 -8.68926165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55576923100006 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:417.06, Y:-63.71, Z:-0.87 [[ 9.91658109e-01 1.28885211e-01 1.67229614e-03 4.17064961e+02] [-1.28884976e-01 9.91659519e-01 -2.47801790e-04 -6.37123738e+01] [-1.69028637e-03 3.02008066e-05 9.99998571e-01 -8.67134594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5857692310001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:417.09, Y:-63.72, Z:-0.86 [[ 9.91843017e-01 1.27454432e-01 1.67230794e-03 4.17092734e+02] [-1.27454196e-01 9.91844427e-01 -2.47722075e-04 -6.37217034e+01] [-1.69024259e-03 3.25587464e-05 9.99998571e-01 -8.64389664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61576923100006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:417.12, Y:-63.73, Z:-0.86 [[ 9.91721286e-01 1.28398189e-01 1.67231976e-03 4.17120146e+02] [-1.28397954e-01 9.91722695e-01 -2.47642287e-04 -6.37282498e+01] [-1.69027428e-03 3.08696915e-05 9.99998571e-01 -8.64920650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6457692310001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:417.15, Y:-63.73, Z:-0.87 [[ 9.91491301e-01 1.30162222e-01 1.67233446e-03 4.17146932e+02] [-1.30161990e-01 9.91492711e-01 -2.47542971e-04 -6.37349861e+01] [-1.69032817e-03 2.77623218e-05 9.99998571e-01 -8.65658564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67576923100006 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:417.18, Y:-63.74, Z:-0.87 [[ 9.91023847e-01 1.33674746e-01 1.67234612e-03 4.17175046e+02] [-1.33674518e-01 9.91025258e-01 -2.47464192e-04 -6.37434291e+01] [-1.69041695e-03 2.16928543e-05 9.99998571e-01 -8.68011184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70576923100003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:417.20, Y:-63.75, Z:-0.87 [[ 9.90900718e-01 1.34584436e-01 1.67235776e-03 4.17203292e+02] [-1.34584210e-01 9.90902129e-01 -2.47385479e-04 -6.37487099e+01] [-1.69043710e-03 2.00615003e-05 9.99998571e-01 -8.68846616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73576923100006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:417.23, Y:-63.75, Z:-0.87 [[ 9.90845405e-01 1.34991058e-01 1.67236945e-03 4.17230908e+02] [-1.34990833e-01 9.90846817e-01 -2.47306436e-04 -6.37539091e+01] [-1.69044610e-03 1.92879010e-05 9.99998571e-01 -8.69271300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:417.26, Y:-63.76, Z:-0.87 [[ 9.90814222e-01 1.35219748e-01 1.67238526e-03 4.17259411e+02] [-1.35219523e-01 9.90815633e-01 -2.47199493e-04 -6.37612302e+01] [-1.69045171e-03 1.87896364e-05 9.99998571e-01 -8.68275196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79576923100007 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:417.29, Y:-63.77, Z:-0.87 [[ 9.90844219e-01 1.34999763e-01 1.67239690e-03 4.17288125e+02] [-1.34999538e-01 9.90845631e-01 -2.47120685e-04 -6.37667295e+01] [-1.69044840e-03 1.90852928e-05 9.99998571e-01 -8.68066334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82576923100004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:417.32, Y:-63.77, Z:-0.87 [[ 9.90855937e-01 1.34913736e-01 1.67240893e-03 4.17316349e+02] [-1.34913511e-01 9.90857348e-01 -2.47039237e-04 -6.37715007e+01] [-1.69044767e-03 1.91497333e-05 9.99998571e-01 -8.67453893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85576923100007 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:417.34, Y:-63.77, Z:-0.86 [[ 9.90716384e-01 1.35934722e-01 1.67242090e-03 4.17344348e+02] [-1.35934499e-01 9.90717796e-01 -2.46958189e-04 -6.37732507e+01] [-1.69046734e-03 1.73258268e-05 9.99998571e-01 -8.63868592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88576923100004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:417.37, Y:-63.78, Z:-0.86 [[ 9.90546316e-01 1.37168505e-01 1.67243749e-03 4.17373107e+02] [-1.37168284e-01 9.90547728e-01 -2.46845781e-04 -6.37752991e+01] [-1.69048862e-03 1.51067982e-05 9.99998571e-01 -8.63297266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:417.40, Y:-63.78, Z:-0.86 [[ 9.90316409e-01 1.38818633e-01 1.67244910e-03 4.17401426e+02] [-1.38818414e-01 9.90317821e-01 -2.46767139e-04 -6.37782987e+01] [-1.69051202e-03 1.22108167e-05 9.99998571e-01 -8.63707652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:417.43, Y:-63.78, Z:-0.87 [[ 9.89993873e-01 1.41100442e-01 1.67246068e-03 4.17430658e+02] [-1.41100226e-01 9.89995285e-01 -2.46688589e-04 -6.37805774e+01] [-1.69053606e-03 8.23561089e-06 9.99998571e-01 -8.66573883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.9757692310001 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:417.46, Y:-63.78, Z:-0.87 [[ 9.89973276e-01 1.41244877e-01 1.67247230e-03 4.17458659e+02] [-1.41244662e-01 9.89974689e-01 -2.46609782e-04 -6.37825549e+01] [-1.69053761e-03 7.90930926e-06 9.99998571e-01 -8.67612062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:417.49, Y:-63.78, Z:-0.87 [[ 9.90055719e-01 1.40665830e-01 1.67248669e-03 4.17487089e+02] [-1.40665614e-01 9.90057132e-01 -2.46512140e-04 -6.37847708e+01] [-1.69053321e-03 8.79938623e-06 9.99998571e-01 -8.67635271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:417.51, Y:-63.79, Z:-0.87 [[ 9.90137377e-01 1.40089891e-01 1.67250414e-03 4.17514547e+02] [-1.40089674e-01 9.90138789e-01 -2.46393745e-04 -6.37878686e+01] [-1.69052849e-03 9.66309662e-06 9.99998571e-01 -8.67711439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06576923100005 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:417.54, Y:-63.79, Z:-0.87 [[ 9.90415700e-01 1.38108449e-01 1.67251855e-03 4.17542340e+02] [-1.38108230e-01 9.90417112e-01 -2.46295846e-04 -6.37930174e+01] [-1.69050653e-03 1.29466952e-05 9.99998571e-01 -8.67087785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0957692310001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:417.57, Y:-63.80, Z:-0.87 [[ 9.90673576e-01 1.36246349e-01 1.67253225e-03 4.17570712e+02] [-1.36246127e-01 9.90674988e-01 -2.46202823e-04 -6.37975394e+01] [-1.69048010e-03 1.60305899e-05 9.99998571e-01 -8.67421567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12576923100005 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:417.60, Y:-63.80, Z:-0.87 [[ 9.91190425e-01 1.32433927e-01 1.67254367e-03 4.17598758e+02] [-1.32433700e-01 9.91191835e-01 -2.46125216e-04 -6.38009071e+01] [-1.69040695e-03 2.24558117e-05 9.99998571e-01 -8.70742151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1557692310001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:417.63, Y:-63.81, Z:-0.87 [[ 9.91356897e-01 1.31181954e-01 1.67255782e-03 4.17627091e+02] [-1.31181726e-01 9.91358308e-01 -2.46029003e-04 -6.38058286e+01] [-1.69037865e-03 2.44935281e-05 9.99998571e-01 -8.72761304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18576923100005 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:417.66, Y:-63.81, Z:-0.87 [[ 9.91469306e-01 1.30329648e-01 1.67256911e-03 4.17655012e+02] [-1.30329419e-01 9.91470717e-01 -2.45952212e-04 -6.38116578e+01] [-1.69035816e-03 2.58691094e-05 9.99998571e-01 -8.72736483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2157692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:417.68, Y:-63.82, Z:-0.87 [[ 9.91540484e-01 1.29787023e-01 1.67258039e-03 4.17682450e+02] [-1.29786792e-01 9.91541894e-01 -2.45875488e-04 -6.38176304e+01] [-1.69034497e-03 2.67166570e-05 9.99998571e-01 -8.70863617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24576923100005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:417.71, Y:-63.82, Z:-0.87 [[ 9.91549565e-01 1.29717627e-01 1.67259436e-03 4.17710824e+02] [-1.29717397e-01 9.91550975e-01 -2.45780392e-04 -6.38232084e+01] [-1.69034462e-03 2.67388536e-05 9.99998571e-01 -8.67412655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2757692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:417.74, Y:-63.83, Z:-0.87 [[ 9.91451270e-01 1.30466781e-01 1.67260591e-03 4.17738457e+02] [-1.30466552e-01 9.91452681e-01 -2.45701807e-04 -6.38291374e+01] [-1.69036553e-03 2.53822433e-05 9.99998571e-01 -8.65921428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30576923100006 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:417.77, Y:-63.83, Z:-0.87 [[ 9.91402918e-01 1.30833701e-01 1.67262178e-03 4.17765980e+02] [-1.30833473e-01 9.91404328e-01 -2.45593725e-04 -6.38339681e+01] [-1.69037641e-03 2.46474196e-05 9.99998571e-01 -8.68210846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3357692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:417.79, Y:-63.84, Z:-0.87 [[ 9.91342836e-01 1.31288169e-01 1.67263556e-03 4.17793996e+02] [-1.31287941e-01 9.91344247e-01 -2.45499849e-04 -6.38391562e+01] [-1.69038886e-03 2.37776379e-05 9.99998571e-01 -8.70100220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36576923100006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:417.82, Y:-63.85, Z:-0.87 [[ 9.91272423e-01 1.31818762e-01 1.67264660e-03 4.17822185e+02] [-1.31818536e-01 9.91273834e-01 -2.45424558e-04 -6.38452324e+01] [-1.69040237e-03 2.27967698e-05 9.99998571e-01 -8.66780055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3957692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:417.85, Y:-63.85, Z:-0.87 [[ 9.91278346e-01 1.31774216e-01 1.67265760e-03 4.17851217e+02] [-1.31773989e-01 9.91279756e-01 -2.45349584e-04 -6.38493966e+01] [-1.69040237e-03 2.27969649e-05 9.99998571e-01 -8.66829637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42576923100006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:417.88, Y:-63.85, Z:-0.86 [[ 9.91370795e-01 1.31076881e-01 1.67266862e-03 4.17879902e+02] [-1.31076654e-01 9.91372206e-01 -2.45274416e-04 -6.38544543e+01] [-1.69038699e-03 2.39100870e-05 9.99998571e-01 -8.63714399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:417.91, Y:-63.86, Z:-0.86 [[ 9.91494590e-01 1.30137159e-01 1.67267980e-03 4.17908433e+02] [-1.30136931e-01 9.91496001e-01 -2.45198160e-04 -6.38603335e+01] [-1.69036472e-03 2.54352341e-05 9.99998571e-01 -8.61769410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:417.93, Y:-63.87, Z:-0.86 [[ 9.91806847e-01 1.27735590e-01 1.67269095e-03 4.17934775e+02] [-1.27735358e-01 9.91808257e-01 -2.45122082e-04 -6.38696709e+01] [-1.69029951e-03 2.94519816e-05 9.99998571e-01 -8.60028620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:417.96, Y:-63.88, Z:-0.86 [[ 9.91955503e-01 1.26575997e-01 1.67270477e-03 4.17961927e+02] [-1.26575763e-01 9.91956912e-01 -2.45027711e-04 -6.38758952e+01] [-1.69026569e-03 3.13327025e-05 9.99998571e-01 -8.60393799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:417.99, Y:-63.88, Z:-0.86 [[ 9.92061989e-01 1.25738669e-01 1.67271847e-03 4.17990630e+02] [-1.25738435e-01 9.92063398e-01 -2.44934145e-04 -6.38816661e+01] [-1.69024047e-03 3.26648522e-05 9.99998571e-01 -8.60200396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57576923100004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:418.02, Y:-63.89, Z:-0.86 [[ 9.92101234e-01 1.25428638e-01 1.67272937e-03 4.18017539e+02] [-1.25428403e-01 9.92102644e-01 -2.44859683e-04 -6.38905926e+01] [-1.69023165e-03 3.31178184e-05 9.99998571e-01 -8.58852377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60576923100007 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:418.05, Y:-63.90, Z:-0.86 [[ 9.92131672e-01 1.25187652e-01 1.67274294e-03 4.18045165e+02] [-1.25187417e-01 9.92133081e-01 -2.44766963e-04 -6.38978800e+01] [-1.69022541e-03 3.34346871e-05 9.99998571e-01 -8.60129169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:418.07, Y:-63.91, Z:-0.86 [[ 9.92029933e-01 1.25991324e-01 1.67275373e-03 4.18072977e+02] [-1.25991090e-01 9.92031343e-01 -2.44693185e-04 -6.39084712e+01] [-1.69025335e-03 3.19908965e-05 9.99998571e-01 -8.64962880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66576923100007 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:418.10, Y:-63.92, Z:-0.87 [[ 9.91909345e-01 1.26937204e-01 1.67276447e-03 4.18100824e+02] [-1.26936972e-01 9.91910755e-01 -2.44619800e-04 -6.39157321e+01] [-1.69028442e-03 3.03050100e-05 9.99998571e-01 -8.66476701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:418.13, Y:-63.92, Z:-0.87 [[ 9.91746944e-01 1.28199846e-01 1.67277586e-03 4.18129153e+02] [-1.28199616e-01 9.91748354e-01 -2.44541838e-04 -6.39227926e+01] [-1.69032294e-03 2.80743970e-05 9.99998571e-01 -8.67636622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7257692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:418.16, Y:-63.93, Z:-0.87 [[ 9.91504537e-01 1.30061350e-01 1.67278729e-03 4.18157215e+02] [-1.30061123e-01 9.91505948e-01 -2.44463645e-04 -6.39297980e+01] [-1.69037382e-03 2.48222194e-05 9.99998571e-01 -8.68146016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:418.18, Y:-63.94, Z:-0.87 [[ 9.90761599e-01 1.35604778e-01 1.67279586e-03 4.18184924e+02] [-1.35604558e-01 9.90763011e-01 -2.44404988e-04 -6.39363701e+01] [-1.69048675e-03 1.53083329e-05 9.99998571e-01 -8.68537169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7857692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:418.21, Y:-63.94, Z:-0.87 [[ 9.90318289e-01 1.38805216e-01 1.67280733e-03 4.18212103e+02] [-1.38805001e-01 9.90319702e-01 -2.44326470e-04 -6.39404501e+01] [-1.69052784e-03 9.76694888e-06 9.99998571e-01 -8.70118825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81576923100005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:418.24, Y:-63.94, Z:-0.87 [[ 9.89413215e-01 1.45116131e-01 1.67282155e-03 4.18240986e+02] [-1.45115926e-01 9.89414629e-01 -2.44229043e-04 -6.39445457e+01] [-1.69055569e-03 -1.10960561e-06 9.99998571e-01 -8.69167703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8457692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:418.27, Y:-63.95, Z:-0.87 [[ 9.88928964e-01 1.48380273e-01 1.67283277e-03 4.18268691e+02] [-1.48380073e-01 9.88930379e-01 -2.44152157e-04 -6.39479844e+01] [-1.69054251e-03 -6.76590937e-06 9.99998571e-01 -8.69701529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87576923100005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:418.30, Y:-63.95, Z:-0.87 [[ 9.88491551e-01 1.51266835e-01 1.67284675e-03 4.18297070e+02] [-1.51266638e-01 9.88492966e-01 -2.44056348e-04 -6.39507907e+01] [-1.69051488e-03 -1.17982670e-05 9.99998571e-01 -8.69790834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9057692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:418.33, Y:-63.95, Z:-0.87 [[ 9.87598679e-01 1.56990608e-01 1.67285820e-03 4.18325088e+02] [-1.56990420e-01 9.87600095e-01 -2.43977828e-04 -6.39517462e+01] [-1.69041715e-03 -2.16705314e-05 9.99998571e-01 -8.72291378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93576923100005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:418.35, Y:-63.95, Z:-0.87 [[ 9.87160297e-01 1.59723982e-01 1.67287240e-03 4.18353802e+02] [-1.59723798e-01 9.87161714e-01 -2.43880457e-04 -6.39542317e+01] [-1.69034914e-03 -2.64484281e-05 9.99998571e-01 -8.70312389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9657692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:418.38, Y:-63.96, Z:-0.87 [[ 9.86720064e-01 1.62421419e-01 1.67288425e-03 4.18381373e+02] [-1.62421239e-01 9.86721481e-01 -2.43799143e-04 -6.39558586e+01] [-1.69026903e-03 -3.11504274e-05 9.99998571e-01 -8.71827812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:418.41, Y:-63.95, Z:-0.87 [[ 9.85958190e-01 1.66983976e-01 1.67290014e-03 4.18410353e+02] [-1.66983803e-01 9.85959609e-01 -2.43690061e-04 -6.39512382e+01] [-1.69010430e-03 -3.90790154e-05 9.99998571e-01 -8.71657144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0257692310001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:418.44, Y:-63.95, Z:-0.87 [[ 9.85558091e-01 1.69329415e-01 1.67291775e-03 4.18438799e+02] [-1.69329246e-01 9.85559510e-01 -2.43569086e-04 -6.39504781e+01] [-1.69000341e-03 -4.32224178e-05 9.99998571e-01 -8.70440218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05576923100006 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:418.47, Y:-63.95, Z:-0.87 [[ 9.85148879e-01 1.71694170e-01 1.67293228e-03 4.18467165e+02] [-1.71694004e-01 9.85150298e-01 -2.43469254e-04 -6.39501944e+01] [-1.68989199e-03 -4.73789804e-05 9.99998571e-01 -8.68301233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:418.49, Y:-63.95, Z:-0.87 [[ 9.84822986e-01 1.73553701e-01 1.67295024e-03 4.18494697e+02] [-1.73553537e-01 9.84824406e-01 -2.43345792e-04 -6.39495410e+01] [-1.68979579e-03 -5.06939030e-05 9.99998571e-01 -8.65844903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:418.52, Y:-63.94, Z:-0.87 [[ 9.84454187e-01 1.75633583e-01 1.67296873e-03 4.18524546e+02] [-1.75633423e-01 9.84455607e-01 -2.43218590e-04 -6.39421871e+01] [-1.68968080e-03 -5.43916650e-05 9.99998571e-01 -8.65422687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1457692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:418.55, Y:-63.94, Z:-0.87 [[ 9.84434116e-01 1.75746044e-01 1.67298506e-03 4.18553258e+02] [-1.75745884e-01 9.84435536e-01 -2.43106207e-04 -6.39403240e+01] [-1.68967090e-03 -5.46981952e-05 9.99998571e-01 -8.65574621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17576923100006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:418.58, Y:-63.94, Z:-0.86 [[ 9.84533256e-01 1.75189809e-01 1.67300145e-03 4.18581748e+02] [-1.75189649e-01 9.84534676e-01 -2.42993363e-04 -6.39388589e+01] [-1.68969791e-03 -5.38574906e-05 9.99998571e-01 -8.64487369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:418.61, Y:-63.93, Z:-0.86 [[ 9.84986528e-01 1.72623120e-01 1.67301813e-03 4.18609756e+02] [-1.72622956e-01 9.84987947e-01 -2.42878484e-04 -6.39326058e+01] [-1.68982914e-03 -4.95693012e-05 9.99998571e-01 -8.64062402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:418.64, Y:-63.93, Z:-0.86 [[ 9.85258066e-01 1.71066492e-01 1.67303754e-03 4.18637427e+02] [-1.71066326e-01 9.85259485e-01 -2.42744684e-04 -6.39311831e+01] [-1.68990159e-03 -4.70342278e-05 9.99998571e-01 -8.64479301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:418.67, Y:-63.93, Z:-0.86 [[ 9.85507259e-01 1.69625005e-01 1.67306675e-03 4.18665765e+02] [-1.69624838e-01 9.85508679e-01 -2.42543234e-04 -6.39301224e+01] [-1.68996320e-03 -4.47655580e-05 9.99998571e-01 -8.64713413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:418.69, Y:-63.93, Z:-0.86 [[ 9.85788172e-01 1.67984764e-01 1.67308324e-03 4.18694171e+02] [-1.67984594e-01 9.85789591e-01 -2.42429414e-04 -6.39299639e+01] [-1.69003249e-03 -4.20681607e-05 9.99998571e-01 -8.64997706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32576923100004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:418.72, Y:-63.93, Z:-0.86 [[ 9.86572817e-01 1.63313432e-01 1.67310020e-03 4.18722625e+02] [-1.63313255e-01 9.86574235e-01 -2.42312308e-04 -6.39268208e+01] [-1.69021041e-03 -3.41807038e-05 9.99998571e-01 -8.64836922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:418.75, Y:-63.93, Z:-0.86 [[ 9.87159202e-01 1.59730741e-01 1.67311787e-03 4.18749650e+02] [-1.59730560e-01 9.87160620e-01 -2.42190230e-04 -6.39271866e+01] [-1.69032130e-03 -2.81677407e-05 9.99998571e-01 -8.62983364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:418.78, Y:-63.93, Z:-0.86 [[ 9.88542067e-01 1.50936350e-01 1.67313843e-03 4.18777968e+02] [-1.50936157e-01 9.88543483e-01 -2.42048151e-04 -6.39264821e+01] [-1.69050395e-03 -1.32623042e-05 9.99998571e-01 -8.62414744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41576923100007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:418.81, Y:-63.93, Z:-0.86 [[ 9.89287613e-01 1.45969923e-01 1.67315551e-03 4.18805259e+02] [-1.45969723e-01 9.89289028e-01 -2.41929996e-04 -6.39296572e+01] [-1.69054889e-03 -4.89169781e-06 9.99998571e-01 -8.64771504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44576923100004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:418.83, Y:-63.93, Z:-0.87 [[ 9.90040222e-01 1.40774855e-01 1.67317523e-03 4.18832610e+02] [-1.40774648e-01 9.90041636e-01 -2.41793528e-04 -6.39336153e+01] [-1.69055159e-03 3.84466396e-06 9.99998571e-01 -8.68364388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.4757692310001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:418.86, Y:-63.94, Z:-0.87 [[ 9.91360985e-01 1.31151048e-01 1.67319197e-03 4.18861600e+02] [-1.31150826e-01 9.91362397e-01 -2.41677623e-04 -6.39378846e+01] [-1.69043588e-03 2.01492563e-05 9.99998571e-01 -8.72631620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50576923100004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:418.89, Y:-63.94, Z:-0.87 [[ 9.91940233e-01 1.26695597e-01 1.67320308e-03 4.18889742e+02] [-1.26695369e-01 9.91941644e-01 -2.41600694e-04 -6.39422950e+01] [-1.69032956e-03 2.76663665e-05 9.99998571e-01 -8.72232574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:418.92, Y:-63.95, Z:-0.87 [[ 9.92444525e-01 1.22682782e-01 1.67321985e-03 4.18915996e+02] [-1.22682549e-01 9.92445935e-01 -2.41484543e-04 -6.39475002e+01] [-1.69020623e-03 3.43851371e-05 9.99998571e-01 -8.72904893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:418.94, Y:-63.96, Z:-0.87 [[ 9.93195814e-01 1.16444300e-01 1.67324323e-03 4.18943512e+02] [-1.16444059e-01 9.93197223e-01 -2.41322406e-04 -6.39556544e+01] [-1.68996115e-03 4.48411709e-05 9.99998571e-01 -8.74857720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5957692310001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:418.97, Y:-63.96, Z:-0.87 [[ 9.93413832e-01 1.14569450e-01 1.67325416e-03 4.18972228e+02] [-1.14569206e-01 9.93415240e-01 -2.41246581e-04 -6.39618592e+01] [-1.68987567e-03 4.79542896e-05 9.99998571e-01 -8.74374397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.00, Y:-63.97, Z:-0.87 [[ 9.93573009e-01 1.13180722e-01 1.67326546e-03 4.18999379e+02] [-1.13180476e-01 9.93574417e-01 -2.41168161e-04 -6.39674723e+01] [-1.68980934e-03 5.02371931e-05 9.99998571e-01 -8.73992928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.03, Y:-63.97, Z:-0.87 [[ 9.93656977e-01 1.12441153e-01 1.67327950e-03 4.19027717e+02] [-1.12440906e-01 9.93658384e-01 -2.41070740e-04 -6.39730401e+01] [-1.68977448e-03 5.13965592e-05 9.99998571e-01 -8.71735499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.05, Y:-63.98, Z:-0.87 [[ 9.93515060e-01 1.13688280e-01 1.67329078e-03 4.19054686e+02] [-1.13688035e-01 9.93516468e-01 -2.40992410e-04 -6.39804320e+01] [-1.68983996e-03 4.91964477e-05 9.99998571e-01 -8.68464931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7157692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.08, Y:-63.99, Z:-0.87 [[ 9.93312998e-01 1.15440413e-01 1.67330475e-03 4.19081871e+02] [-1.15440171e-01 9.93314406e-01 -2.40895386e-04 -6.39858232e+01] [-1.68992678e-03 4.61179320e-05 9.99998571e-01 -8.68208426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:419.11, Y:-63.99, Z:-0.87 [[ 9.92669976e-01 1.20845017e-01 1.67332230e-03 4.19108582e+02] [-1.20844783e-01 9.92671386e-01 -2.40773449e-04 -6.39929616e+01] [-1.69015543e-03 3.67963050e-05 9.99998571e-01 -8.69466742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7757692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.14, Y:-64.00, Z:-0.87 [[ 9.92321488e-01 1.23674025e-01 1.67333688e-03 4.19135880e+02] [-1.23673795e-01 9.92322898e-01 -2.40672020e-04 -6.39980844e+01] [-1.69025538e-03 3.18760946e-05 9.99998571e-01 -8.68083025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80576923100006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.16, Y:-64.00, Z:-0.87 [[ 9.91952751e-01 1.26597553e-01 1.67335292e-03 4.19163879e+02] [-1.26597328e-01 9.91954162e-01 -2.40560471e-04 -6.40025147e+01] [-1.69034376e-03 2.67826132e-05 9.99998571e-01 -8.65917143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8357692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.19, Y:-64.01, Z:-0.87 [[ 9.91270229e-01 1.31835247e-01 1.67336410e-03 4.19192137e+02] [-1.31835029e-01 9.91271642e-01 -2.40482673e-04 -6.40051701e+01] [-1.69046247e-03 1.77753100e-05 9.99998571e-01 -8.65047253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86576923100006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:419.22, Y:-64.01, Z:-0.87 [[ 9.90987810e-01 1.33941630e-01 1.67338076e-03 4.19219895e+02] [-1.33941415e-01 9.90989223e-01 -2.40366716e-04 -6.40089600e+01] [-1.69049740e-03 1.40654989e-05 9.99998571e-01 -8.65637620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8957692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:419.25, Y:-64.01, Z:-0.87 [[ 9.90821427e-01 1.35166936e-01 1.67339777e-03 4.19246285e+02] [-1.35166723e-01 9.90822840e-01 -2.40248216e-04 -6.40132932e+01] [-1.69051434e-03 1.18553879e-05 9.99998571e-01 -8.66660194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.27, Y:-64.02, Z:-0.87 [[ 9.90670258e-01 1.36270468e-01 1.67341756e-03 4.19274949e+02] [-1.36270257e-01 9.90671671e-01 -2.40110293e-04 -6.40198354e+01] [-1.69052731e-03 9.83308522e-06 9.99998571e-01 -8.71685381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95576923100003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.30, Y:-64.03, Z:-0.87 [[ 9.90747371e-01 1.35708682e-01 1.67342899e-03 4.19301934e+02] [-1.35708470e-01 9.90748784e-01 -2.40030625e-04 -6.40250676e+01] [-1.69052197e-03 1.07112227e-05 9.99998571e-01 -8.73763894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.33, Y:-64.03, Z:-0.87 [[ 9.90851192e-01 1.34948561e-01 1.67344717e-03 4.19328841e+02] [-1.34948348e-01 9.90852606e-01 -2.39903818e-04 -6.40326871e+01] [-1.69051416e-03 1.18800536e-05 9.99998571e-01 -8.70262288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:419.36, Y:-64.04, Z:-0.87 [[ 9.90865383e-01 1.34844324e-01 1.67346119e-03 4.19356862e+02] [-1.34844111e-01 9.90866796e-01 -2.39805978e-04 -6.40381090e+01] [-1.69051360e-03 1.19590562e-05 9.99998571e-01 -8.67542158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.38, Y:-64.04, Z:-0.87 [[ 9.90839242e-01 1.35036275e-01 1.67347237e-03 4.19384232e+02] [-1.35036062e-01 9.90840655e-01 -2.39727870e-04 -6.40433599e+01] [-1.69051642e-03 1.15526616e-05 9.99998571e-01 -8.66249273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.41, Y:-64.05, Z:-0.87 [[ 9.90557222e-01 1.37089710e-01 1.67348919e-03 4.19411598e+02] [-1.37089501e-01 9.90558636e-01 -2.39610431e-04 -6.40498853e+01] [-1.69053729e-03 7.93004513e-06 9.99998571e-01 -8.69900347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.44, Y:-64.06, Z:-0.87 [[ 9.90359480e-01 1.38511010e-01 1.67350597e-03 4.19440100e+02] [-1.38510803e-01 9.90360894e-01 -2.39493160e-04 -6.40552309e+01] [-1.69054731e-03 5.38566431e-06 9.99998571e-01 -8.72845446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.47, Y:-64.06, Z:-0.87 [[ 9.90177995e-01 1.39802497e-01 1.67351713e-03 4.19467234e+02] [-1.39802292e-01 9.90179409e-01 -2.39415189e-04 -6.40602878e+01] [-1.69055304e-03 3.10212124e-06 9.99998571e-01 -8.73963890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:419.49, Y:-64.07, Z:-0.88 [[ 9.89591808e-01 1.43893202e-01 1.67353382e-03 4.19494329e+02] [-1.43893003e-01 9.89593223e-01 -2.39298437e-04 -6.40660856e+01] [-1.69055115e-03 -4.00203438e-06 9.99998571e-01 -8.75350640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:419.52, Y:-64.07, Z:-0.88 [[ 9.89203661e-01 1.46537764e-01 1.67354487e-03 4.19521426e+02] [-1.46537569e-01 9.89205077e-01 -2.39221127e-04 -6.40703343e+01] [-1.69053401e-03 -8.59878256e-06 9.99998571e-01 -8.76195558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.55, Y:-64.07, Z:-0.88 [[ 9.88764907e-01 1.49469586e-01 1.67356401e-03 4.19548694e+02] [-1.49469395e-01 9.88766324e-01 -2.39087168e-04 -6.40743195e+01] [-1.69049999e-03 -1.37455992e-05 9.99998571e-01 -8.76234042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.58, Y:-64.07, Z:-0.87 [[ 9.87853284e-01 1.55380463e-01 1.67358029e-03 4.19577454e+02] [-1.55380281e-01 9.87854701e-01 -2.38973178e-04 -6.40748590e+01] [-1.69038592e-03 -2.39709365e-05 9.99998571e-01 -8.71643122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2857692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.61, Y:-64.08, Z:-0.87 [[ 9.87393578e-01 1.58275459e-01 1.67359113e-03 4.19606627e+02] [-1.58275281e-01 9.87394996e-01 -2.38897186e-04 -6.40753069e+01] [-1.69030707e-03 -2.90025605e-05 9.99998571e-01 -8.68195092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.63, Y:-64.08, Z:-0.87 [[ 9.87404418e-01 1.58207818e-01 1.67360206e-03 4.19634854e+02] [-1.58207640e-01 9.87405836e-01 -2.38820616e-04 -6.40791913e+01] [-1.69030773e-03 -2.89641003e-05 9.99998571e-01 -8.68243263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:419.66, Y:-64.08, Z:-0.87 [[ 9.86913572e-01 1.61241433e-01 1.67361841e-03 4.19662761e+02] [-1.61241260e-01 9.86914991e-01 -2.38705966e-04 -6.40789915e+01] [-1.69020839e-03 -3.42741842e-05 9.99998571e-01 -8.65960949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37576923100005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:419.69, Y:-64.08, Z:-0.87 [[ 9.86192831e-01 1.65592568e-01 1.67363469e-03 4.19690762e+02] [-1.65592401e-01 9.86194250e-01 -2.38591812e-04 -6.40752996e+01] [-1.69003794e-03 -4.18436528e-05 9.99998571e-01 -8.66072059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4057692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:419.72, Y:-64.07, Z:-0.87 [[ 9.86041902e-01 1.66488936e-01 1.67365355e-03 4.19718103e+02] [-1.66488771e-01 9.86043322e-01 -2.38459394e-04 -6.40739850e+01] [-1.68999576e-03 -4.35135685e-05 9.99998571e-01 -8.68399541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.75, Y:-64.07, Z:-0.87 [[ 9.86056247e-01 1.66403959e-01 1.67367214e-03 4.19747091e+02] [-1.66403794e-01 9.86057666e-01 -2.38328890e-04 -6.40724154e+01] [-1.68999611e-03 -4.34997020e-05 9.99998571e-01 -8.69901009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4657692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.78, Y:-64.07, Z:-0.87 [[ 9.86598970e-01 1.63155359e-01 1.67368800e-03 4.19777061e+02] [-1.63155189e-01 9.86600389e-01 -2.38217413e-04 -6.40650657e+01] [-1.69012768e-03 -3.80458280e-05 9.99998571e-01 -8.71889955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:419.80, Y:-64.06, Z:-0.87 [[ 9.87101200e-01 1.60088786e-01 1.67369922e-03 4.19804218e+02] [-1.60088612e-01 9.87102619e-01 -2.38138571e-04 -6.40637512e+01] [-1.69023620e-03 -3.28733158e-05 9.99998571e-01 -8.72839431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.83, Y:-64.06, Z:-0.87 [[ 9.87672650e-01 1.56524548e-01 1.67372978e-03 4.19832599e+02] [-1.56524370e-01 9.87674068e-01 -2.37923615e-04 -6.40628009e+01] [-1.69034039e-03 -2.69888514e-05 9.99998571e-01 -8.73009347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.86, Y:-64.06, Z:-0.87 [[ 9.88916165e-01 1.48465542e-01 1.67374630e-03 4.19861385e+02] [-1.48465352e-01 9.88917581e-01 -2.37807332e-04 -6.40574707e+01] [-1.69050334e-03 -1.33218182e-05 9.99998571e-01 -8.69311608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:419.89, Y:-64.06, Z:-0.87 [[ 9.89568362e-01 1.44054349e-01 1.67375995e-03 4.19889888e+02] [-1.44054153e-01 9.89569777e-01 -2.37711245e-04 -6.40575099e+01] [-1.69054560e-03 -5.88054472e-06 9.99998571e-01 -8.66727582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:419.92, Y:-64.06, Z:-0.87 [[ 9.90205665e-01 1.39606376e-01 1.67377618e-03 4.19916821e+02] [-1.39606174e-01 9.90207079e-01 -2.37596852e-04 -6.40581690e+01] [-1.69055506e-03 1.60025963e-06 9.99998571e-01 -8.65616103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6457692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:419.94, Y:-64.06, Z:-0.86 [[ 9.90848674e-01 1.34967044e-01 1.67380546e-03 4.19944819e+02] [-1.34966835e-01 9.90850088e-01 -2.37390434e-04 -6.40599628e+01] [-1.69053017e-03 9.30977041e-06 9.99998571e-01 -8.64801595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:419.97, Y:-64.06, Z:-0.87 [[ 9.92099197e-01 1.25444739e-01 1.67382153e-03 4.19971602e+02] [-1.25444517e-01 9.92100608e-01 -2.37277054e-04 -6.40618982e+01] [-1.69036452e-03 2.54306410e-05 9.99998571e-01 -8.65737552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.00, Y:-64.07, Z:-0.87 [[ 9.92684109e-01 1.20728860e-01 1.67384014e-03 4.19997942e+02] [-1.20728631e-01 9.92685520e-01 -2.37145747e-04 -6.40663582e+01] [-1.69022720e-03 3.33303866e-05 9.99998571e-01 -8.67000736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.03, Y:-64.07, Z:-0.87 [[ 9.93250693e-01 1.15975249e-01 1.67385786e-03 4.20025517e+02] [-1.15975014e-01 9.93252103e-01 -2.37020556e-04 -6.40718820e+01] [-1.69005136e-03 4.12951428e-05 9.99998571e-01 -8.67074654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.05, Y:-64.08, Z:-0.86 [[ 9.94097896e-01 1.08473825e-01 1.67387353e-03 4.20052017e+02] [-1.08473580e-01 9.94099304e-01 -2.36909848e-04 -6.40821322e+01] [-1.68969503e-03 5.39405274e-05 9.99998571e-01 -8.63740370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.08, Y:-64.09, Z:-0.86 [[ 9.94420561e-01 1.05474859e-01 1.67388908e-03 4.20077854e+02] [-1.05474610e-01 9.94421968e-01 -2.36799964e-04 -6.40897088e+01] [-1.68952851e-03 5.89259553e-05 9.99998571e-01 -8.63359591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:420.11, Y:-64.10, Z:-0.86 [[ 9.94842756e-01 1.01415430e-01 1.67390704e-03 4.20105124e+02] [-1.01415176e-01 9.94844162e-01 -2.36672902e-04 -6.41020486e+01] [-1.68927893e-03 6.56927456e-05 9.99998571e-01 -8.64701486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.13, Y:-64.11, Z:-0.87 [[ 9.94935965e-01 1.00496888e-01 1.67391730e-03 4.20132183e+02] [-1.00496632e-01 9.94937370e-01 -2.36600296e-04 -6.41113080e+01] [-1.68922047e-03 6.71790918e-05 9.99998571e-01 -8.65141376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.16, Y:-64.12, Z:-0.87 [[ 9.94986055e-01 9.99997462e-02 1.67393005e-03 4.20159455e+02] [-9.99994896e-02 9.94987460e-01 -2.36510084e-04 -6.41212942e+01] [-1.68919036e-03 6.79320852e-05 9.99998571e-01 -8.65464452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.19, Y:-64.14, Z:-0.87 [[ 9.95096847e-01 9.88911652e-02 1.67394021e-03 4.20185502e+02] [-9.88909071e-02 9.95098253e-01 -2.36438133e-04 -6.41380777e+01] [-1.68911662e-03 6.97413743e-05 9.99998571e-01 -8.68538126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.21, Y:-64.15, Z:-0.87 [[ 9.95195418e-01 9.78942145e-02 1.67395286e-03 4.20212328e+02] [-9.78939552e-02 9.95196824e-01 -2.36348561e-04 -6.41479955e+01] [-1.68904973e-03 7.13431392e-05 9.99998571e-01 -8.70240571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.24, Y:-64.16, Z:-0.87 [[ 9.95279100e-01 9.70397363e-02 1.67396656e-03 4.20238580e+02] [-9.70394759e-02 9.95280505e-01 -2.36251500e-04 -6.41581019e+01] [-1.68899207e-03 7.26953429e-05 9.99998571e-01 -8.72067468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.27, Y:-64.18, Z:-0.87 [[ 9.95298356e-01 9.68420361e-02 1.67398001e-03 4.20265254e+02] [-9.68417757e-02 9.95299761e-01 -2.36156126e-04 -6.41761793e+01] [-1.68898175e-03 7.29346067e-05 9.99998571e-01 -8.71807731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.29, Y:-64.19, Z:-0.87 [[ 9.95213530e-01 9.77099130e-02 1.67398995e-03 4.20292793e+02] [-9.77096539e-02 9.95214935e-01 -2.36085680e-04 -6.41869333e+01] [-1.68904771e-03 7.13906843e-05 9.99998571e-01 -8.71037281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:420.32, Y:-64.20, Z:-0.87 [[ 9.95056110e-01 9.93002299e-02 1.67400042e-03 4.20320448e+02] [-9.92999732e-02 9.95057516e-01 -2.36011389e-04 -6.41969167e+01] [-1.68916269e-03 6.86163775e-05 9.99998571e-01 -8.71432930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.35, Y:-64.21, Z:-0.87 [[ 9.94517587e-01 1.04556045e-01 1.67400828e-03 4.20348105e+02] [-1.04555795e-01 9.94518994e-01 -2.35955669e-04 -6.42119628e+01] [-1.68950362e-03 5.96347958e-05 9.99998571e-01 -8.70198468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:420.38, Y:-64.22, Z:-0.87 [[ 9.94148198e-01 1.08011843e-01 1.67401392e-03 4.20376190e+02] [-1.08011598e-01 9.94149606e-01 -2.35915604e-04 -6.42214709e+01] [-1.68970196e-03 5.37221528e-05 9.99998571e-01 -8.70359816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.40, Y:-64.23, Z:-0.87 [[ 9.93760921e-01 1.11518738e-01 1.67402239e-03 4.20404872e+02] [-1.11518498e-01 9.93762330e-01 -2.35855523e-04 -6.42307649e+01] [-1.68988270e-03 4.76995389e-05 9.99998571e-01 -8.69343954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.43, Y:-64.24, Z:-0.87 [[ 9.93365213e-01 1.14990218e-01 1.67402816e-03 4.20432913e+02] [-1.14989984e-01 9.93366623e-01 -2.35814535e-04 -6.42391487e+01] [-1.69004007e-03 4.17534842e-05 9.99998571e-01 -8.69583929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.46, Y:-64.25, Z:-0.87 [[ 9.92556197e-01 1.21775996e-01 1.67403680e-03 4.20459998e+02] [-1.21775772e-01 9.92557608e-01 -2.35753159e-04 -6.42502075e+01] [-1.69028704e-03 3.01411359e-05 9.99998571e-01 -8.70348440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.49, Y:-64.26, Z:-0.87 [[ 9.92197663e-01 1.24663530e-01 1.67404500e-03 4.20488528e+02] [-1.24663310e-01 9.92199075e-01 -2.35694937e-04 -6.42579024e+01] [-1.69036847e-03 2.51639745e-05 9.99998571e-01 -8.70947984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.52, Y:-64.27, Z:-0.87 [[ 9.91709172e-01 1.28491693e-01 1.67405058e-03 4.20515600e+02] [-1.28491478e-01 9.91710585e-01 -2.35655291e-04 -6.42678052e+01] [-1.69045343e-03 1.86002803e-05 9.99998571e-01 -8.73862703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.55, Y:-64.27, Z:-0.87 [[ 9.91540119e-01 1.29789792e-01 1.67405892e-03 4.20545179e+02] [-1.29789579e-01 9.91541532e-01 -2.35596075e-04 -6.42738528e+01] [-1.69047691e-03 1.63275582e-05 9.99998571e-01 -8.72171302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.57, Y:-64.28, Z:-0.87 [[ 9.91319845e-01 1.31461639e-01 1.67406445e-03 4.20573519e+02] [-1.31461429e-01 9.91321258e-01 -2.35556764e-04 -6.42797778e+01] [-1.69050235e-03 1.34371902e-05 9.99998571e-01 -8.69763124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.60, Y:-64.29, Z:-0.87 [[ 9.90733837e-01 1.35807444e-01 1.67406997e-03 4.20602166e+02] [-1.35807240e-01 9.90735251e-01 -2.35517533e-04 -6.42883756e+01] [-1.69054516e-03 5.98436753e-06 9.99998571e-01 -8.65299499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.63, Y:-64.29, Z:-0.87 [[ 9.90467156e-01 1.37738920e-01 1.67407569e-03 4.20631185e+02] [-1.37738719e-01 9.90468571e-01 -2.35476834e-04 -6.42944385e+01] [-1.69055368e-03 2.64702846e-06 9.99998571e-01 -8.65911851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.66, Y:-64.30, Z:-0.87 [[ 9.90284834e-01 1.39043678e-01 1.67408139e-03 4.20660502e+02] [-1.39043479e-01 9.90286249e-01 -2.35436299e-04 -6.42994532e+01] [-1.69055571e-03 3.78895607e-07 9.99998571e-01 -8.67169188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.69, Y:-64.30, Z:-0.87 [[ 9.89863998e-01 1.42008669e-01 1.67408422e-03 4.20689733e+02] [-1.42008474e-01 9.89865414e-01 -2.35416173e-04 -6.43044627e+01] [-1.69054921e-03 -4.70415168e-06 9.99998571e-01 -8.69510395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.72, Y:-64.31, Z:-0.87 [[ 9.89672480e-01 1.43337293e-01 1.67408977e-03 4.20718817e+02] [-1.43337100e-01 9.89673896e-01 -2.35376730e-04 -6.43092674e+01] [-1.69054121e-03 -7.01330045e-06 9.99998571e-01 -8.70426801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.75, Y:-64.31, Z:-0.87 [[ 9.89545883e-01 1.44208680e-01 1.67409531e-03 4.20747671e+02] [-1.44208489e-01 9.89547299e-01 -2.35337322e-04 -6.43138695e+01] [-1.69053418e-03 -8.54167613e-06 9.99998571e-01 -8.70654147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.78, Y:-64.32, Z:-0.87 [[ 9.89196278e-01 1.46587585e-01 1.67410084e-03 4.20777051e+02] [-1.46587397e-01 9.89197695e-01 -2.35297961e-04 -6.43194613e+01] [-1.69050845e-03 -1.26462168e-05 9.99998571e-01 -8.68950118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.81, Y:-64.32, Z:-0.87 [[ 9.88961309e-01 1.48164524e-01 1.67410634e-03 4.20805725e+02] [-1.48164338e-01 9.88962726e-01 -2.35258810e-04 -6.43228843e+01] [-1.69048578e-03 -1.53809978e-05 9.99998571e-01 -8.68022969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.84, Y:-64.33, Z:-0.87 [[ 9.88667096e-01 1.50115194e-01 1.67411453e-03 4.20835547e+02] [-1.50115011e-01 9.88668513e-01 -2.35200553e-04 -6.43260761e+01] [-1.69045150e-03 -1.87746727e-05 9.99998571e-01 -8.67540936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.86, Y:-64.33, Z:-0.87 [[ 9.88288439e-01 1.52588200e-01 1.67411997e-03 4.20864693e+02] [-1.52588021e-01 9.88289857e-01 -2.35161820e-04 -6.43284283e+01] [-1.69039870e-03 -2.30429442e-05 9.99998571e-01 -8.67533283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.89, Y:-64.33, Z:-0.87 [[ 9.87502299e-01 1.57595707e-01 1.67413079e-03 4.20892661e+02] [-1.57595534e-01 9.87503718e-01 -2.35084781e-04 -6.43284533e+01] [-1.69025873e-03 -3.16887747e-05 9.99998571e-01 -8.69345993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.92, Y:-64.33, Z:-0.87 [[ 9.87101022e-01 1.60089880e-01 1.67414422e-03 4.20921644e+02] [-1.60089712e-01 9.87102441e-01 -2.34989097e-04 -6.43302005e+01] [-1.69017122e-03 -3.60552878e-05 9.99998571e-01 -8.70388403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.95, Y:-64.33, Z:-0.87 [[ 9.86739575e-01 1.62302832e-01 1.67415491e-03 4.20949356e+02] [-1.62302667e-01 9.86740994e-01 -2.34912881e-04 -6.43318648e+01] [-1.69008431e-03 -3.99219702e-05 9.99998571e-01 -8.71060819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.98, Y:-64.33, Z:-0.87 [[ 9.86275146e-01 1.65101585e-01 1.67416822e-03 4.20978552e+02] [-1.65101424e-01 9.86276566e-01 -2.34817968e-04 -6.43291040e+01] [-1.68996171e-03 -4.48124321e-05 9.99998571e-01 -8.71588351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.01, Y:-64.33, Z:-0.87 [[ 9.86160877e-01 1.65782756e-01 1.67417875e-03 4.21007201e+02] [-1.65782596e-01 9.86162297e-01 -2.34742866e-04 -6.43298479e+01] [-1.68992828e-03 -4.60554696e-05 9.99998571e-01 -8.71342465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.04, Y:-64.33, Z:-0.87 [[ 9.86215531e-01 1.65457315e-01 1.67418924e-03 4.21035465e+02] [-1.65457155e-01 9.86216951e-01 -2.34668035e-04 -6.43311626e+01] [-1.68994135e-03 -4.55733280e-05 9.99998571e-01 -8.71170527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.06, Y:-64.33, Z:-0.87 [[ 9.86628143e-01 1.62978844e-01 1.67420224e-03 4.21064560e+02] [-1.62978680e-01 9.86629563e-01 -2.34575259e-04 -6.43321649e+01] [-1.69004823e-03 -4.14207202e-05 9.99998571e-01 -8.71165564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.09, Y:-64.33, Z:-0.87 [[ 9.86846620e-01 1.61650692e-01 1.67421263e-03 4.21091884e+02] [-1.61650526e-01 9.86848039e-01 -2.34501060e-04 -6.43343888e+01] [-1.69010071e-03 -3.92207752e-05 9.99998571e-01 -8.71888023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.12, Y:-64.33, Z:-0.87 [[ 9.87340495e-01 1.58606252e-01 1.67422558e-03 4.21119706e+02] [-1.58606083e-01 9.87341914e-01 -2.34408596e-04 -6.43338115e+01] [-1.69021176e-03 -3.41012616e-05 9.99998571e-01 -8.70660789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.15, Y:-64.34, Z:-0.87 [[ 9.87665544e-01 1.56569378e-01 1.67423845e-03 4.21147925e+02] [-1.56569205e-01 9.87666963e-01 -2.34316674e-04 -6.43365764e+01] [-1.69027682e-03 -3.07076781e-05 9.99998571e-01 -8.68906468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.18, Y:-64.34, Z:-0.87 [[ 9.88010512e-01 1.54377543e-01 1.67425214e-03 4.21175724e+02] [-1.54377368e-01 9.88011930e-01 -2.34218754e-04 -6.43403399e+01] [-1.69033921e-03 -2.70560477e-05 9.99998571e-01 -8.67108036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.20, Y:-64.34, Z:-0.86 [[ 9.88730986e-01 1.49693798e-01 1.67426578e-03 4.21204584e+02] [-1.49693617e-01 9.88732404e-01 -2.34121243e-04 -6.43443480e+01] [-1.69044733e-03 -1.91439724e-05 9.99998571e-01 -8.64415730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.23, Y:-64.35, Z:-0.86 [[ 9.89007685e-01 1.47854645e-01 1.67427666e-03 4.21232166e+02] [-1.47854461e-01 9.89009102e-01 -2.34043402e-04 -6.43478944e+01] [-1.69047926e-03 -1.60785493e-05 9.99998571e-01 -8.63914776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.26, Y:-64.35, Z:-0.86 [[ 9.89206320e-01 1.46519802e-01 1.67429023e-03 4.21260759e+02] [-1.46519616e-01 9.89207737e-01 -2.33946294e-04 -6.43518343e+01] [-1.69049861e-03 -1.38952086e-05 9.99998571e-01 -8.64196630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.29, Y:-64.36, Z:-0.86 [[ 9.89352662e-01 1.45528374e-01 1.67430033e-03 4.21287784e+02] [-1.45528187e-01 9.89354078e-01 -2.33873975e-04 -6.43568405e+01] [-1.69051116e-03 -1.22740517e-05 9.99998571e-01 -8.64687391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.32, Y:-64.36, Z:-0.86 [[ 9.89348346e-01 1.45557707e-01 1.67431288e-03 4.21316596e+02] [-1.45557520e-01 9.89349763e-01 -2.33784136e-04 -6.43609787e+01] [-1.69051013e-03 -1.24148815e-05 9.99998571e-01 -8.64100468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.34, Y:-64.36, Z:-0.86 [[ 9.89328734e-01 1.45690948e-01 1.67432287e-03 4.21343943e+02] [-1.45690761e-01 9.89330151e-01 -2.33712503e-04 -6.43638267e+01] [-1.69050790e-03 -1.27148798e-05 9.99998571e-01 -8.62868750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.37, Y:-64.37, Z:-0.86 [[ 9.89313681e-01 1.45793134e-01 1.67433530e-03 4.21372710e+02] [-1.45792948e-01 9.89315097e-01 -2.33623466e-04 -6.43681413e+01] [-1.69050589e-03 -1.29793881e-05 9.99998571e-01 -8.61745310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.40, Y:-64.37, Z:-0.86 [[ 9.89319845e-01 1.45751300e-01 1.67434517e-03 4.21401772e+02] [-1.45751113e-01 9.89321262e-01 -2.33552716e-04 -6.43720962e+01] [-1.69050588e-03 -1.29793347e-05 9.99998571e-01 -8.61794893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.43, Y:-64.38, Z:-0.86 [[ 9.89305369e-01 1.45849525e-01 1.67435504e-03 4.21429989e+02] [-1.45849339e-01 9.89306786e-01 -2.33481914e-04 -6.43769426e+01] [-1.69050403e-03 -1.32186647e-05 9.99998571e-01 -8.60921501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.46, Y:-64.38, Z:-0.86 [[ 9.89182747e-01 1.46678866e-01 1.67436487e-03 4.21457214e+02] [-1.46678681e-01 9.89184164e-01 -2.33411391e-04 -6.43817648e+01] [-1.69049173e-03 -1.47071107e-05 9.99998571e-01 -8.61646320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.49, Y:-64.39, Z:-0.86 [[ 9.89113438e-01 1.47145520e-01 1.67437712e-03 4.21485370e+02] [-1.47145336e-01 9.89114855e-01 -2.33323472e-04 -6.43852258e+01] [-1.69048379e-03 -1.55934019e-05 9.99998571e-01 -8.63504795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.51, Y:-64.39, Z:-0.86 [[ 9.89022291e-01 1.47756912e-01 1.67438801e-03 4.21513334e+02] [-1.47756729e-01 9.89023708e-01 -2.33245279e-04 -6.43881478e+01] [-1.69047304e-03 -1.67173161e-05 9.99998571e-01 -8.64778651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.54, Y:-64.39, Z:-0.87 [[ 9.88510966e-01 1.51139890e-01 1.67440156e-03 4.21541161e+02] [-1.51139712e-01 9.88512384e-01 -2.33147993e-04 -6.43911900e+01] [-1.69040464e-03 -2.25992216e-05 9.99998571e-01 -8.68817743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.57, Y:-64.39, Z:-0.87 [[ 9.88137220e-01 1.53564422e-01 1.67441616e-03 4.21568516e+02] [-1.53564248e-01 9.88138638e-01 -2.33043080e-04 -6.43941499e+01] [-1.69034243e-03 -2.68519179e-05 9.99998571e-01 -8.69361024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.60, Y:-64.40, Z:-0.87 [[ 9.87706124e-01 1.56313177e-01 1.67443073e-03 4.21596112e+02] [-1.56313007e-01 9.87707543e-01 -2.32938384e-04 -6.43965659e+01] [-1.69025920e-03 -3.16606334e-05 9.99998571e-01 -8.69590183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.62, Y:-64.40, Z:-0.87 [[ 9.86888989e-01 1.61391822e-01 1.67444529e-03 4.21624877e+02] [-1.61391659e-01 9.86890408e-01 -2.32833693e-04 -6.43976428e+01] [-1.69007145e-03 -4.04604935e-05 9.99998571e-01 -8.73943024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.65, Y:-64.40, Z:-0.87 [[ 9.86642028e-01 1.62894768e-01 1.67445496e-03 4.21653583e+02] [-1.62894607e-01 9.86643448e-01 -2.32764068e-04 -6.44008998e+01] [-1.69000607e-03 -4.31048724e-05 9.99998571e-01 -8.74365400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.68, Y:-64.40, Z:-0.87 [[ 9.86504851e-01 1.63723472e-01 1.67446579e-03 4.21681632e+02] [-1.63723313e-01 9.86506271e-01 -2.32686191e-04 -6.44047808e+01] [-1.68996719e-03 -4.46030287e-05 9.99998571e-01 -8.74551833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.71, Y:-64.41, Z:-0.87 [[ 9.86625699e-01 1.62993636e-01 1.67448046e-03 4.21709020e+02] [-1.62993476e-01 9.86627119e-01 -2.32580505e-04 -6.44081881e+01] [-1.68999698e-03 -4.34594876e-05 9.99998571e-01 -8.69730028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.74, Y:-64.41, Z:-0.87 [[ 9.86877612e-01 1.61461371e-01 1.67449341e-03 4.21737648e+02] [-1.61461209e-01 9.86879032e-01 -2.32487239e-04 -6.44119049e+01] [-1.69006015e-03 -4.09292793e-05 9.99998571e-01 -8.67532809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.76, Y:-64.42, Z:-0.87 [[ 9.87171351e-01 1.59655628e-01 1.67450423e-03 4.21764764e+02] [-1.59655463e-01 9.87172771e-01 -2.32409334e-04 -6.44162473e+01] [-1.69013044e-03 -3.79159114e-05 9.99998571e-01 -8.67524680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.79, Y:-64.42, Z:-0.87 [[ 9.87772906e-01 1.55890607e-01 1.67451771e-03 4.21792201e+02] [-1.55890437e-01 9.87774325e-01 -2.32312128e-04 -6.44228940e+01] [-1.69026088e-03 -3.15696727e-05 9.99998571e-01 -8.68574420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.82, Y:-64.43, Z:-0.87 [[ 9.88087372e-01 1.53884833e-01 1.67453100e-03 4.21820608e+02] [-1.53884660e-01 9.88088790e-01 -2.32216280e-04 -6.44285968e+01] [-1.69031988e-03 -2.82346601e-05 9.99998571e-01 -8.67915060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.85, Y:-64.43, Z:-0.87 [[ 9.88412029e-01 1.51785563e-01 1.67454206e-03 4.21847513e+02] [-1.51785387e-01 9.88413447e-01 -2.32136509e-04 -6.44345689e+01] [-1.69037486e-03 -2.47244970e-05 9.99998571e-01 -8.68121844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.88, Y:-64.44, Z:-0.87 [[ 9.88699305e-01 1.49902904e-01 1.67455583e-03 4.21876061e+02] [-1.49902726e-01 9.88700723e-01 -2.32037186e-04 -6.44405944e+01] [-1.69041760e-03 -2.16054795e-05 9.99998571e-01 -8.66858883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.90, Y:-64.45, Z:-0.86 [[ 9.88939401e-01 1.48310676e-01 1.67456639e-03 4.21904362e+02] [-1.48310496e-01 9.88940819e-01 -2.31960951e-04 -6.44482067e+01] [-1.69044934e-03 -1.89604473e-05 9.99998571e-01 -8.64124496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:-64.45, Z:-0.86 [[ 9.89012154e-01 1.47824748e-01 1.67457735e-03 4.21931527e+02] [-1.47824567e-01 9.89013571e-01 -2.31881755e-04 -6.44541716e+01] [-1.69045759e-03 -1.82097980e-05 9.99998571e-01 -8.63303610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.96, Y:-64.46, Z:-0.86 [[ 9.89085116e-01 1.47335770e-01 1.67459208e-03 4.21959682e+02] [-1.47335589e-01 9.89086533e-01 -2.31775334e-04 -6.44607591e+01] [-1.69046527e-03 -1.74814779e-05 9.99998571e-01 -8.63868814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.99, Y:-64.47, Z:-0.86 [[ 9.89250284e-01 1.46222675e-01 1.67460261e-03 4.21986887e+02] [-1.46222492e-01 9.89251702e-01 -2.31699255e-04 -6.44711907e+01] [-1.69048316e-03 -1.56560123e-05 9.99998571e-01 -8.63107051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.02, Y:-64.48, Z:-0.86 [[ 9.89378855e-01 1.45350188e-01 1.67461345e-03 4.22016223e+02] [-1.45350004e-01 9.89380272e-01 -2.31620863e-04 -6.44781986e+01] [-1.69049565e-03 -1.42442868e-05 9.99998571e-01 -8.62952471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.04, Y:-64.49, Z:-0.86 [[ 9.89553678e-01 1.44155173e-01 1.67461884e-03 4.22044138e+02] [-1.44154988e-01 9.89555095e-01 -2.31581875e-04 -6.44872914e+01] [-1.69051133e-03 -1.22419631e-05 9.99998571e-01 -8.61460598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.07, Y:-64.49, Z:-0.86 [[ 9.89581985e-01 1.43960726e-01 1.67462689e-03 4.22072807e+02] [-1.43960540e-01 9.89583402e-01 -2.31523687e-04 -6.44934829e+01] [-1.69051329e-03 -1.19685215e-05 9.99998571e-01 -8.61581901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.10, Y:-64.50, Z:-0.86 [[ 9.89513001e-01 1.44434127e-01 1.67463221e-03 4.22100356e+02] [-1.44433942e-01 9.89514418e-01 -2.31485146e-04 -6.45000287e+01] [-1.69050708e-03 -1.28161706e-05 9.99998571e-01 -8.62523512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.13, Y:-64.51, Z:-0.87 [[ 9.89243541e-01 1.46268288e-01 1.67463770e-03 4.22128629e+02] [-1.46268106e-01 9.89244958e-01 -2.31445486e-04 -6.45089837e+01] [-1.69048003e-03 -1.59901306e-05 9.99998571e-01 -8.67975032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.16, Y:-64.52, Z:-0.87 [[ 9.89073316e-01 1.47414961e-01 1.67464295e-03 4.22157618e+02] [-1.47414780e-01 9.89074734e-01 -2.31407490e-04 -6.45153915e+01] [-1.69045995e-03 -1.79881478e-05 9.99998571e-01 -8.69869144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.19, Y:-64.52, Z:-0.87 [[ 9.88969015e-01 1.48113075e-01 1.67464822e-03 4.22185491e+02] [-1.48112896e-01 9.88970433e-01 -2.31369341e-04 -6.45213521e+01] [-1.69044640e-03 -1.92198866e-05 9.99998571e-01 -8.71257449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.21, Y:-64.53, Z:-0.87 [[ 9.89000124e-01 1.47905209e-01 1.67465606e-03 4.22214055e+02] [-1.47905029e-01 9.89001541e-01 -2.31312526e-04 -6.45276244e+01] [-1.69044976e-03 -1.89219374e-05 9.99998571e-01 -8.71282434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.24, Y:-64.54, Z:-0.87 [[ 9.89201460e-01 1.46552609e-01 1.67465865e-03 4.22243511e+02] [-1.46552428e-01 9.89202877e-01 -2.31293797e-04 -6.45367002e+01] [-1.69047387e-03 -1.66291290e-05 9.99998571e-01 -8.70291182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.27, Y:-64.54, Z:-0.87 [[ 9.89209133e-01 1.46500809e-01 1.67465865e-03 4.22273541e+02] [-1.46500627e-01 9.89210550e-01 -2.31293797e-04 -6.45432381e+01] [-1.69047473e-03 -1.65406061e-05 9.99998571e-01 -8.70796266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.30, Y:-64.55, Z:-0.87 [[ 9.88735140e-01 1.49666356e-01 1.67465865e-03 4.22303520e+02] [-1.49666179e-01 9.88736558e-01 -2.31293797e-04 -6.45490640e+01] [-1.69041313e-03 -2.19514569e-05 9.99998571e-01 -8.70842769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.33, Y:-64.55, Z:-0.87 [[ 9.88313278e-01 1.52427226e-01 1.67465865e-03 4.22332692e+02] [-1.52427053e-01 9.88314697e-01 -2.31293797e-04 -6.45523344e+01] [-1.69034523e-03 -2.66725517e-05 9.99998571e-01 -8.71038158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2257692310001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:422.36, Y:-64.55, Z:-0.87 [[ 9.87758952e-01 1.55979002e-01 1.67466130e-03 4.22362087e+02] [-1.55978834e-01 9.87760371e-01 -2.31274637e-04 -6.45547406e+01] [-1.69023805e-03 -3.27681235e-05 9.99998571e-01 -8.70925246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.39, Y:-64.55, Z:-0.87 [[ 9.86528755e-01 1.63579373e-01 1.67466655e-03 4.22391364e+02] [-1.63579216e-01 9.86530175e-01 -2.31236562e-04 -6.45522001e+01] [-1.68993462e-03 -4.58191240e-05 9.99998571e-01 -8.69618373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2857692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:422.42, Y:-64.55, Z:-0.87 [[ 9.85931235e-01 1.67143037e-01 1.67467735e-03 4.22419893e+02] [-1.67142886e-01 9.85932656e-01 -2.31158377e-04 -6.45521331e+01] [-1.68975560e-03 -5.20041401e-05 9.99998571e-01 -8.68942643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:422.45, Y:-64.55, Z:-0.87 [[ 9.84907015e-01 1.73076192e-01 1.67468540e-03 4.22449501e+02] [-1.73076049e-01 9.84908436e-01 -2.31099996e-04 -6.45483757e+01] [-1.68940969e-03 -6.22359248e-05 9.99998571e-01 -8.65635988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3457692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:422.48, Y:-64.55, Z:-0.87 [[ 9.84574320e-01 1.74958862e-01 1.67469568e-03 4.22479182e+02] [-1.74958722e-01 9.84575742e-01 -2.31025485e-04 -6.45475635e+01] [-1.68928470e-03 -6.55408563e-05 9.99998571e-01 -8.65581811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.51, Y:-64.55, Z:-0.87 [[ 9.84377146e-01 1.76064843e-01 1.67470658e-03 4.22507943e+02] [-1.76064705e-01 9.84378569e-01 -2.30946448e-04 -6.45456559e+01] [-1.68920682e-03 -6.75183142e-05 9.99998571e-01 -8.67029674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:422.54, Y:-64.54, Z:-0.87 [[ 9.84277420e-01 1.76621502e-01 1.67472117e-03 4.22538232e+02] [-1.76621364e-01 9.84278843e-01 -2.30840604e-04 -6.45371237e+01] [-1.68916403e-03 -6.85803440e-05 9.99998571e-01 -8.68288871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.57, Y:-64.54, Z:-0.87 [[ 9.84391884e-01 1.75982426e-01 1.67473180e-03 4.22566619e+02] [-1.75982288e-01 9.84393306e-01 -2.30763495e-04 -6.45352994e+01] [-1.68920509e-03 -6.75614216e-05 9.99998571e-01 -8.68019704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4657692310001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:422.59, Y:-64.53, Z:-0.87 [[ 9.84571232e-01 1.74976240e-01 1.67474501e-03 4.22594765e+02] [-1.74976100e-01 9.84572654e-01 -2.30667577e-04 -6.45340850e+01] [-1.68926948e-03 -6.59316893e-05 9.99998571e-01 -8.67367405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49576923100005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:422.62, Y:-64.53, Z:-0.87 [[ 9.85373982e-01 1.70397510e-01 1.67476096e-03 4.22622735e+02] [-1.70397364e-01 9.85375403e-01 -2.30551666e-04 -6.45279209e+01] [-1.68955369e-03 -5.81952408e-05 9.99998571e-01 -8.68366332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5257692310001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:422.65, Y:-64.53, Z:-0.87 [[ 9.85956563e-01 1.66993565e-01 1.67477684e-03 4.22651060e+02] [-1.66993414e-01 9.85957984e-01 -2.30436301e-04 -6.45270419e+01] [-1.68974097e-03 -5.24765185e-05 9.99998571e-01 -8.67708054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:422.68, Y:-64.53, Z:-0.87 [[ 9.86647346e-01 1.62862546e-01 1.67479286e-03 4.22678675e+02] [-1.62862390e-01 9.86648767e-01 -2.30319772e-04 -6.45270123e+01] [-1.68994278e-03 -4.55163759e-05 9.99998571e-01 -8.67534411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5857692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:422.71, Y:-64.53, Z:-0.87 [[ 9.87374624e-01 1.58393648e-01 1.67481624e-03 4.22706725e+02] [-1.58393485e-01 9.87376043e-01 -2.30149660e-04 -6.45284094e+01] [-1.69012767e-03 -3.80360466e-05 9.99998571e-01 -8.67883849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:422.74, Y:-64.53, Z:-0.87 [[ 9.88900126e-01 1.48572323e-01 1.67483203e-03 4.22735615e+02] [-1.48572146e-01 9.88901544e-01 -2.30034687e-04 -6.45318868e+01] [-1.69042077e-03 -2.13520579e-05 9.99998571e-01 -8.67681033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6457692310001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:422.76, Y:-64.54, Z:-0.87 [[ 9.89657347e-01 1.43441735e-01 1.67484268e-03 4.22763354e+02] [-1.43441551e-01 9.89658764e-01 -2.29957096e-04 -6.45371517e+01] [-1.69050818e-03 -1.26633034e-05 9.99998571e-01 -8.67549943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67576923100006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:422.79, Y:-64.54, Z:-0.87 [[ 9.90323625e-01 1.38767117e-01 1.67485599e-03 4.22791654e+02] [-1.38766927e-01 9.90325041e-01 -2.29860154e-04 -6.45428314e+01] [-1.69054886e-03 -4.77867745e-06 9.99998571e-01 -8.67989359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70576923100003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.82, Y:-64.55, Z:-0.87 [[ 9.91295419e-01 1.31645690e-01 1.67486643e-03 4.22818670e+02] [-1.31645489e-01 9.91296834e-01 -2.29784063e-04 -6.45511885e+01] [-1.69053987e-03 7.29527866e-06 9.99998571e-01 -8.70635116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:422.85, Y:-64.56, Z:-0.87 [[ 9.91686448e-01 1.28666947e-01 1.67488030e-03 4.22847305e+02] [-1.28666743e-01 9.91687862e-01 -2.29682864e-04 -6.45578195e+01] [-1.69051106e-03 1.22719901e-05 9.99998571e-01 -8.71368638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76576923100004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:422.87, Y:-64.57, Z:-0.87 [[ 9.92207530e-01 1.24584956e-01 1.67489061e-03 4.22874530e+02] [-1.24584746e-01 9.92208944e-01 -2.29607686e-04 -6.45677480e+01] [-1.69044711e-03 1.91526533e-05 9.99998571e-01 -8.72922196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79576923100007 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:422.90, Y:-64.57, Z:-0.87 [[ 9.92328627e-01 1.23616707e-01 1.67490081e-03 4.22902400e+02] [-1.23616495e-01 9.92330041e-01 -2.29533248e-04 -6.45743531e+01] [-1.69042853e-03 2.07270452e-05 9.99998571e-01 -8.74369008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:422.93, Y:-64.58, Z:-0.87 [[ 9.92390318e-01 1.23120477e-01 1.67490840e-03 4.22930867e+02] [-1.23120265e-01 9.92391731e-01 -2.29477842e-04 -6.45812878e+01] [-1.69041867e-03 2.15164225e-05 9.99998571e-01 -8.74349692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:422.96, Y:-64.59, Z:-0.87 [[ 9.92413665e-01 1.22932143e-01 1.67491850e-03 4.22959222e+02] [-1.22931931e-01 9.92415078e-01 -2.29404154e-04 -6.45912462e+01] [-1.69041551e-03 2.17628520e-05 9.99998571e-01 -8.69629262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:422.99, Y:-64.60, Z:-0.87 [[ 9.92414554e-01 1.22924964e-01 1.67492400e-03 4.22987410e+02] [-1.22924752e-01 9.92415968e-01 -2.29363931e-04 -6.45977252e+01] [-1.69041588e-03 2.17344860e-05 9.99998571e-01 -8.69081885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:423.02, Y:-64.60, Z:-0.87 [[ 9.92409913e-01 1.22962427e-01 1.67493223e-03 4.23016432e+02] [-1.22962215e-01 9.92411327e-01 -2.29303852e-04 -6.46037921e+01] [-1.69041747e-03 2.16100388e-05 9.99998571e-01 -8.67778269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94576923100004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:423.05, Y:-64.61, Z:-0.87 [[ 9.92420537e-01 1.22876653e-01 1.67493722e-03 4.23046638e+02] [-1.22876441e-01 9.92421950e-01 -2.29267367e-04 -6.46115281e+01] [-1.69041607e-03 2.17193189e-05 9.99998571e-01 -8.68240657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.9757692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:423.08, Y:-64.62, Z:-0.87 [[ 9.92393162e-01 1.23097547e-01 1.67493722e-03 4.23075566e+02] [-1.23097336e-01 9.92394575e-01 -2.29267367e-04 -6.46167832e+01] [-1.69042086e-03 2.13430579e-05 9.99998571e-01 -8.70085743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00576923100004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:423.10, Y:-64.62, Z:-0.87 [[ 9.92296354e-01 1.23875502e-01 1.67493992e-03 4.23104375e+02] [-1.23875292e-01 9.92297768e-01 -2.29247623e-04 -6.46215587e+01] [-1.69043731e-03 1.99979092e-05 9.99998571e-01 -8.69330901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0357692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:423.13, Y:-64.63, Z:-0.87 [[ 9.92175043e-01 1.24843415e-01 1.67494485e-03 4.23133257e+02] [-1.24843206e-01 9.92176457e-01 -2.29211618e-04 -6.46265064e+01] [-1.69045641e-03 1.83125618e-05 9.99998571e-01 -8.67050627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06576923100005 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:423.16, Y:-64.63, Z:-0.86 [[ 9.91893319e-01 1.27062341e-01 1.67494977e-03 4.23162765e+02] [-1.27062136e-01 9.91894733e-01 -2.29175689e-04 -6.46322868e+01] [-1.69049345e-03 1.44951405e-05 9.99998571e-01 -8.62483216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0957692310001 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:423.19, Y:-64.64, Z:-0.86 [[ 9.91793506e-01 1.27839104e-01 1.67495510e-03 4.23191535e+02] [-1.27838899e-01 9.91794920e-01 -2.29136696e-04 -6.46365114e+01] [-1.69050459e-03 1.31318699e-05 9.99998571e-01 -8.62280133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12576923100005 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:423.22, Y:-64.64, Z:-0.86 [[ 9.91796455e-01 1.27816224e-01 1.67495776e-03 4.23221428e+02] [-1.27816020e-01 9.91797869e-01 -2.29117296e-04 -6.46405533e+01] [-1.69050444e-03 1.31512881e-05 9.99998571e-01 -8.62331129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1557692310001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:423.25, Y:-64.64, Z:-0.86 [[ 9.91636631e-01 1.29050324e-01 1.67496304e-03 4.23251068e+02] [-1.29050121e-01 9.91638046e-01 -2.29078656e-04 -6.46447298e+01] [-1.69051975e-03 1.10086035e-05 9.99998571e-01 -8.64084341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18576923100005 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:423.28, Y:-64.65, Z:-0.87 [[ 9.91607324e-01 1.29275328e-01 1.67496831e-03 4.23279714e+02] [-1.29275125e-01 9.91608738e-01 -2.29040095e-04 -6.46484354e+01] [-1.69052245e-03 1.05860974e-05 9.99998571e-01 -8.65061800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2157692310001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:423.31, Y:-64.65, Z:-0.87 [[ 9.91664730e-01 1.28834227e-01 1.67497617e-03 4.23309357e+02] [-1.28834024e-01 9.91666144e-01 -2.28982623e-04 -6.46520278e+01] [-1.69051796e-03 1.12800704e-05 9.99998571e-01 -8.65874575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24576923100005 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:423.34, Y:-64.66, Z:-0.87 [[ 9.91855834e-01 1.27354619e-01 1.67498141e-03 4.23338370e+02] [-1.27354414e-01 9.91857248e-01 -2.28944310e-04 -6.46553843e+01] [-1.69049956e-03 1.37634740e-05 9.99998571e-01 -8.65568635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2757692310001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:423.37, Y:-64.66, Z:-0.86 [[ 9.91902729e-01 1.26988862e-01 1.67498663e-03 4.23367024e+02] [-1.26988656e-01 9.91904143e-01 -2.28906120e-04 -6.46587399e+01] [-1.69049470e-03 1.43483047e-05 9.99998571e-01 -8.64846276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30576923100006 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:423.40, Y:-64.66, Z:-0.86 [[ 9.91900455e-01 1.27006624e-01 1.67499441e-03 4.23396304e+02] [-1.27006419e-01 9.91901869e-01 -2.28849179e-04 -6.46617604e+01] [-1.69049544e-03 1.42605636e-05 9.99998571e-01 -8.64069017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3357692310001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:423.42, Y:-64.66, Z:-0.86 [[ 9.91692122e-01 1.28623207e-01 1.67499976e-03 4.23424663e+02] [-1.28623004e-01 9.91693537e-01 -2.28809965e-04 -6.46633642e+01] [-1.69051671e-03 1.14655384e-05 9.99998571e-01 -8.63118468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36576923100006 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:423.45, Y:-64.67, Z:-0.86 [[ 9.91565195e-01 1.29598065e-01 1.67500545e-03 4.23454248e+02] [-1.29597863e-01 9.91566610e-01 -2.28768299e-04 -6.46659241e+01] [-1.69052741e-03 9.76155629e-06 9.99998571e-01 -8.63206856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3957692310001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:423.48, Y:-64.67, Z:-0.87 [[ 9.91332141e-01 1.31368874e-01 1.67501084e-03 4.23483650e+02] [-1.31368675e-01 9.91333556e-01 -2.28728824e-04 -6.46681364e+01] [-1.69054230e-03 6.70227946e-06 9.99998571e-01 -8.66172406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.51, Y:-64.67, Z:-0.87 [[ 9.91277067e-01 1.31783802e-01 1.67501640e-03 4.23512626e+02] [-1.31783604e-01 9.91278482e-01 -2.28688151e-04 -6.46712025e+01] [-1.69054511e-03 5.95362285e-06 9.99998571e-01 -8.67987581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.54, Y:-64.67, Z:-0.87 [[ 9.91228405e-01 1.32149324e-01 1.67502468e-03 4.23541231e+02] [-1.32149127e-01 9.91229820e-01 -2.28627441e-04 -6.46747200e+01] [-1.69054738e-03 5.26896491e-06 9.99998571e-01 -8.68015897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:423.57, Y:-64.68, Z:-0.87 [[ 9.91164447e-01 1.32628180e-01 1.67503556e-03 4.23568333e+02] [-1.32627983e-01 9.91165862e-01 -2.28547719e-04 -6.46786264e+01] [-1.69054993e-03 4.37178556e-06 9.99998571e-01 -8.65195718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51576923100004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:423.60, Y:-64.68, Z:-0.86 [[ 9.91237490e-01 1.32081161e-01 1.67504907e-03 4.23597444e+02] [-1.32080964e-01 9.91238905e-01 -2.28448698e-04 -6.46833172e+01] [-1.69054757e-03 5.20481885e-06 9.99998571e-01 -8.63762847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54576923100007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:423.63, Y:-64.69, Z:-0.86 [[ 9.91435025e-01 1.30590141e-01 1.67505453e-03 4.23625339e+02] [-1.30589942e-01 9.91436440e-01 -2.28408630e-04 -6.46881201e+01] [-1.69053801e-03 7.70704262e-06 9.99998571e-01 -8.63427568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.65, Y:-64.69, Z:-0.86 [[ 9.91379169e-01 1.31013501e-01 1.67506272e-03 4.23653924e+02] [-1.31013302e-01 9.91380584e-01 -2.28348512e-04 -6.46927357e+01] [-1.69054140e-03 6.92445990e-06 9.99998571e-01 -8.63659170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:423.68, Y:-64.70, Z:-0.86 [[ 9.91241276e-01 1.32052743e-01 1.67507078e-03 4.23682849e+02] [-1.32052546e-01 9.91242691e-01 -2.28289420e-04 -6.46970741e+01] [-1.69054791e-03 5.09253570e-06 9.99998571e-01 -8.63954145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.71, Y:-64.70, Z:-0.87 [[ 9.90738058e-01 1.35776632e-01 1.67507648e-03 4.23711646e+02] [-1.35776440e-01 9.90739474e-01 -2.28247554e-04 -6.47013210e+01] [-1.69055508e-03 -1.30238266e-06 9.99998571e-01 -8.67431943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.74, Y:-64.70, Z:-0.87 [[ 9.90469349e-01 1.37723141e-01 1.67508500e-03 4.23740538e+02] [-1.37722952e-01 9.90470765e-01 -2.28185035e-04 -6.47047774e+01] [-1.69054908e-03 -4.68736760e-06 9.99998571e-01 -8.66875632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.77, Y:-64.71, Z:-0.87 [[ 9.90172772e-01 1.39839463e-01 1.67509577e-03 4.23768132e+02] [-1.39839277e-01 9.90174189e-01 -2.28105913e-04 -6.47082375e+01] [-1.69053481e-03 -8.37991802e-06 9.99998571e-01 -8.65228633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7257692310001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:423.80, Y:-64.71, Z:-0.86 [[ 9.89644853e-01 1.43527902e-01 1.67510915e-03 4.23796310e+02] [-1.43527722e-01 9.89646271e-01 -2.28007626e-04 -6.47113538e+01] [-1.69049098e-03 -1.47780271e-05 9.99998571e-01 -8.59622168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75576923100004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:423.82, Y:-64.71, Z:-0.86 [[ 9.89419172e-01 1.45075485e-01 1.67512326e-03 4.23823965e+02] [-1.45075307e-01 9.89420590e-01 -2.27903909e-04 -6.47136135e+01] [-1.69046472e-03 -1.75265254e-05 9.99998571e-01 -8.57719640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7857692310001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:423.85, Y:-64.72, Z:-0.86 [[ 9.89188637e-01 1.46639131e-01 1.67513730e-03 4.23851723e+02] [-1.46638956e-01 9.89190055e-01 -2.27800679e-04 -6.47153850e+01] [-1.69043365e-03 -2.03025412e-05 9.99998571e-01 -8.57638633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:423.88, Y:-64.72, Z:-0.86 [[ 9.89000830e-01 1.47900482e-01 1.67515122e-03 4.23879384e+02] [-1.47900309e-01 9.89002248e-01 -2.27698287e-04 -6.47170421e+01] [-1.69040501e-03 -2.25615879e-05 9.99998571e-01 -8.59399202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.91, Y:-64.72, Z:-0.86 [[ 9.88824213e-01 1.49076721e-01 1.67516471e-03 4.23908181e+02] [-1.49076550e-01 9.88825632e-01 -2.27598955e-04 -6.47172696e+01] [-1.69037551e-03 -2.46724186e-05 9.99998571e-01 -8.64512030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.94, Y:-64.72, Z:-0.87 [[ 9.88834414e-01 1.49009043e-01 1.67517583e-03 4.23935900e+02] [-1.49008871e-01 9.88835833e-01 -2.27517120e-04 -6.47196584e+01] [-1.69037599e-03 -2.46393010e-05 9.99998571e-01 -8.65521021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9057692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:423.96, Y:-64.72, Z:-0.87 [[ 9.89042214e-01 1.47623481e-01 1.67518963e-03 4.23963465e+02] [-1.47623308e-01 9.89043633e-01 -2.27415426e-04 -6.47212706e+01] [-1.69040750e-03 -2.23735782e-05 9.99998571e-01 -8.65098145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93576923100005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:423.99, Y:-64.72, Z:-0.87 [[ 9.89163549e-01 1.46808269e-01 1.67520433e-03 4.23991778e+02] [-1.46808094e-01 9.89164967e-01 -2.27307113e-04 -6.47242785e+01] [-1.69042400e-03 -2.10896451e-05 9.99998571e-01 -8.65357929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9657692310001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:424.02, Y:-64.73, Z:-0.87 [[ 9.89250180e-01 1.46223371e-01 1.67521505e-03 4.24020019e+02] [-1.46223196e-01 9.89251599e-01 -2.27228100e-04 -6.47270989e+01] [-1.69043522e-03 -2.01698590e-05 9.99998571e-01 -8.65645587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.05, Y:-64.73, Z:-0.87 [[ 9.89362410e-01 1.45462078e-01 1.67522638e-03 4.24047461e+02] [-1.45461902e-01 9.89363828e-01 -2.27144524e-04 -6.47283420e+01] [-1.69044930e-03 -1.89533622e-05 9.99998571e-01 -8.66623805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0257692310001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:424.08, Y:-64.73, Z:-0.87 [[ 9.89400545e-01 1.45202460e-01 1.67524047e-03 4.24076003e+02] [-1.45202284e-01 9.89401963e-01 -2.27040603e-04 -6.47307744e+01] [-1.69045306e-03 -1.86146451e-05 9.99998571e-01 -8.66668002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05576923100006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:424.10, Y:-64.73, Z:-0.87 [[ 9.89392193e-01 1.45259359e-01 1.67525162e-03 4.24103795e+02] [-1.45259183e-01 9.89393611e-01 -2.26958274e-04 -6.47332182e+01] [-1.69045106e-03 -1.87949364e-05 9.99998571e-01 -8.66319531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0857692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:424.13, Y:-64.73, Z:-0.87 [[ 9.89284502e-01 1.45990988e-01 1.67526552e-03 4.24132019e+02] [-1.45990813e-01 9.89285920e-01 -2.26855617e-04 -6.47336172e+01] [-1.69043547e-03 -2.01486299e-05 9.99998571e-01 -8.66962473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:424.16, Y:-64.74, Z:-0.87 [[ 9.89248606e-01 1.46234020e-01 1.67527932e-03 4.24161299e+02] [-1.46233846e-01 9.89250024e-01 -2.26753692e-04 -6.47354571e+01] [-1.69042921e-03 -2.06667629e-05 9.99998571e-01 -8.68211452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1457692310001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:424.19, Y:-64.74, Z:-0.87 [[ 9.89271446e-01 1.46079432e-01 1.67529035e-03 4.24190312e+02] [-1.46079257e-01 9.89272864e-01 -2.26672180e-04 -6.47369629e+01] [-1.69043142e-03 -2.04848542e-05 9.99998571e-01 -8.69687292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.22, Y:-64.74, Z:-0.87 [[ 9.89343660e-01 1.45589544e-01 1.67530134e-03 4.24218095e+02] [-1.45589369e-01 9.89345079e-01 -2.26590922e-04 -6.47366369e+01] [-1.69044040e-03 -1.97297710e-05 9.99998571e-01 -8.70346970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.25, Y:-64.74, Z:-0.87 [[ 9.89420512e-01 1.45066341e-01 1.67531498e-03 4.24246737e+02] [-1.45066165e-01 9.89421930e-01 -2.26490028e-04 -6.47388115e+01] [-1.69044946e-03 -1.89376403e-05 9.99998571e-01 -8.68924047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.27, Y:-64.74, Z:-0.87 [[ 9.89835443e-01 1.42207554e-01 1.67532581e-03 4.24274599e+02] [-1.42207374e-01 9.89836861e-01 -2.26409854e-04 -6.47398730e+01] [-1.69049643e-03 -1.41351856e-05 9.99998571e-01 -8.68988070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.30, Y:-64.74, Z:-0.87 [[ 9.90171545e-01 1.39848148e-01 1.67534036e-03 4.24302931e+02] [-1.39847966e-01 9.90172962e-01 -2.26302167e-04 -6.47434959e+01] [-1.69052466e-03 -1.02149746e-05 9.99998571e-01 -8.68375106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:424.33, Y:-64.75, Z:-0.87 [[ 9.90610429e-01 1.36704688e-01 1.67535112e-03 4.24331078e+02] [-1.36704501e-01 9.90611845e-01 -2.26222435e-04 -6.47482217e+01] [-1.69054834e-03 -4.92973595e-06 9.99998571e-01 -8.67582521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.36, Y:-64.75, Z:-0.87 [[ 9.91101075e-01 1.33100907e-01 1.67536193e-03 4.24358728e+02] [-1.33100715e-01 9.91102491e-01 -2.26142361e-04 -6.47539977e+01] [-1.69055514e-03 1.13806705e-06 9.99998571e-01 -8.66605367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.39, Y:-64.76, Z:-0.87 [[ 9.91964825e-01 1.26502879e-01 1.67537535e-03 4.24386160e+02] [-1.26502677e-01 9.91966240e-01 -2.26042927e-04 -6.47643223e+01] [-1.69051086e-03 1.22871658e-05 9.99998571e-01 -8.65748560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:424.41, Y:-64.78, Z:-0.87 [[ 9.92474123e-01 1.22443080e-01 1.67538585e-03 4.24413370e+02] [-1.22442873e-01 9.92475537e-01 -2.25965029e-04 -6.47756066e+01] [-1.69044733e-03 1.91253871e-05 9.99998571e-01 -8.69955787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41576923100007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.44, Y:-64.78, Z:-0.87 [[ 9.92578241e-01 1.21596174e-01 1.67539371e-03 4.24441581e+02] [-1.21595966e-01 9.92579654e-01 -2.25906764e-04 -6.47831509e+01] [-1.69043111e-03 2.05090215e-05 9.99998571e-01 -8.72171204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44576923100004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:424.47, Y:-64.79, Z:-0.87 [[ 9.92522613e-01 1.22049400e-01 1.67540414e-03 4.24469162e+02] [-1.22049193e-01 9.92524027e-01 -2.25829415e-04 -6.47905645e+01] [-1.69044120e-03 1.96590781e-05 9.99998571e-01 -8.73251586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.50, Y:-64.80, Z:-0.87 [[ 9.92229872e-01 1.24406892e-01 1.67541192e-03 4.24496981e+02] [-1.24406688e-01 9.92231286e-01 -2.25771625e-04 -6.47980453e+01] [-1.69048367e-03 1.55849012e-05 9.99998571e-01 -8.72139946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.52, Y:-64.81, Z:-0.87 [[ 9.91110603e-01 1.33029941e-01 1.67542219e-03 4.24524543e+02] [-1.33029749e-01 9.91112019e-01 -2.25695376e-04 -6.48068674e+01] [-1.69055532e-03 8.08086353e-07 9.99998571e-01 -8.67792329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:-64.81, Z:-0.87 [[ 9.89506300e-01 1.44480014e-01 1.67543244e-03 4.24552141e+02] [-1.44479839e-01 9.89507719e-01 -2.25619321e-04 -6.48106153e+01] [-1.69045081e-03 -1.88144695e-05 9.99998571e-01 -8.68717290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.58, Y:-64.81, Z:-0.87 [[ 9.88679746e-01 1.50031837e-01 1.67544520e-03 4.24580492e+02] [-1.50031670e-01 9.88681166e-01 -2.25524525e-04 -6.48129388e+01] [-1.69031697e-03 -2.83983112e-05 9.99998571e-01 -8.70142651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.61, Y:-64.82, Z:-0.87 [[ 9.87904096e-01 1.55057053e-01 1.67545638e-03 4.24608575e+02] [-1.55056894e-01 9.87905516e-01 -2.25441412e-04 -6.48151515e+01] [-1.69014888e-03 -3.70765672e-05 9.99998571e-01 -8.73839766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.64, Y:-64.82, Z:-0.87 [[ 9.86683805e-01 1.62641513e-01 1.67547019e-03 4.24637596e+02] [-1.62641365e-01 9.86685226e-01 -2.25338742e-04 -6.48156676e+01] [-1.68981112e-03 -5.01626714e-05 9.99998571e-01 -8.71231417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.67, Y:-64.82, Z:-0.87 [[ 9.86301758e-01 1.64942518e-01 1.67548093e-03 4.24665982e+02] [-1.64942373e-01 9.86303180e-01 -2.25258854e-04 -6.48168032e+01] [-1.68968693e-03 -5.41845971e-05 9.99998571e-01 -8.68722328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:424.70, Y:-64.82, Z:-0.87 [[ 9.85988259e-01 1.66806311e-01 1.67549419e-03 4.24695308e+02] [-1.66806169e-01 9.85989681e-01 -2.25160162e-04 -6.48173960e+01] [-1.68957812e-03 -5.74774907e-05 9.99998571e-01 -8.67160327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.72, Y:-64.82, Z:-0.87 [[ 9.85764257e-01 1.68125020e-01 1.67550468e-03 4.24724493e+02] [-1.68124880e-01 9.85765679e-01 -2.25082073e-04 -6.48172493e+01] [-1.68949694e-03 -5.98161611e-05 9.99998571e-01 -8.67900544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74576923100005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:424.75, Y:-64.81, Z:-0.87 [[ 9.85342392e-01 1.70580077e-01 1.67551515e-03 4.24754496e+02] [-1.70579940e-01 9.85343815e-01 -2.25004105e-04 -6.48128054e+01] [-1.68933971e-03 -6.41031912e-05 9.99998571e-01 -8.71424886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.78, Y:-64.81, Z:-0.87 [[ 9.85107573e-01 1.71930980e-01 1.67552560e-03 4.24782542e+02] [-1.71930845e-01 9.85108996e-01 -2.24926270e-04 -6.48113973e+01] [-1.68924714e-03 -6.64979606e-05 9.99998571e-01 -8.72043248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.81, Y:-64.81, Z:-0.87 [[ 9.84720517e-01 1.74134133e-01 1.67554121e-03 4.24811375e+02] [-1.74134002e-01 9.84721940e-01 -2.24809958e-04 -6.48050766e+01] [-1.68908927e-03 -7.03937176e-05 9.99998571e-01 -8.70676511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.84, Y:-64.80, Z:-0.87 [[ 9.84600593e-01 1.74810941e-01 1.67555712e-03 4.24839203e+02] [-1.74810811e-01 9.84602016e-01 -2.24691273e-04 -6.48036033e+01] [-1.68903541e-03 -7.16743391e-05 9.99998571e-01 -8.70904152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86576923100006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:424.87, Y:-64.80, Z:-0.87 [[ 9.84555869e-01 1.75062655e-01 1.67557557e-03 4.24868030e+02] [-1.75062526e-01 9.84557292e-01 -2.24553628e-04 -6.48022842e+01] [-1.68901110e-03 -7.22448993e-05 9.99998571e-01 -8.71045806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.90, Y:-64.80, Z:-0.87 [[ 9.84698080e-01 1.74260963e-01 1.67559111e-03 4.24897201e+02] [-1.74260833e-01 9.84699503e-01 -2.24437589e-04 -6.47955839e+01] [-1.68906445e-03 -7.09866392e-05 9.99998571e-01 -8.72145812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:424.93, Y:-64.79, Z:-0.87 [[ 9.84883167e-01 1.73211834e-01 1.67560680e-03 4.24925655e+02] [-1.73211703e-01 9.84884590e-01 -2.24320380e-04 -6.47937785e+01] [-1.68913426e-03 -6.93053411e-05 9.99998571e-01 -8.72065123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95576923100003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:424.95, Y:-64.79, Z:-0.87 [[ 9.85147815e-01 1.71700245e-01 1.67562247e-03 4.24952976e+02] [-1.71700112e-01 9.85149238e-01 -2.24203306e-04 -6.47920826e+01] [-1.68923396e-03 -6.68311679e-05 9.99998571e-01 -8.71688181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98576923100006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:424.98, Y:-64.79, Z:-0.87 [[ 9.85820818e-01 1.67793048e-01 1.67564062e-03 4.24982207e+02] [-1.67792909e-01 9.85822240e-01 -2.24067566e-04 -6.47873548e+01] [-1.68948077e-03 -6.02701429e-05 9.99998571e-01 -8.71804865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01576923100004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:425.01, Y:-64.79, Z:-0.87 [[ 9.85832480e-01 1.67724516e-01 1.67565352e-03 4.25010465e+02] [-1.67724378e-01 9.85833902e-01 -2.23971040e-04 -6.47909924e+01] [-1.68948148e-03 -6.02500182e-05 9.99998571e-01 -8.71853035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.04, Y:-64.79, Z:-0.87 [[ 9.86281270e-01 1.65064984e-01 1.67566908e-03 4.25038056e+02] [-1.65064841e-01 9.86282692e-01 -2.23854552e-04 -6.47910175e+01] [-1.68963396e-03 -5.58104991e-05 9.99998571e-01 -8.72371444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.07, Y:-64.79, Z:-0.87 [[ 9.87128496e-01 1.59920371e-01 1.67568713e-03 4.25066490e+02] [-1.59920221e-01 9.87129917e-01 -2.23719361e-04 -6.47889809e+01] [-1.68989818e-03 -4.71365012e-05 9.99998571e-01 -8.72708002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.09, Y:-64.79, Z:-0.87 [[ 9.87505573e-01 1.57575173e-01 1.67570261e-03 4.25093711e+02] [-1.57575020e-01 9.87506994e-01 -2.23603345e-04 -6.47906099e+01] [-1.69000239e-03 -4.32393240e-05 9.99998571e-01 -8.72183294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.12, Y:-64.79, Z:-0.87 [[ 9.87902523e-01 1.55067070e-01 1.67572063e-03 4.25122660e+02] [-1.55066914e-01 9.87903944e-01 -2.23468270e-04 -6.47925694e+01] [-1.69010359e-03 -3.90839593e-05 9.99998571e-01 -8.70325647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.15, Y:-64.79, Z:-0.87 [[ 9.88218969e-01 1.53037448e-01 1.67573114e-03 4.25150232e+02] [-1.53037289e-01 9.88220389e-01 -2.23389424e-04 -6.47947052e+01] [-1.69017862e-03 -3.56916844e-05 9.99998571e-01 -8.68329615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.18, Y:-64.80, Z:-0.87 [[ 9.88585808e-01 1.50649569e-01 1.67574709e-03 4.25178289e+02] [-1.50649407e-01 9.88587227e-01 -2.23269686e-04 -6.47954261e+01] [-1.69025765e-03 -3.17290627e-05 9.99998571e-01 -8.67501923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.21, Y:-64.80, Z:-0.87 [[ 9.88569202e-01 1.50758501e-01 1.67576318e-03 4.25205616e+02] [-1.50758339e-01 9.88570621e-01 -2.23148840e-04 -6.47977587e+01] [-1.69025184e-03 -3.20372035e-05 9.99998571e-01 -8.68464615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:425.23, Y:-64.80, Z:-0.87 [[ 9.88157722e-01 1.53432424e-01 1.67578189e-03 4.25233719e+02] [-1.53432267e-01 9.88159142e-01 -2.23008240e-04 -6.47998077e+01] [-1.69015589e-03 -3.67516997e-05 9.99998571e-01 -8.72746892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2857692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.26, Y:-64.80, Z:-0.87 [[ 9.87952190e-01 1.54750322e-01 1.67579501e-03 4.25262925e+02] [-1.54750166e-01 9.87953610e-01 -2.22909648e-04 -6.48023295e+01] [-1.69010307e-03 -3.91054811e-05 9.99998571e-01 -8.74613910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31576923100005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.29, Y:-64.80, Z:-0.88 [[ 9.87675385e-01 1.56507270e-01 1.67580554e-03 4.25289758e+02] [-1.56507117e-01 9.87676806e-01 -2.22830470e-04 -6.48044536e+01] [-1.69002885e-03 -4.21913236e-05 9.99998571e-01 -8.75266671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.32, Y:-64.81, Z:-0.88 [[ 9.87691433e-01 1.56405960e-01 1.67582385e-03 4.25317881e+02] [-1.56405807e-01 9.87692854e-01 -2.22692682e-04 -6.48080216e+01] [-1.69002970e-03 -4.21569270e-05 9.99998571e-01 -8.75739455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:-64.81, Z:-0.88 [[ 9.88002366e-01 1.54429650e-01 1.67583952e-03 4.25345664e+02] [-1.54429495e-01 9.88003786e-01 -2.22574648e-04 -6.48106673e+01] [-1.69010792e-03 -3.88947725e-05 9.99998571e-01 -8.79008366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.37, Y:-64.81, Z:-0.88 [[ 9.88300428e-01 1.52510510e-01 1.67585256e-03 4.25372957e+02] [-1.52510352e-01 9.88301848e-01 -2.22476466e-04 -6.48140970e+01] [-1.69017818e-03 -3.57112774e-05 9.99998571e-01 -8.79160509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.40, Y:-64.82, Z:-0.88 [[ 9.88512679e-01 1.51128667e-01 1.67586777e-03 4.25401837e+02] [-1.51128508e-01 9.88514099e-01 -2.22361830e-04 -6.48182203e+01] [-1.69022416e-03 -3.34639061e-05 9.99998571e-01 -8.76976315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4657692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:425.43, Y:-64.82, Z:-0.87 [[ 9.88625580e-01 1.50388346e-01 1.67587823e-03 4.25429524e+02] [-1.50388185e-01 9.88627000e-01 -2.22282950e-04 -6.48202602e+01] [-1.69024723e-03 -3.22776751e-05 9.99998571e-01 -8.72805264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.46, Y:-64.82, Z:-0.87 [[ 9.88441722e-01 1.51592063e-01 1.67589122e-03 4.25457524e+02] [-1.51591904e-01 9.88443142e-01 -2.22184935e-04 -6.48220217e+01] [-1.69020466e-03 -3.44346822e-05 9.99998571e-01 -8.70711774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.49, Y:-64.82, Z:-0.87 [[ 9.87920434e-01 1.54952922e-01 1.67590688e-03 4.25485821e+02] [-1.54952768e-01 9.87921854e-01 -2.22066798e-04 -6.48211496e+01] [-1.69007493e-03 -4.03020819e-05 9.99998571e-01 -8.71677586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.51, Y:-64.82, Z:-0.87 [[ 9.87751000e-01 1.56029336e-01 1.67592259e-03 4.25512792e+02] [-1.56029183e-01 9.87752421e-01 -2.21948119e-04 -6.48227684e+01] [-1.69002702e-03 -4.22633571e-05 9.99998571e-01 -8.74210057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.54, Y:-64.82, Z:-0.87 [[ 9.87897210e-01 1.55100916e-01 1.67594084e-03 4.25539640e+02] [-1.55100762e-01 9.87898631e-01 -2.21810274e-04 -6.48220364e+01] [-1.69006264e-03 -4.08139507e-05 9.99998571e-01 -8.74046761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.57, Y:-64.82, Z:-0.87 [[ 9.88243796e-01 1.52877044e-01 1.67595899e-03 4.25568369e+02] [-1.52876888e-01 9.88245217e-01 -2.21673006e-04 -6.48237749e+01] [-1.69014717e-03 -3.71484226e-05 9.99998571e-01 -8.70791557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6457692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:425.60, Y:-64.83, Z:-0.87 [[ 9.88682051e-01 1.50016641e-01 1.67596932e-03 4.25595770e+02] [-1.50016481e-01 9.88683471e-01 -2.21594921e-04 -6.48263306e+01] [-1.69024609e-03 -3.23360986e-05 9.99998571e-01 -8.68535178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.62, Y:-64.83, Z:-0.87 [[ 9.89515813e-01 1.44414843e-01 1.67598479e-03 4.25624557e+02] [-1.44414675e-01 9.89517232e-01 -2.21477854e-04 -6.48309515e+01] [-1.69040052e-03 -2.28809599e-05 9.99998571e-01 -8.73902590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.65, Y:-64.84, Z:-0.88 [[ 9.89923525e-01 1.41593097e-01 1.67599539e-03 4.25651797e+02] [-1.41592925e-01 9.89924944e-01 -2.21397576e-04 -6.48352085e+01] [-1.69045801e-03 -1.81424219e-05 9.99998571e-01 -8.76825444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.68, Y:-64.84, Z:-0.87 [[ 9.90482839e-01 1.37626076e-01 1.67601418e-03 4.25679239e+02] [-1.37625899e-01 9.90484257e-01 -2.21255270e-04 -6.48385471e+01] [-1.69051615e-03 -1.15134105e-05 9.99998571e-01 -8.74123998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76576923100004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:425.71, Y:-64.84, Z:-0.87 [[ 9.90547913e-01 1.37156929e-01 1.67602716e-03 4.25707553e+02] [-1.37156751e-01 9.90549331e-01 -2.21156895e-04 -6.48427325e+01] [-1.69052078e-03 -1.08119397e-05 9.99998571e-01 -8.70892778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.73, Y:-64.85, Z:-0.87 [[ 9.90344240e-01 1.38619901e-01 1.67603743e-03 4.25733908e+02] [-1.38619725e-01 9.90345658e-01 -2.21079015e-04 -6.48496384e+01] [-1.69050235e-03 -1.33875195e-05 9.99998571e-01 -8.67825652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.76, Y:-64.85, Z:-0.87 [[ 9.90181931e-01 1.39774583e-01 1.67606391e-03 4.25761479e+02] [-1.39774410e-01 9.90183350e-01 -2.20878121e-04 -6.48545816e+01] [-1.69048372e-03 -1.55613186e-05 9.99998571e-01 -8.69586072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.79, Y:-64.86, Z:-0.87 [[ 9.90089659e-01 1.40426702e-01 1.67607930e-03 4.25788005e+02] [-1.40426529e-01 9.90091077e-01 -2.20761263e-04 -6.48588917e+01] [-1.69047194e-03 -1.67925548e-05 9.99998571e-01 -8.73140863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:-64.87, Z:-0.88 [[ 9.90100174e-01 1.40352545e-01 1.67609719e-03 4.25815469e+02] [-1.40352373e-01 9.90101592e-01 -2.20625320e-04 -6.48657162e+01] [-1.69047183e-03 -1.68030507e-05 9.99998571e-01 -8.76261950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.84, Y:-64.87, Z:-0.87 [[ 9.90256078e-01 1.39248307e-01 1.67610994e-03 4.25843221e+02] [-1.39248133e-01 9.90257496e-01 -2.20528477e-04 -6.48716692e+01] [-1.69048865e-03 -1.50155146e-05 9.99998571e-01 -8.73848748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.87, Y:-64.88, Z:-0.87 [[ 9.90755628e-01 1.35648355e-01 1.67612234e-03 4.25870874e+02] [-1.35648176e-01 9.90757046e-01 -2.20434132e-04 -6.48790173e+01] [-1.69053155e-03 -8.96658240e-06 9.99998571e-01 -8.67471264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:-64.88, Z:-0.87 [[ 9.90988422e-01 1.33937069e-01 1.67613241e-03 4.25897945e+02] [-1.33936888e-01 9.90989839e-01 -2.20357580e-04 -6.48844048e+01] [-1.69054423e-03 -6.12414812e-06 9.99998571e-01 -8.67533826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:425.92, Y:-64.89, Z:-0.87 [[ 9.91192327e-01 1.32419643e-01 1.67614742e-03 4.25924280e+02] [-1.32419460e-01 9.91193744e-01 -2.20243323e-04 -6.48896798e+01] [-1.69055138e-03 -3.65104435e-06 9.99998571e-01 -8.69471042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.95, Y:-64.90, Z:-0.87 [[ 9.91482383e-01 1.30230081e-01 1.67616488e-03 4.25952439e+02] [-1.30229895e-01 9.91483800e-01 -2.20110354e-04 -6.48978820e+01] [-1.69055532e-03 -5.12376779e-08 9.99998571e-01 -8.74358415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.98, Y:-64.90, Z:-0.87 [[ 9.91579385e-01 1.29489433e-01 1.67617477e-03 4.25980470e+02] [-1.29489246e-01 9.91580802e-01 -2.20035008e-04 -6.49024900e+01] [-1.69055493e-03 1.13557071e-06 9.99998571e-01 -8.73396826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.01, Y:-64.91, Z:-0.87 [[ 9.91588062e-01 1.29422975e-01 1.67619023e-03 4.26008204e+02] [-1.29422788e-01 9.91589478e-01 -2.19917161e-04 -6.49065817e+01] [-1.69055493e-03 1.13001772e-06 9.99998571e-01 -8.71876449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.04, Y:-64.91, Z:-0.87 [[ 9.91361385e-01 1.31147989e-01 1.67620594e-03 4.26035069e+02] [-1.31147805e-01 9.91362802e-01 -2.19797424e-04 -6.49113368e+01] [-1.69055420e-03 -1.93204988e-06 9.99998571e-01 -8.70307666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:-64.92, Z:-0.87 [[ 9.91223365e-01 1.32187106e-01 1.67622415e-03 4.26061244e+02] [-1.32186923e-01 9.91224782e-01 -2.19658394e-04 -6.49156448e+01] [-1.69055093e-03 -3.84438173e-06 9.99998571e-01 -8.70670853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.09, Y:-64.92, Z:-0.87 [[ 9.91129794e-01 1.32886875e-01 1.67624800e-03 4.26088671e+02] [-1.32886694e-01 9.91131212e-01 -2.19476248e-04 -6.49195782e+01] [-1.69054723e-03 -5.22160675e-06 9.99998571e-01 -8.70726327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2157692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.12, Y:-64.92, Z:-0.87 [[ 9.91190281e-01 1.32434956e-01 1.67626348e-03 4.26115648e+02] [-1.32434775e-01 9.91191698e-01 -2.19358012e-04 -6.49236380e+01] [-1.69054911e-03 -4.57004622e-06 9.99998571e-01 -8.71083231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.14, Y:-64.93, Z:-0.87 [[ 9.91317521e-01 1.31479137e-01 1.67628144e-03 4.26143695e+02] [-1.31478954e-01 9.91318938e-01 -2.19220632e-04 -6.49276559e+01] [-1.69055248e-03 -3.07847688e-06 9.99998571e-01 -8.71631025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.17, Y:-64.93, Z:-0.87 [[ 9.91409956e-01 1.30780307e-01 1.67629683e-03 4.26171735e+02] [-1.30780123e-01 9.91411373e-01 -2.19102923e-04 -6.49324202e+01] [-1.69055409e-03 -2.00548650e-06 9.99998571e-01 -8.72281317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.20, Y:-64.94, Z:-0.87 [[ 9.91438803e-01 1.30561439e-01 1.67631260e-03 4.26198163e+02] [-1.30561256e-01 9.91440220e-01 -2.18982156e-04 -6.49361304e+01] [-1.69055436e-03 -1.75407212e-06 9.99998571e-01 -8.73605559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3357692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.23, Y:-64.94, Z:-0.88 [[ 9.91610901e-01 1.29247865e-01 1.67633094e-03 4.26225623e+02] [-1.29247679e-01 9.91612318e-01 -2.18841679e-04 -6.49397430e+01] [-1.69055523e-03 3.43910132e-07 9.99998571e-01 -8.76332970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36576923100006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:426.25, Y:-64.94, Z:-0.88 [[ 9.91745937e-01 1.28207591e-01 1.67634390e-03 4.26253555e+02] [-1.28207405e-01 9.91747354e-01 -2.18742367e-04 -6.49425388e+01] [-1.69055406e-03 2.01715250e-06 9.99998571e-01 -8.76126520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3957692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:426.28, Y:-64.95, Z:-0.88 [[ 9.91828206e-01 1.27569589e-01 1.67635932e-03 4.26280069e+02] [-1.27569402e-01 9.91829622e-01 -2.18624117e-04 -6.49450951e+01] [-1.69055262e-03 2.98540963e-06 9.99998571e-01 -8.76038465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.31, Y:-64.95, Z:-0.87 [[ 9.91871182e-01 1.27235015e-01 1.67637724e-03 4.26309390e+02] [-1.27234828e-01 9.91872598e-01 -2.18486653e-04 -6.49467894e+01] [-1.69055180e-03 3.41704605e-06 9.99998571e-01 -8.74117698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:-64.95, Z:-0.87 [[ 9.91817456e-01 1.27653137e-01 1.67638758e-03 4.26336638e+02] [-1.27652950e-01 9.91818873e-01 -2.18407305e-04 -6.49490867e+01] [-1.69055321e-03 2.62435766e-06 9.99998571e-01 -8.73487094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.36, Y:-64.95, Z:-0.87 [[ 9.91653775e-01 1.28918505e-01 1.67640554e-03 4.26363630e+02] [-1.28918321e-01 9.91655192e-01 -2.18269345e-04 -6.49481463e+01] [-1.69055521e-03 3.28233279e-07 9.99998571e-01 -8.72720751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.39, Y:-64.95, Z:-0.87 [[ 9.91615571e-01 1.29212034e-01 1.67642917e-03 4.26391061e+02] [-1.29211850e-01 9.91616988e-01 -2.18087699e-04 -6.49488237e+01] [-1.69055520e-03 -3.55356247e-07 9.99998571e-01 -8.71065112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.42, Y:-64.95, Z:-0.87 [[ 9.91591232e-01 1.29398678e-01 1.67645262e-03 4.26417771e+02] [-1.29398494e-01 9.91592649e-01 -2.17907250e-04 -6.49489668e+01] [-1.69055501e-03 -8.55526101e-07 9.99998571e-01 -8.69955573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.45, Y:-64.95, Z:-0.87 [[ 9.91672862e-01 1.28771594e-01 1.67647590e-03 4.26445209e+02] [-1.28771410e-01 9.91674279e-01 -2.17728040e-04 -6.49512703e+01] [-1.69055522e-03 3.28235200e-08 9.99998571e-01 -8.70205599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:-64.95, Z:-0.87 [[ 9.91767544e-01 1.28040339e-01 1.67649082e-03 4.26472413e+02] [-1.28040154e-01 9.91768961e-01 -2.17613123e-04 -6.49533114e+01] [-1.69055481e-03 1.16349080e-06 9.99998571e-01 -8.71735632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.50, Y:-64.95, Z:-0.88 [[ 9.91929587e-01 1.26778877e-01 1.67650806e-03 4.26501682e+02] [-1.26778690e-01 9.91931004e-01 -2.17480171e-04 -6.49536359e+01] [-1.69055222e-03 3.17951943e-06 9.99998571e-01 -8.75151301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:-64.95, Z:-0.87 [[ 9.91931729e-01 1.26762119e-01 1.67651833e-03 4.26529427e+02] [-1.26761932e-01 9.91933146e-01 -2.17400982e-04 -6.49543074e+01] [-1.69055231e-03 3.12822830e-06 9.99998571e-01 -8.72744112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.56, Y:-64.96, Z:-0.87 [[ 9.91890892e-01 1.27081263e-01 1.67653110e-03 4.26556999e+02] [-1.27081077e-01 9.91892309e-01 -2.17302434e-04 -6.49558443e+01] [-1.69055338e-03 2.48492710e-06 9.99998571e-01 -8.69947366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.58, Y:-64.96, Z:-0.87 [[ 9.91843699e-01 1.27449073e-01 1.67654660e-03 4.26584593e+02] [-1.27448888e-01 9.91845116e-01 -2.17182815e-04 -6.49562751e+01] [-1.69055431e-03 1.73740761e-06 9.99998571e-01 -8.68740468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.61, Y:-64.96, Z:-0.87 [[ 9.91948581e-01 1.26630177e-01 1.67656458e-03 4.26612215e+02] [-1.26629991e-01 9.91949998e-01 -2.17043921e-04 -6.49589887e+01] [-1.69055254e-03 2.99305136e-06 9.99998571e-01 -8.69862075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.64, Y:-64.96, Z:-0.87 [[ 9.92258608e-01 1.24177466e-01 1.67657983e-03 4.26638830e+02] [-1.24177277e-01 9.92260025e-01 -2.16926079e-04 -6.49633611e+01] [-1.69054047e-03 7.05365121e-06 9.99998571e-01 -8.72218381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.67, Y:-64.97, Z:-0.87 [[ 9.92506637e-01 1.22179231e-01 1.67659750e-03 4.26666507e+02] [-1.22179040e-01 9.92508053e-01 -2.16789407e-04 -6.49685042e+01] [-1.69052368e-03 1.03198528e-05 9.99998571e-01 -8.73069834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.69, Y:-64.97, Z:-0.87 [[ 9.92838003e-01 1.19456639e-01 1.67661253e-03 4.26694029e+02] [-1.19456444e-01 9.92839419e-01 -2.16673123e-04 -6.49743759e+01] [-1.69049005e-03 1.48391413e-05 9.99998571e-01 -8.74347659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.72, Y:-64.98, Z:-0.88 [[ 9.93165088e-01 1.16706028e-01 1.67662750e-03 4.26721580e+02] [-1.16705828e-01 9.93166503e-01 -2.16557217e-04 -6.49803126e+01] [-1.69044380e-03 1.94048663e-05 9.99998571e-01 -8.75716957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.75, Y:-64.99, Z:-0.88 [[ 9.93636940e-01 1.12618027e-01 1.67664249e-03 4.26748436e+02] [-1.12617822e-01 9.93638354e-01 -2.16441112e-04 -6.49877509e+01] [-1.69035145e-03 2.62440588e-05 9.99998571e-01 -8.76663555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.78, Y:-64.99, Z:-0.88 [[ 9.93644613e-01 1.12550312e-01 1.67665490e-03 4.26776709e+02] [-1.12550107e-01 9.93646027e-01 -2.16344891e-04 -6.49912612e+01] [-1.69035117e-03 2.62622455e-05 9.99998571e-01 -8.76711725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.80, Y:-65.00, Z:-0.88 [[ 9.93750152e-01 1.11614628e-01 1.67666964e-03 4.26804759e+02] [-1.11614422e-01 9.93751566e-01 -2.16230629e-04 -6.49989747e+01] [-1.69032758e-03 2.77387081e-05 9.99998571e-01 -8.77015232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:-65.01, Z:-0.88 [[ 9.93686001e-01 1.12184309e-01 1.67667946e-03 4.26831807e+02] [-1.12184104e-01 9.93687416e-01 -2.16154451e-04 -6.50054935e+01] [-1.69034442e-03 2.66928694e-05 9.99998571e-01 -8.77397620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.86, Y:-65.01, Z:-0.88 [[ 9.93634841e-01 1.12636546e-01 1.67669166e-03 4.26859965e+02] [-1.12636342e-01 9.93636255e-01 -2.16059779e-04 -6.50116570e+01] [-1.69035785e-03 2.58281091e-05 9.99998571e-01 -8.77025854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:-65.02, Z:-0.88 [[ 9.93560533e-01 1.13290140e-01 1.67670140e-03 4.26887345e+02] [-1.13289937e-01 9.93561947e-01 -2.15984175e-04 -6.50204842e+01] [-1.69037558e-03 2.46399567e-05 9.99998571e-01 -8.75450343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.92, Y:-65.03, Z:-0.87 [[ 9.93566801e-01 1.13235154e-01 1.67671350e-03 4.26915653e+02] [-1.13234951e-01 9.93568216e-01 -2.15890201e-04 -6.50271013e+01] [-1.69037560e-03 2.46387652e-05 9.99998571e-01 -8.74712699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:-65.04, Z:-0.87 [[ 9.93742611e-01 1.11681743e-01 1.67672308e-03 4.26943330e+02] [-1.11681538e-01 9.93744025e-01 -2.15815789e-04 -6.50361791e+01] [-1.69033622e-03 2.72063339e-05 9.99998571e-01 -8.74784036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.97, Y:-65.04, Z:-0.88 [[ 9.93830732e-01 1.10894833e-01 1.67673263e-03 4.26970705e+02] [-1.10894627e-01 9.93832146e-01 -2.15741547e-04 -6.50421059e+01] [-1.69031541e-03 2.84699398e-05 9.99998571e-01 -8.75308496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.00, Y:-65.05, Z:-0.88 [[ 9.93849741e-01 1.10724350e-01 1.67674451e-03 4.26998889e+02] [-1.10724144e-01 9.93851155e-01 -2.15649153e-04 -6.50477909e+01] [-1.69031208e-03 2.86667544e-05 9.99998571e-01 -8.75478363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.03, Y:-65.05, Z:-0.87 [[ 9.93818375e-01 1.11005518e-01 1.67675408e-03 4.27026650e+02] [-1.11005312e-01 9.93819790e-01 -2.15574716e-04 -6.50537797e+01] [-1.69032137e-03 2.81135036e-05 9.99998571e-01 -8.74796935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.05, Y:-65.06, Z:-0.87 [[ 9.93654584e-01 1.12462240e-01 1.67676599e-03 4.27054779e+02] [-1.12462037e-01 9.93655999e-01 -2.15482063e-04 -6.50632289e+01] [-1.69036218e-03 2.55422221e-05 9.99998571e-01 -8.71748032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:-65.07, Z:-0.87 [[ 9.93508403e-01 1.13746395e-01 1.67677551e-03 4.27081893e+02] [-1.13746194e-01 9.93509817e-01 -2.15407920e-04 -6.50722892e+01] [-1.69039481e-03 2.32827466e-05 9.99998571e-01 -8.70391589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.11, Y:-65.08, Z:-0.87 [[ 9.93494192e-01 1.13870447e-01 1.67678732e-03 4.27109169e+02] [-1.13870245e-01 9.93495607e-01 -2.15315941e-04 -6.50783359e+01] [-1.69039896e-03 2.29789529e-05 9.99998571e-01 -8.71487790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.14, Y:-65.09, Z:-0.87 [[ 9.93482849e-01 1.13969366e-01 1.67679906e-03 4.27137699e+02] [-1.13969166e-01 9.93484264e-01 -2.15224521e-04 -6.50853610e+01] [-1.69040248e-03 2.27184812e-05 9.99998571e-01 -8.72503679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.16, Y:-65.10, Z:-0.87 [[ 9.93365646e-01 1.14986443e-01 1.67680839e-03 4.27163972e+02] [-1.14986244e-01 9.93367061e-01 -2.15151789e-04 -6.50969521e+01] [-1.69042576e-03 2.09144977e-05 9.99998571e-01 -8.73754997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.19, Y:-65.10, Z:-0.87 [[ 9.93243879e-01 1.16033548e-01 1.67681997e-03 4.27191726e+02] [-1.16033350e-01 9.93245295e-01 -2.15061468e-04 -6.51048629e+01] [-1.69044789e-03 1.90414485e-05 9.99998571e-01 -8.74189797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.22, Y:-65.12, Z:-0.88 [[ 9.92746901e-01 1.20211391e-01 1.67682928e-03 4.27219677e+02] [-1.20211199e-01 9.92748317e-01 -2.14988897e-04 -6.51152797e+01] [-1.69051356e-03 1.18559033e-05 9.99998571e-01 -8.75791887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:-65.12, Z:-0.88 [[ 9.92390150e-01 1.23121806e-01 1.67683860e-03 4.27246616e+02] [-1.23121619e-01 9.92391566e-01 -2.14916187e-04 -6.51211923e+01] [-1.69054135e-03 6.82562476e-06 9.99998571e-01 -8.76827037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.27, Y:-65.13, Z:-0.88 [[ 9.92002122e-01 1.26210056e-01 1.67685019e-03 4.27274666e+02] [-1.26209873e-01 9.92003539e-01 -2.14825670e-04 -6.51267443e+01] [-1.69055449e-03 1.47246997e-06 9.99998571e-01 -8.76185200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:-65.13, Z:-0.88 [[ 9.91067621e-01 1.33349761e-01 1.67686054e-03 4.27301530e+02] [-1.33349589e-01 9.91069040e-01 -2.14744855e-04 -6.51341322e+01] [-1.69052074e-03 -1.07819909e-05 9.99998571e-01 -8.76619957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.33, Y:-65.14, Z:-0.88 [[ 9.90244807e-01 1.39328428e-01 1.67687341e-03 4.27328892e+02] [-1.39328264e-01 9.90246226e-01 -2.14644329e-04 -6.51398742e+01] [-1.69042362e-03 -2.10854291e-05 9.99998571e-01 -8.77993115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:-65.14, Z:-0.88 [[ 9.89902902e-01 1.41737195e-01 1.67688612e-03 4.27356831e+02] [-1.41737035e-01 9.89904322e-01 -2.14545013e-04 -6.51437370e+01] [-1.69036582e-03 -2.52981353e-05 9.99998571e-01 -8.78976582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.38, Y:-65.15, Z:-0.88 [[ 9.89556210e-01 1.44137767e-01 1.67689813e-03 4.27384365e+02] [-1.44137610e-01 9.89557630e-01 -2.14451053e-04 -6.51477312e+01] [-1.69029784e-03 -2.94927188e-05 9.99998571e-01 -8.79967396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.41, Y:-65.15, Z:-0.88 [[ 9.88820253e-01 1.49102967e-01 1.67691095e-03 4.27412521e+02] [-1.49102817e-01 9.88821674e-01 -2.14350788e-04 -6.51510871e+01] [-1.69012623e-03 -3.80777466e-05 9.99998571e-01 -8.77231117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.44, Y:-65.15, Z:-0.88 [[ 9.88448500e-01 1.51547852e-01 1.67692042e-03 4.27440727e+02] [-1.51547706e-01 9.88449921e-01 -2.14276663e-04 -6.51531318e+01] [-1.69002503e-03 -4.23319978e-05 9.99998571e-01 -8.77518608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.47, Y:-65.15, Z:-0.88 [[ 9.87923564e-01 1.54932953e-01 1.67693216e-03 4.27468777e+02] [-1.54932812e-01 9.87924986e-01 -2.14184753e-04 -6.51516767e+01] [-1.68986746e-03 -4.82136514e-05 9.99998571e-01 -8.77040316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.50, Y:-65.15, Z:-0.88 [[ 9.87855576e-01 1.55365858e-01 1.67694549e-03 4.27496461e+02] [-1.55365718e-01 9.87856998e-01 -2.14080373e-04 -6.51532816e+01] [-1.68984311e-03 -4.90593499e-05 9.99998571e-01 -8.76483907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:-65.16, Z:-0.88 [[ 9.87874934e-01 1.55242719e-01 1.67695930e-03 4.27525310e+02] [-1.55242579e-01 9.87876357e-01 -2.13972104e-04 -6.51560225e+01] [-1.68984606e-03 -4.89578095e-05 9.99998571e-01 -8.76180763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.55, Y:-65.16, Z:-0.87 [[ 9.88133606e-01 1.53587645e-01 1.67696619e-03 4.27553678e+02] [-1.53587503e-01 9.88135028e-01 -2.13918108e-04 -6.51574172e+01] [-1.68992421e-03 -4.61813788e-05 9.99998571e-01 -8.74841430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.58, Y:-65.16, Z:-0.88 [[ 9.88368142e-01 1.52071050e-01 1.67697767e-03 4.27581148e+02] [-1.52070906e-01 9.88369563e-01 -2.13828081e-04 -6.51600144e+01] [-1.68999075e-03 -4.36786509e-05 9.99998571e-01 -8.75205254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.61, Y:-65.16, Z:-0.88 [[ 9.89078721e-01 1.47378664e-01 1.67699096e-03 4.27608637e+02] [-1.47378513e-01 9.89080142e-01 -2.13723749e-04 -6.51621685e+01] [-1.69017678e-03 -3.57628231e-05 9.99998571e-01 -8.76921148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:-65.17, Z:-0.88 [[ 9.89466433e-01 1.44752774e-01 1.67700448e-03 4.27637176e+02] [-1.44752620e-01 9.89467854e-01 -2.13617651e-04 -6.51655335e+01] [-1.69026377e-03 -3.13832962e-05 9.99998571e-01 -8.75976110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.66, Y:-65.17, Z:-0.88 [[ 9.89799481e-01 1.42457625e-01 1.67701406e-03 4.27664740e+02] [-1.42457468e-01 9.89800901e-01 -2.13542437e-04 -6.51687066e+01] [-1.69033077e-03 -2.75389821e-05 9.99998571e-01 -8.75608008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.69, Y:-65.17, Z:-0.87 [[ 9.90142462e-01 1.40053893e-01 1.67702601e-03 4.27692222e+02] [-1.40053733e-01 9.90143882e-01 -2.13448557e-04 -6.51715432e+01] [-1.69039134e-03 -2.35292727e-05 9.99998571e-01 -8.73026473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.72, Y:-65.17, Z:-0.87 [[ 9.90709081e-01 1.35987886e-01 1.67710684e-03 4.27720239e+02] [-1.35987720e-01 9.90710500e-01 -2.12813312e-04 -6.51740456e+01] [-1.69046739e-03 -1.72298556e-05 9.99998571e-01 -8.71822315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.75, Y:-65.18, Z:-0.87 [[ 9.90946604e-01 1.34246099e-01 1.67705009e-03 4.27748853e+02] [-1.34245930e-01 9.90948023e-01 -2.13259579e-04 -6.51770975e+01] [-1.69049874e-03 -1.38082943e-05 9.99998571e-01 -8.70945113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.78, Y:-65.18, Z:-0.87 [[ 9.91262877e-01 1.31890473e-01 1.67705979e-03 4.27777283e+02] [-1.31890302e-01 9.91264295e-01 -2.13183323e-04 -6.51811966e+01] [-1.69052634e-03 -9.86720726e-06 9.99998571e-01 -8.72016117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.80, Y:-65.19, Z:-0.87 [[ 9.91360035e-01 1.31158184e-01 1.67706978e-03 4.27804624e+02] [-1.31158011e-01 9.91361453e-01 -2.13104654e-04 -6.51856667e+01] [-1.69053276e-03 -8.69770104e-06 9.99998571e-01 -8.74288368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.83, Y:-65.19, Z:-0.87 [[ 9.91471265e-01 1.30314691e-01 1.67708225e-03 4.27832990e+02] [-1.30314517e-01 9.91472683e-01 -2.13006481e-04 -6.51908406e+01] [-1.69053911e-03 -7.35835833e-06 9.99998571e-01 -8.74815371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:-65.20, Z:-0.88 [[ 9.91862116e-01 1.27305654e-01 1.67709216e-03 4.27861118e+02] [-1.27305476e-01 9.91863534e-01 -2.12928413e-04 -6.51981079e+01] [-1.69055355e-03 -2.30738959e-06 9.99998571e-01 -8.76452225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:-65.20, Z:-0.88 [[ 9.92111507e-01 1.25347297e-01 1.67710271e-03 4.27888435e+02] [-1.25347116e-01 9.92112925e-01 -2.12845297e-04 -6.52035458e+01] [-1.69055486e-03 9.46280171e-07 9.99998571e-01 -8.78166929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.92, Y:-65.21, Z:-0.88 [[ 9.92374291e-01 1.23249557e-01 1.67711579e-03 4.27915715e+02] [-1.23249374e-01 9.92375708e-01 -2.12742177e-04 -6.52091640e+01] [-1.69054935e-03 4.41639558e-06 9.99998571e-01 -8.79923661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.94, Y:-65.22, Z:-0.88 [[ 9.92718690e-01 1.20444136e-01 1.67712870e-03 4.27942676e+02] [-1.20443949e-01 9.92720107e-01 -2.12640359e-04 -6.52168308e+01] [-1.69053067e-03 9.09205512e-06 9.99998571e-01 -8.78923897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.97, Y:-65.22, Z:-0.88 [[ 9.92695291e-01 1.20636840e-01 1.67714095e-03 4.27970681e+02] [-1.20636653e-01 9.92696707e-01 -2.12543744e-04 -6.52219479e+01] [-1.69053290e-03 8.66650296e-06 9.99998571e-01 -8.76928133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:-65.23, Z:-0.87 [[ 9.92226093e-01 1.24437004e-01 1.67715068e-03 4.27998292e+02] [-1.24436822e-01 9.92227510e-01 -2.12466904e-04 -6.52273642e+01] [-1.69055379e-03 2.11590432e-06 9.99998571e-01 -8.73731412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.03, Y:-65.23, Z:-0.87 [[ 9.91858141e-01 1.27336621e-01 1.67716388e-03 4.28026068e+02] [-1.27336444e-01 9.91859559e-01 -2.12362690e-04 -6.52312809e+01] [-1.69055257e-03 -2.93042075e-06 9.99998571e-01 -8.73378718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.05, Y:-65.23, Z:-0.87 [[ 9.91076385e-01 1.33284605e-01 1.67717594e-03 4.28054904e+02] [-1.33284437e-01 9.91077804e-01 -2.12267409e-04 -6.52346599e+01] [-1.69050382e-03 -1.31682329e-05 9.99998571e-01 -8.72257767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.08, Y:-65.24, Z:-0.87 [[ 9.90825898e-01 1.35134109e-01 1.67718602e-03 4.28082627e+02] [-1.35133944e-01 9.90827317e-01 -2.12187735e-04 -6.52372992e+01] [-1.69047552e-03 -1.64036574e-05 9.99998571e-01 -8.72290521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.11, Y:-65.24, Z:-0.87 [[ 9.90664467e-01 1.36312514e-01 1.67719952e-03 4.28111040e+02] [-1.36312350e-01 9.90665886e-01 -2.12080956e-04 -6.52399327e+01] [-1.69045364e-03 -1.85219407e-05 9.99998571e-01 -8.72001256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.14, Y:-65.24, Z:-0.87 [[ 9.90611030e-01 1.36700309e-01 1.67720914e-03 4.28139508e+02] [-1.36700146e-01 9.90612450e-01 -2.12004871e-04 -6.52426538e+01] [-1.69044538e-03 -1.92603701e-05 9.99998571e-01 -8.71116682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.17, Y:-65.25, Z:-0.87 [[ 9.90874127e-01 1.34780008e-01 1.67721919e-03 4.28167033e+02] [-1.34779843e-01 9.90875547e-01 -2.11925290e-04 -6.52463069e+01] [-1.69047878e-03 -1.60640521e-05 9.99998571e-01 -8.71449899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.20, Y:-65.25, Z:-0.87 [[ 9.91149630e-01 1.32738836e-01 1.67723270e-03 4.28195651e+02] [-1.32738667e-01 9.91151049e-01 -2.11818316e-04 -6.52499388e+01] [-1.69050747e-03 -1.26899882e-05 9.99998571e-01 -8.72304796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.22, Y:-65.25, Z:-0.87 [[ 9.91670974e-01 1.28786123e-01 1.67724258e-03 4.28224514e+02] [-1.28785949e-01 9.91672393e-01 -2.11740059e-04 -6.52535305e+01] [-1.69054434e-03 -6.02880627e-06 9.99998571e-01 -8.72457679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.25, Y:-65.26, Z:-0.87 [[ 9.91851036e-01 1.27391948e-01 1.67725256e-03 4.28252621e+02] [-1.27391772e-01 9.91852455e-01 -2.11661000e-04 -6.52569441e+01] [-1.69055097e-03 -3.73199353e-06 9.99998571e-01 -8.71741145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.28, Y:-65.26, Z:-0.87 [[ 9.91917567e-01 1.26872878e-01 1.67726602e-03 4.28281356e+02] [-1.26872701e-01 9.91918985e-01 -2.11554260e-04 -6.52603407e+01] [-1.69055251e-03 -2.95488384e-06 9.99998571e-01 -8.70535022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.31, Y:-65.26, Z:-0.87 [[ 9.91745419e-01 1.28211588e-01 1.67727580e-03 4.28310538e+02] [-1.28211414e-01 9.91746837e-01 -2.11476709e-04 -6.52626492e+01] [-1.69054673e-03 -5.31484396e-06 9.99998571e-01 -8.71280930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.34, Y:-65.27, Z:-0.87 [[ 9.91559017e-01 1.29645299e-01 1.67728569e-03 4.28338976e+02] [-1.29645126e-01 9.91560435e-01 -2.11398214e-04 -6.52650005e+01] [-1.69053691e-03 -7.83811041e-06 9.99998571e-01 -8.72013039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.37, Y:-65.27, Z:-0.87 [[ 9.91216009e-01 1.32242239e-01 1.67729571e-03 4.28368196e+02] [-1.32242071e-01 9.91217428e-01 -2.11318701e-04 -6.52667279e+01] [-1.69051000e-03 -1.23465780e-05 9.99998571e-01 -8.73265477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:-65.27, Z:-0.87 [[ 9.91101873e-01 1.33094941e-01 1.67730591e-03 4.28395874e+02] [-1.33094774e-01 9.91103292e-01 -2.11237670e-04 -6.52695467e+01] [-1.69049808e-03 -1.38826019e-05 9.99998571e-01 -8.73857860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.42, Y:-65.27, Z:-0.87 [[ 9.91019687e-01 1.33705526e-01 1.67731963e-03 4.28424253e+02] [-1.33705360e-01 9.91021106e-01 -2.11128702e-04 -6.52724262e+01] [-1.69048823e-03 -1.50339239e-05 9.99998571e-01 -8.74272473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.45, Y:-65.27, Z:-0.87 [[ 9.90960152e-01 1.34146052e-01 1.67733003e-03 4.28452236e+02] [-1.34145887e-01 9.90961572e-01 -2.11046039e-04 -6.52745399e+01] [-1.69048060e-03 -1.58687104e-05 9.99998571e-01 -8.74075206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.48, Y:-65.28, Z:-0.87 [[ 9.90895257e-01 1.34624573e-01 1.67734295e-03 4.28479618e+02] [-1.34624409e-01 9.90896677e-01 -2.10943321e-04 -6.52766366e+01] [-1.69047171e-03 -1.67885667e-05 9.99998571e-01 -8.74583484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.51, Y:-65.28, Z:-0.88 [[ 9.90604399e-01 1.36748348e-01 1.67735576e-03 4.28508436e+02] [-1.36748187e-01 9.90605819e-01 -2.10841365e-04 -6.52764947e+01] [-1.69043059e-03 -2.05149767e-05 9.99998571e-01 -8.75618409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.54, Y:-65.28, Z:-0.88 [[ 9.90610974e-01 1.36700711e-01 1.67736591e-03 4.28537548e+02] [-1.36700550e-01 9.90612394e-01 -2.10760606e-04 -6.52800609e+01] [-1.69043059e-03 -2.05150745e-05 9.99998571e-01 -8.75667991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.57, Y:-65.28, Z:-0.88 [[ 9.90402003e-01 1.38206584e-01 1.67737604e-03 4.28566350e+02] [-1.38206425e-01 9.90403423e-01 -2.10679943e-04 -6.52814979e+01] [-1.69039633e-03 -2.31663092e-05 9.99998571e-01 -8.76442774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.60, Y:-65.28, Z:-0.88 [[ 9.89926454e-01 1.41572606e-01 1.67738615e-03 4.28595483e+02] [-1.41572452e-01 9.89927874e-01 -2.10599456e-04 -6.52802646e+01] [-1.69030642e-03 -2.89936973e-05 9.99998571e-01 -8.75215134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.62, Y:-65.28, Z:-0.88 [[ 9.89711720e-01 1.43066062e-01 1.67739617e-03 4.28623678e+02] [-1.43065910e-01 9.89713141e-01 -2.10519577e-04 -6.52816317e+01] [-1.69025924e-03 -3.16245182e-05 9.99998571e-01 -8.76635428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:-65.28, Z:-0.87 [[ 9.89601271e-01 1.43828060e-01 1.67740864e-03 4.28652438e+02] [-1.43827910e-01 9.89602692e-01 -2.10420202e-04 -6.52827825e+01] [-1.69023243e-03 -3.30260798e-05 9.99998571e-01 -8.73385625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.68, Y:-65.28, Z:-0.88 [[ 9.89838189e-01 1.42188416e-01 1.67741863e-03 4.28680373e+02] [-1.42188264e-01 9.89839610e-01 -2.10340489e-04 -6.52826308e+01] [-1.69028339e-03 -3.03061947e-05 9.99998571e-01 -8.75497608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.71, Y:-65.28, Z:-0.88 [[ 9.90119390e-01 1.40216900e-01 1.67743183e-03 4.28709657e+02] [-1.40216745e-01 9.90120811e-01 -2.10235192e-04 -6.52847957e+01] [-1.69033869e-03 -2.70460904e-05 9.99998571e-01 -8.77678178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.74, Y:-65.29, Z:-0.88 [[ 9.90764519e-01 1.35583384e-01 1.67743919e-03 4.28737519e+02] [-1.35583223e-01 9.90765939e-01 -2.10176494e-04 -6.52864326e+01] [-1.69044605e-03 -1.91971979e-05 9.99998571e-01 -8.77557972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.76, Y:-65.29, Z:-0.88 [[ 9.91104273e-01 1.33077071e-01 1.67745247e-03 4.28764814e+02] [-1.33076906e-01 9.91105692e-01 -2.10070402e-04 -6.52890724e+01] [-1.69048825e-03 -1.50285121e-05 9.99998571e-01 -8.75313646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.79, Y:-65.29, Z:-0.87 [[ 9.91368406e-01 1.31094888e-01 1.67746466e-03 4.28793385e+02] [-1.31094720e-01 9.91369825e-01 -2.09973050e-04 -6.52926431e+01] [-1.69051424e-03 -1.17461113e-05 9.99998571e-01 -8.72815076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.82, Y:-65.30, Z:-0.87 [[ 9.91629895e-01 1.29102040e-01 1.67747436e-03 4.28820758e+02] [-1.29101869e-01 9.91631314e-01 -2.09895543e-04 -6.52964001e+01] [-1.69053404e-03 -8.42637999e-06 9.99998571e-01 -8.72671646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:-65.30, Z:-0.87 [[ 9.91949328e-01 1.26624315e-01 1.67748638e-03 4.28849232e+02] [-1.26624142e-01 9.91950746e-01 -2.09799384e-04 -6.53013722e+01] [-1.69054957e-03 -4.29991551e-06 9.99998571e-01 -8.74785491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.88, Y:-65.31, Z:-0.87 [[ 9.92002565e-01 1.26206567e-01 1.67749592e-03 4.28877957e+02] [-1.26206393e-01 9.92003983e-01 -2.09723062e-04 -6.53053240e+01] [-1.69055107e-03 -3.66489496e-06 9.99998571e-01 -8.74956643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.91, Y:-65.31, Z:-0.87 [[ 9.92083221e-01 1.25570968e-01 1.67750549e-03 4.28905010e+02] [-1.25570793e-01 9.92084640e-01 -2.09646565e-04 -6.53099817e+01] [-1.69055295e-03 -2.65885449e-06 9.99998571e-01 -8.71798908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.93, Y:-65.32, Z:-0.87 [[ 9.92139111e-01 1.25128613e-01 1.67751737e-03 4.28933787e+02] [-1.25128437e-01 9.92140529e-01 -2.09551462e-04 -6.53151037e+01] [-1.69055385e-03 -2.00092509e-06 9.99998571e-01 -8.71148378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:-65.32, Z:-0.87 [[ 9.92187366e-01 1.24745404e-01 1.67752680e-03 4.28961012e+02] [-1.24745228e-01 9.92188785e-01 -2.09475901e-04 -6.53204024e+01] [-1.69055443e-03 -1.42411987e-06 9.99998571e-01 -8.72208899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.99, Y:-65.33, Z:-0.87 [[ 9.92263489e-01 1.24138452e-01 1.67753852e-03 4.28989475e+02] [-1.24138275e-01 9.92264907e-01 -2.09381992e-04 -6.53256580e+01] [-1.69055496e-03 -4.84632620e-07 9.99998571e-01 -8.74780873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.02, Y:-65.33, Z:-0.88 [[ 9.92402901e-01 1.23018972e-01 1.67754780e-03 4.29017427e+02] [-1.23018793e-01 9.92404319e-01 -2.09307631e-04 -6.53327542e+01] [-1.69055449e-03 1.34759382e-06 9.99998571e-01 -8.79294839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:-65.34, Z:-0.88 [[ 9.92420485e-01 1.22877040e-01 1.67755773e-03 4.29045014e+02] [-1.22876862e-01 9.92421903e-01 -2.09228028e-04 -6.53375019e+01] [-1.69055435e-03 1.50915235e-06 9.99998571e-01 -8.79947192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.07, Y:-65.34, Z:-0.88 [[ 9.92411659e-01 1.22948303e-01 1.67757003e-03 4.29073452e+02] [-1.22948126e-01 9.92413077e-01 -2.09129331e-04 -6.53420003e+01] [-1.69055453e-03 1.28829547e-06 9.99998571e-01 -8.75761227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.10, Y:-65.35, Z:-0.87 [[ 9.92242284e-01 1.24307829e-01 1.67757980e-03 4.29100581e+02] [-1.24307654e-01 9.92243702e-01 -2.09050935e-04 -6.53471362e+01] [-1.69055466e-03 -1.10683126e-06 9.99998571e-01 -8.71240646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.13, Y:-65.35, Z:-0.87 [[ 9.92082022e-01 1.25580440e-01 1.67759197e-03 4.29129419e+02] [-1.25580266e-01 9.92083441e-01 -2.08953257e-04 -6.53513294e+01] [-1.69055165e-03 -3.37367576e-06 9.99998571e-01 -8.72157554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:-65.36, Z:-0.88 [[ 9.91692976e-01 1.28616586e-01 1.67760104e-03 4.29156744e+02] [-1.28616416e-01 9.91694395e-01 -2.08880370e-04 -6.53550929e+01] [-1.69053303e-03 -8.62183814e-06 9.99998571e-01 -8.79120076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.18, Y:-65.36, Z:-0.88 [[ 9.91513595e-01 1.29992219e-01 1.67761232e-03 4.29184371e+02] [-1.29992052e-01 9.91515014e-01 -2.08789788e-04 -6.53580374e+01] [-1.69051885e-03 -1.10583542e-05 9.99998571e-01 -8.81531258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.21, Y:-65.36, Z:-0.88 [[ 9.91097903e-01 1.33124502e-01 1.67762355e-03 4.29213429e+02] [-1.33124340e-01 9.91099322e-01 -2.08699504e-04 -6.53587245e+01] [-1.69047458e-03 -1.64908864e-05 9.99998571e-01 -8.77028419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.24, Y:-65.36, Z:-0.87 [[ 9.90847718e-01 1.34974020e-01 1.67763252e-03 4.29241777e+02] [-1.34973860e-01 9.90849138e-01 -2.08627352e-04 -6.53604062e+01] [-1.69044001e-03 -1.97186005e-05 9.99998571e-01 -8.72228664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.27, Y:-65.36, Z:-0.87 [[ 9.90674703e-01 1.36238092e-01 1.67764623e-03 4.29270052e+02] [-1.36237934e-01 9.90676124e-01 -2.08517033e-04 -6.53616975e+01] [-1.69041203e-03 -2.19865070e-05 9.99998571e-01 -8.70889455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.30, Y:-65.36, Z:-0.88 [[ 9.90561422e-01 1.37059309e-01 1.67765992e-03 4.29298511e+02] [-1.37059152e-01 9.90562843e-01 -2.08406825e-04 -6.53605464e+01] [-1.69039168e-03 -2.34988863e-05 9.99998571e-01 -8.75142900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.33, Y:-65.36, Z:-0.88 [[ 9.90632059e-01 1.36547824e-01 1.67767088e-03 4.29327326e+02] [-1.36547667e-01 9.90633480e-01 -2.08318565e-04 -6.53614137e+01] [-1.69040239e-03 -2.27149955e-05 9.99998571e-01 -8.77018461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.36, Y:-65.36, Z:-0.88 [[ 9.90794190e-01 1.35366385e-01 1.67768067e-03 4.29355277e+02] [-1.35366226e-01 9.90795610e-01 -2.08239671e-04 -6.53598140e+01] [-1.69042730e-03 -2.07786452e-05 9.99998571e-01 -8.80240276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7257692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:429.38, Y:-65.36, Z:-0.88 [[ 9.91009906e-01 1.33777995e-01 1.67769286e-03 4.29384433e+02] [-1.33777835e-01 9.91011326e-01 -2.08141463e-04 -6.53618247e+01] [-1.69045737e-03 -1.81678663e-05 9.99998571e-01 -8.77948839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75576923100004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:429.41, Y:-65.36, Z:-0.88 [[ 9.91340910e-01 1.31302649e-01 1.67770253e-03 4.29412010e+02] [-1.31302485e-01 9.91342329e-01 -2.08063463e-04 -6.53644219e+01] [-1.69049682e-03 -1.40246887e-05 9.99998571e-01 -8.78462867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.44, Y:-65.37, Z:-0.88 [[ 9.92110900e-01 1.25352095e-01 1.67771457e-03 4.29441045e+02] [-1.25351923e-01 9.92112318e-01 -2.07966388e-04 -6.53683024e+01] [-1.69055031e-03 -3.97902640e-06 9.99998571e-01 -8.75749889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.47, Y:-65.37, Z:-0.88 [[ 9.92399921e-01 1.23043007e-01 1.67772439e-03 4.29468311e+02] [-1.23042831e-01 9.92401339e-01 -2.07887071e-04 -6.53717209e+01] [-1.69055499e-03 -1.24846725e-07 9.99998571e-01 -8.75481125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8457692310001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:429.50, Y:-65.37, Z:-0.87 [[ 9.92617597e-01 1.21274443e-01 1.67773660e-03 4.29497404e+02] [-1.21274265e-01 9.92619015e-01 -2.07788507e-04 -6.53744410e+01] [-1.69055269e-03 2.78825459e-06 9.99998571e-01 -8.74278848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.53, Y:-65.38, Z:-0.87 [[ 9.92613766e-01 1.21305798e-01 1.67774621e-03 4.29526143e+02] [-1.21305620e-01 9.92615184e-01 -2.07710892e-04 -6.53775961e+01] [-1.69055290e-03 2.65664570e-06 9.99998571e-01 -8.74956421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.55, Y:-65.38, Z:-0.88 [[ 9.92555340e-01 1.21782931e-01 1.67775585e-03 4.29554948e+02] [-1.21782754e-01 9.92556758e-01 -2.07632975e-04 -6.53805022e+01] [-1.69055406e-03 1.76548896e-06 9.99998571e-01 -8.75506394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:-65.38, Z:-0.87 [[ 9.92531533e-01 1.21976809e-01 1.67776309e-03 4.29583295e+02] [-1.21976633e-01 9.92532951e-01 -2.07574510e-04 -6.53831364e+01] [-1.69055442e-03 1.37635440e-06 9.99998571e-01 -8.74949052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.61, Y:-65.39, Z:-0.87 [[ 9.92585599e-01 1.21536057e-01 1.67777281e-03 4.29610839e+02] [-1.21535880e-01 9.92587017e-01 -2.07495900e-04 -6.53852028e+01] [-1.69055374e-03 2.04784741e-06 9.99998571e-01 -8.73895703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.64, Y:-65.39, Z:-0.87 [[ 9.92645949e-01 1.21042166e-01 1.67778485e-03 4.29638597e+02] [-1.21041988e-01 9.92647366e-01 -2.07398503e-04 -6.53887237e+01] [-1.69055267e-03 2.79086995e-06 9.99998571e-01 -8.73850618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:-65.39, Z:-0.87 [[ 9.92803842e-01 1.19740202e-01 1.67779679e-03 4.29667355e+02] [-1.19740022e-01 9.92805260e-01 -2.07301845e-04 -6.53929576e+01] [-1.69054784e-03 4.91064244e-06 9.99998571e-01 -8.74210164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:-65.40, Z:-0.87 [[ 9.92918139e-01 1.18788699e-01 1.67780621e-03 4.29695651e+02] [-1.18788519e-01 9.92919556e-01 -2.07225595e-04 -6.53961768e+01] [-1.69054265e-03 6.45393847e-06 9.99998571e-01 -8.74682474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.72, Y:-65.40, Z:-0.88 [[ 9.93087375e-01 1.17365460e-01 1.67781558e-03 4.29724107e+02] [-1.17365278e-01 9.93088792e-01 -2.07149695e-04 -6.53981743e+01] [-1.69053207e-03 8.80045545e-06 9.99998571e-01 -8.77732554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.75, Y:-65.40, Z:-0.88 [[ 9.93103266e-01 1.17230921e-01 1.67782488e-03 4.29751465e+02] [-1.17230738e-01 9.93104683e-01 -2.07074365e-04 -6.54010199e+01] [-1.69053126e-03 8.95357958e-06 9.99998571e-01 -8.78941329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.78, Y:-65.40, Z:-0.88 [[ 9.93105746e-01 1.17209906e-01 1.67783647e-03 4.29780234e+02] [-1.17209724e-01 9.93107163e-01 -2.06980408e-04 -6.54039147e+01] [-1.69053157e-03 8.89468354e-06 9.99998571e-01 -8.78301669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.81, Y:-65.41, Z:-0.88 [[ 9.93066905e-01 1.17538537e-01 1.67784579e-03 4.29808445e+02] [-1.17538355e-01 9.93068322e-01 -2.06904838e-04 -6.54070748e+01] [-1.69053479e-03 8.25911403e-06 9.99998571e-01 -8.77117021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.84, Y:-65.41, Z:-0.87 [[ 9.93025523e-01 1.17887637e-01 1.67785502e-03 4.29837524e+02] [-1.17887455e-01 9.93026941e-01 -2.06829907e-04 -6.54099266e+01] [-1.69053793e-03 7.58931772e-06 9.99998571e-01 -8.73170292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.87, Y:-65.41, Z:-0.87 [[ 9.93032240e-01 1.17831046e-01 1.67786478e-03 4.29866677e+02] [-1.17830864e-01 9.93033657e-01 -2.06750721e-04 -6.54125904e+01] [-1.69053785e-03 7.60587385e-06 9.99998571e-01 -8.72543305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.89, Y:-65.42, Z:-0.87 [[ 9.93050471e-01 1.17677297e-01 1.67787497e-03 4.29894061e+02] [-1.17677116e-01 9.93051889e-01 -2.06667958e-04 -6.54150022e+01] [-1.69053704e-03 7.78422524e-06 9.99998571e-01 -8.73093400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:-65.41, Z:-0.88 [[ 9.93109605e-01 1.17177208e-01 1.67788766e-03 4.29922057e+02] [-1.17177026e-01 9.93111022e-01 -2.06564917e-04 -6.54143201e+01] [-1.69053343e-03 8.53171690e-06 9.99998571e-01 -8.75113943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:-65.41, Z:-0.88 [[ 9.93080261e-01 1.17425635e-01 1.67789995e-03 4.29949754e+02] [-1.17425454e-01 9.93081678e-01 -2.06465005e-04 -6.54149518e+01] [-1.69053599e-03 8.00815755e-06 9.99998571e-01 -8.76144259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.98, Y:-65.42, Z:-0.88 [[ 9.93017358e-01 1.17956394e-01 1.67791121e-03 4.29978201e+02] [-1.17956214e-01 9.93018776e-01 -2.06373449e-04 -6.54162536e+01] [-1.69054041e-03 7.01236315e-06 9.99998571e-01 -8.75985168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.01, Y:-65.42, Z:-0.88 [[ 9.93003800e-01 1.18070475e-01 1.67792053e-03 4.30006635e+02] [-1.18070295e-01 9.93005218e-01 -2.06297720e-04 -6.54159409e+01] [-1.69054151e-03 6.74184889e-06 9.99998571e-01 -8.77207515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41576923100007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.03, Y:-65.42, Z:-0.88 [[ 9.93087739e-01 1.17362375e-01 1.67793208e-03 4.30034720e+02] [-1.17362194e-01 9.93089157e-01 -2.06203702e-04 -6.54180033e+01] [-1.69053671e-03 7.85257818e-06 9.99998571e-01 -8.77982540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44576923100004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.06, Y:-65.42, Z:-0.88 [[ 9.93231800e-01 1.16136888e-01 1.67794311e-03 4.30063045e+02] [-1.16136705e-01 9.93233217e-01 -2.06113940e-04 -6.54200507e+01] [-1.69052626e-03 9.84813533e-06 9.99998571e-01 -8.77039092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4757692310001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.09, Y:-65.42, Z:-0.88 [[ 9.93615221e-01 1.12809469e-01 1.67795190e-03 4.30092036e+02] [-1.12809282e-01 9.93616638e-01 -2.06042327e-04 -6.54206548e+01] [-1.69048445e-03 1.54382437e-05 9.99998571e-01 -8.77173919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.12, Y:-65.42, Z:-0.88 [[ 9.93854323e-01 1.10683191e-01 1.67796064e-03 4.30119467e+02] [-1.10683001e-01 9.93855739e-01 -2.05971097e-04 -6.54232318e+01] [-1.69044835e-03 1.89835463e-05 9.99998571e-01 -8.77879706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.15, Y:-65.43, Z:-0.87 [[ 9.94367071e-01 1.05977883e-01 1.67797153e-03 4.30147780e+02] [-1.05977687e-01 9.94368487e-01 -2.05882349e-04 -6.54269917e+01] [-1.69034099e-03 2.68950872e-05 9.99998571e-01 -8.74747951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.18, Y:-65.43, Z:-0.87 [[ 9.94676744e-01 1.03030870e-01 1.67798115e-03 4.30175083e+02] [-1.03030669e-01 9.94678158e-01 -2.05803918e-04 -6.54312964e+01] [-1.69025536e-03 3.18248503e-05 9.99998571e-01 -8.74543464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.20, Y:-65.44, Z:-0.87 [[ 9.94979427e-01 1.00065603e-01 1.67799312e-03 4.30203438e+02] [-1.00065398e-01 9.94980841e-01 -2.05706277e-04 -6.54362046e+01] [-1.69015513e-03 3.67644639e-05 9.99998571e-01 -8.73414105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62576923100005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:430.23, Y:-65.44, Z:-0.87 [[ 9.95492616e-01 9.48242319e-02 1.67800162e-03 4.30231736e+02] [-9.48240199e-02 9.95494030e-01 -2.05636902e-04 -6.54436083e+01] [-1.68993996e-03 4.55951582e-05 9.99998571e-01 -8.74723251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.26, Y:-65.45, Z:-0.88 [[ 9.95693812e-01 9.26877403e-02 1.67801117e-03 4.30258800e+02] [-9.26875254e-02 9.95695225e-01 -2.05558973e-04 -6.54488976e+01] [-1.68984050e-03 4.91430945e-05 9.99998571e-01 -8.77588257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.29, Y:-65.46, Z:-0.88 [[ 9.96061193e-01 8.86525992e-02 1.67802300e-03 4.30287315e+02] [-8.86523788e-02 9.96062605e-01 -2.05462360e-04 -6.54572488e+01] [-1.68963073e-03 5.58923533e-05 9.99998571e-01 -8.80231641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7157692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:-65.46, Z:-0.88 [[ 9.96183487e-01 8.72676616e-02 1.67803839e-03 4.30315574e+02] [-8.72674394e-02 9.96184898e-01 -2.05336620e-04 -6.54633068e+01] [-1.68955574e-03 5.81148372e-05 9.99998571e-01 -8.79596876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.34, Y:-65.47, Z:-0.88 [[ 9.96187576e-01 8.72209736e-02 1.67804799e-03 4.30344695e+02] [-8.72207514e-02 9.96188987e-01 -2.05258133e-04 -6.54667796e+01] [-1.68955574e-03 5.81149952e-05 9.99998571e-01 -8.79646458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.37, Y:-65.47, Z:-0.88 [[ 9.96266333e-01 8.63167298e-02 1.67805760e-03 4.30372855e+02] [-8.63165065e-02 9.96267744e-01 -2.05179487e-04 -6.54723375e+01] [-1.68950508e-03 5.95693456e-05 9.99998571e-01 -8.78037019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.40, Y:-65.48, Z:-0.87 [[ 9.96349365e-01 8.53529499e-02 1.67806724e-03 4.30400660e+02] [-8.53527254e-02 9.96350777e-01 -2.05100603e-04 -6.54809772e+01] [-1.68944954e-03 6.11242430e-05 9.99998571e-01 -8.74742941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.43, Y:-65.49, Z:-0.87 [[ 9.96406325e-01 8.46854175e-02 1.67807441e-03 4.30429578e+02] [-8.46851921e-02 9.96407736e-01 -2.05041964e-04 -6.54873171e+01] [-1.68941039e-03 6.21970563e-05 9.99998571e-01 -8.73105721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.46, Y:-65.50, Z:-0.87 [[ 9.96420704e-01 8.45160594e-02 1.67807919e-03 4.30458057e+02] [-8.45158338e-02 9.96422115e-01 -2.05002863e-04 -6.54971474e+01] [-1.68940125e-03 6.24448357e-05 9.99998571e-01 -8.71694406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:-65.50, Z:-0.87 [[ 9.96370994e-01 8.51001016e-02 1.67808396e-03 4.30487022e+02] [-8.50998769e-02 9.96372405e-01 -2.04963786e-04 -6.55034503e+01] [-1.68943899e-03 6.14152326e-05 9.99998571e-01 -8.72941830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.51, Y:-65.51, Z:-0.87 [[ 9.96253784e-01 8.64614430e-02 1.67808880e-03 4.30514830e+02] [-8.64612203e-02 9.96255196e-01 -2.04924153e-04 -6.55089354e+01] [-1.68952272e-03 5.90668574e-05 9.99998571e-01 -8.74277909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.54, Y:-65.51, Z:-0.88 [[ 9.95801236e-01 9.15264056e-02 1.67809603e-03 4.30542901e+02] [-9.15261902e-02 9.95802648e-01 -2.04864901e-04 -6.55149914e+01] [-1.68980302e-03 5.04149846e-05 9.99998571e-01 -8.75963287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.57, Y:-65.52, Z:-0.88 [[ 9.95514120e-01 9.45982051e-02 1.67810062e-03 4.30572103e+02] [-9.45979941e-02 9.95515534e-01 -2.04827327e-04 -6.55199295e+01] [-1.68995153e-03 4.51635434e-05 9.99998571e-01 -8.75946435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.60, Y:-65.53, Z:-0.88 [[ 9.95136905e-01 9.84871746e-02 1.67810536e-03 4.30600444e+02] [-9.84869692e-02 9.95138320e-01 -2.04788433e-04 -6.55266220e+01] [-1.69011599e-03 3.85210156e-05 9.99998571e-01 -8.77351843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:-65.53, Z:-0.88 [[ 9.95082686e-01 9.90334933e-02 1.67811483e-03 4.30628777e+02] [-9.90332888e-02 9.95084100e-01 -2.04710801e-04 -6.55314221e+01] [-1.69013862e-03 3.75149421e-05 9.99998571e-01 -8.77696610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.66, Y:-65.54, Z:-0.88 [[ 9.95118783e-01 9.86701182e-02 1.67812190e-03 4.30657854e+02] [-9.86699133e-02 9.95120197e-01 -2.04652897e-04 -6.55363271e+01] [-1.69012612e-03 3.80738002e-05 9.99998571e-01 -8.76265823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:-65.54, Z:-0.88 [[ 9.95188663e-01 9.79627973e-02 1.67812689e-03 4.30686298e+02] [-9.79625915e-02 9.95190077e-01 -2.04611947e-04 -6.55415466e+01] [-1.69009959e-03 3.92338315e-05 9.99998571e-01 -8.76891571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.71, Y:-65.55, Z:-0.88 [[ 9.95392073e-01 9.58738977e-02 1.67813434e-03 4.30713996e+02] [-9.58736890e-02 9.95393487e-01 -2.04550821e-04 -6.55488036e+01] [-1.69001508e-03 4.27193362e-05 9.99998571e-01 -8.79116582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.74, Y:-65.55, Z:-0.88 [[ 9.95461995e-01 9.51451496e-02 1.67813943e-03 4.30743406e+02] [-9.51449400e-02 9.95463409e-01 -2.04509027e-04 -6.55535055e+01] [-1.68998444e-03 4.39144881e-05 9.99998571e-01 -8.79129394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.77, Y:-65.56, Z:-0.88 [[ 9.95501258e-01 9.47334676e-02 1.67814412e-03 4.30773075e+02] [-9.47332574e-02 9.95502671e-01 -2.04470574e-04 -6.55577583e+01] [-1.68996716e-03 4.45746552e-05 9.99998571e-01 -8.78069168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.80, Y:-65.56, Z:-0.88 [[ 9.95412275e-01 9.56639302e-02 1.67814895e-03 4.30801477e+02] [-9.56637214e-02 9.95413688e-01 -2.04430942e-04 -6.55624949e+01] [-1.69000910e-03 4.29550961e-05 9.99998571e-01 -8.75449889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.83, Y:-65.57, Z:-0.87 [[ 9.95302015e-01 9.68043499e-02 1.67815613e-03 4.30831263e+02] [-9.68041428e-02 9.95303429e-01 -2.04371917e-04 -6.55667220e+01] [-1.69005865e-03 4.09593146e-05 9.99998571e-01 -8.74388300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.86, Y:-65.57, Z:-0.87 [[ 9.94962755e-01 1.00231230e-01 1.67816091e-03 4.30859526e+02] [-1.00231028e-01 9.94964170e-01 -2.04332707e-04 -6.55709009e+01] [-1.69019049e-03 3.50996393e-05 9.99998571e-01 -8.72926763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.89, Y:-65.57, Z:-0.87 [[ 9.94798265e-01 1.01850854e-01 1.67816630e-03 4.30888884e+02] [-1.01850654e-01 9.94799680e-01 -2.04288416e-04 -6.55746203e+01] [-1.69024625e-03 3.23034260e-05 9.99998571e-01 -8.73042810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.92, Y:-65.58, Z:-0.87 [[ 9.94627772e-01 1.03502557e-01 1.67817110e-03 4.30918670e+02] [-1.03502360e-01 9.94629187e-01 -2.04249008e-04 -6.55789612e+01] [-1.69029825e-03 2.94570671e-05 9.99998571e-01 -8.74094344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.95, Y:-65.58, Z:-0.88 [[ 9.94365558e-01 1.05992080e-01 1.67817604e-03 4.30946552e+02] [-1.05991886e-01 9.94366974e-01 -2.04208398e-04 -6.55848078e+01] [-1.69036730e-03 2.51847532e-05 9.99998571e-01 -8.76602562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4057692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:-65.59, Z:-0.88 [[ 9.94291645e-01 1.06683219e-01 1.67818342e-03 4.30974638e+02] [-1.06683026e-01 9.94293061e-01 -2.04147685e-04 -6.55892815e+01] [-1.69038527e-03 2.39486520e-05 9.99998571e-01 -8.77474745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.00, Y:-65.59, Z:-0.88 [[ 9.94223038e-01 1.07320708e-01 1.67819060e-03 4.31004516e+02] [-1.07320517e-01 9.94224454e-01 -2.04088642e-04 -6.55933281e+01] [-1.69040108e-03 2.28053475e-05 9.99998571e-01 -8.76845079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4657692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.03, Y:-65.60, Z:-0.88 [[ 9.93991915e-01 1.09440649e-01 1.67819559e-03 4.31032483e+02] [-1.09440460e-01 9.93993332e-01 -2.04047664e-04 -6.55988239e+01] [-1.69044633e-03 1.91592310e-05 9.99998571e-01 -8.76165422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.06, Y:-65.60, Z:-0.88 [[ 9.93880309e-01 1.10449600e-01 1.67820104e-03 4.31061074e+02] [-1.10449413e-01 9.93881726e-01 -2.04002815e-04 -6.56039150e+01] [-1.69046537e-03 1.73980605e-05 9.99998571e-01 -8.77075747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5257692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.09, Y:-65.61, Z:-0.88 [[ 9.93594564e-01 1.12991262e-01 1.67820793e-03 4.31090700e+02] [-1.12991078e-01 9.93595982e-01 -2.03946089e-04 -6.56096973e+01] [-1.69050478e-03 1.30172020e-05 9.99998571e-01 -8.77832250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.12, Y:-65.61, Z:-0.88 [[ 9.93361531e-01 1.15021962e-01 1.67821253e-03 4.31120027e+02] [-1.15021781e-01 9.93362949e-01 -2.03908219e-04 -6.56135228e+01] [-1.69052807e-03 9.52358635e-06 9.99998571e-01 -8.76953661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5857692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.15, Y:-65.62, Z:-0.88 [[ 9.93114153e-01 1.17138645e-01 1.67821739e-03 4.31148742e+02] [-1.17138468e-01 9.93115571e-01 -2.03868236e-04 -6.56170424e+01] [-1.69054467e-03 5.88061642e-06 9.99998571e-01 -8.78579856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.18, Y:-65.62, Z:-0.88 [[ 9.92838271e-01 1.19454387e-01 1.67822467e-03 4.31177938e+02] [-1.19454213e-01 9.92839690e-01 -2.03808333e-04 -6.56206986e+01] [-1.69055386e-03 1.87770652e-06 9.99998571e-01 -8.77732129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6457692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.21, Y:-65.62, Z:-0.88 [[ 9.92157636e-01 1.24981638e-01 1.67822947e-03 4.31207154e+02] [-1.24981472e-01 9.92159055e-01 -2.03768735e-04 -6.56228489e+01] [-1.69053792e-03 -7.57688338e-06 9.99998571e-01 -8.77292755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.23, Y:-65.62, Z:-0.88 [[ 9.91835866e-01 1.27509991e-01 1.67823912e-03 4.31234942e+02] [-1.27509829e-01 9.91837286e-01 -2.03689222e-04 -6.56240698e+01] [-1.69051255e-03 -1.19657076e-05 9.99998571e-01 -8.76515884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70576923100003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:-65.63, Z:-0.88 [[ 9.91542354e-01 1.29772664e-01 1.67825114e-03 4.31264143e+02] [-1.29772505e-01 9.91543774e-01 -2.03590184e-04 -6.56256908e+01] [-1.69047991e-03 -1.59225651e-05 9.99998571e-01 -8.75361324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.29, Y:-65.63, Z:-0.87 [[ 9.91154475e-01 1.32702639e-01 1.67826071e-03 4.31293318e+02] [-1.32702485e-01 9.91155895e-01 -2.03511246e-04 -6.56261152e+01] [-1.69042448e-03 -2.09982835e-05 9.99998571e-01 -8.72200671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.32, Y:-65.63, Z:-0.87 [[ 9.90994229e-01 1.33894071e-01 1.67827041e-03 4.31322642e+02] [-1.33893918e-01 9.90995649e-01 -2.03431253e-04 -6.56251124e+01] [-1.69039691e-03 -2.31110027e-05 9.99998571e-01 -8.70588100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79576923100007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:431.35, Y:-65.62, Z:-0.87 [[ 9.90958917e-01 1.34155161e-01 1.67828013e-03 4.31351169e+02] [-1.34155009e-01 9.90960338e-01 -2.03351012e-04 -6.56246543e+01] [-1.69038963e-03 -2.36371880e-05 9.99998571e-01 -8.72318850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.38, Y:-65.62, Z:-0.87 [[ 9.90880110e-01 1.34736001e-01 1.67829220e-03 4.31379597e+02] [-1.34735850e-01 9.90881531e-01 -2.03251314e-04 -6.56244147e+01] [-1.69037402e-03 -2.47284429e-05 9.99998571e-01 -8.74157669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.41, Y:-65.62, Z:-0.87 [[ 9.90842056e-01 1.35015566e-01 1.67830411e-03 4.31408860e+02] [-1.35015416e-01 9.90843477e-01 -2.03152927e-04 -6.56242235e+01] [-1.69036549e-03 -2.53044630e-05 9.99998571e-01 -8.74374572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.44, Y:-65.62, Z:-0.87 [[ 9.90813360e-01 1.35225989e-01 1.67831374e-03 4.31437238e+02] [-1.35225839e-01 9.90814781e-01 -2.03073366e-04 -6.56203440e+01] [-1.69035886e-03 -2.57435794e-05 9.99998571e-01 -8.71771380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91576923100007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:-65.62, Z:-0.87 [[ 9.90803273e-01 1.35299883e-01 1.67832574e-03 4.31465959e+02] [-1.35299733e-01 9.90804694e-01 -2.02974179e-04 -6.56194785e+01] [-1.69035540e-03 -2.59695438e-05 9.99998571e-01 -8.71212453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.49, Y:-65.62, Z:-0.87 [[ 9.90807404e-01 1.35269627e-01 1.67833528e-03 4.31494354e+02] [-1.35269478e-01 9.90808825e-01 -2.02895233e-04 -6.56155136e+01] [-1.69035497e-03 -2.59974379e-05 9.99998571e-01 -8.72692258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.52, Y:-65.62, Z:-0.87 [[ 9.90986682e-01 1.33949912e-01 1.67834712e-03 4.31522944e+02] [-1.33949760e-01 9.90988103e-01 -2.02797222e-04 -6.56165199e+01] [-1.69038670e-03 -2.38448490e-05 9.99998571e-01 -8.73835820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00576923100004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.55, Y:-65.62, Z:-0.87 [[ 9.91284251e-01 1.31729708e-01 1.67835655e-03 4.31551984e+02] [-1.31729554e-01 9.91285672e-01 -2.02719191e-04 -6.56180593e+01] [-1.69043494e-03 -2.01368175e-05 9.99998571e-01 -8.74185539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.58, Y:-65.62, Z:-0.87 [[ 9.92114850e-01 1.25320816e-01 1.67836593e-03 4.31579693e+02] [-1.25320653e-01 9.92116270e-01 -2.02641500e-04 -6.56180399e+01] [-1.69052934e-03 -9.29027194e-06 9.99998571e-01 -8.74301410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.61, Y:-65.62, Z:-0.87 [[ 9.92571280e-01 1.21652940e-01 1.67837763e-03 4.31608466e+02] [-1.21652771e-01 9.92572699e-01 -2.02544559e-04 -6.56200540e+01] [-1.69055195e-03 -3.13937770e-06 9.99998571e-01 -8.74787003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.64, Y:-65.62, Z:-0.87 [[ 9.93279834e-01 1.15725338e-01 1.67838686e-03 4.31636878e+02] [-1.15725161e-01 9.93281252e-01 -2.02467997e-04 -6.56230557e+01] [-1.69054088e-03 6.87578812e-06 9.99998571e-01 -8.74100017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.66, Y:-65.63, Z:-0.87 [[ 9.93482364e-01 1.13973572e-01 1.67839607e-03 4.31664610e+02] [-1.13973392e-01 9.93483782e-01 -2.02391613e-04 -6.56263181e+01] [-1.69052657e-03 9.78000387e-06 9.99998571e-01 -8.74586148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1557692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.69, Y:-65.63, Z:-0.88 [[ 9.93574107e-01 1.13171007e-01 1.67840831e-03 4.31692911e+02] [-1.13170827e-01 9.93575525e-01 -2.02290063e-04 -6.56295893e+01] [-1.69051879e-03 1.10433130e-05 9.99998571e-01 -8.77222543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.72, Y:-65.63, Z:-0.88 [[ 9.93610507e-01 1.12850982e-01 1.67841735e-03 4.31720462e+02] [-1.12850801e-01 9.93611924e-01 -2.02215024e-04 -6.56336067e+01] [-1.69051566e-03 1.15122287e-05 9.99998571e-01 -8.82985171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2157692310001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:431.75, Y:-65.64, Z:-0.88 [[ 9.93625339e-01 1.12720314e-01 1.67842861e-03 4.31748567e+02] [-1.12720134e-01 9.93626756e-01 -2.02121544e-04 -6.56379594e+01] [-1.69051478e-03 1.16403902e-05 9.99998571e-01 -8.78740524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24576923100005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.78, Y:-65.64, Z:-0.88 [[ 9.93690485e-01 1.12144562e-01 1.67843860e-03 4.31775763e+02] [-1.12144381e-01 9.93691902e-01 -2.02038519e-04 -6.56436926e+01] [-1.69050837e-03 1.25362964e-05 9.99998571e-01 -8.83741724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2757692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.80, Y:-65.65, Z:-0.88 [[ 9.93841645e-01 1.10796965e-01 1.67845253e-03 4.31804271e+02] [-1.10796782e-01 9.93843062e-01 -2.01922761e-04 -6.56517689e+01] [-1.69049083e-03 1.47121097e-05 9.99998571e-01 -8.78193685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.83, Y:-65.66, Z:-0.88 [[ 9.93866885e-01 1.10570329e-01 1.67846139e-03 4.31831396e+02] [-1.10570146e-01 9.93868302e-01 -2.01849084e-04 -6.56565073e+01] [-1.69048809e-03 1.50234004e-05 9.99998571e-01 -8.75671453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3357692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.86, Y:-65.66, Z:-0.88 [[ 9.93773789e-01 1.11403942e-01 1.67847241e-03 4.31859723e+02] [-1.11403761e-01 9.93775207e-01 -2.01757397e-04 -6.56613591e+01] [-1.69050084e-03 1.35130744e-05 9.99998571e-01 -8.75423258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.89, Y:-65.67, Z:-0.88 [[ 9.93308189e-01 1.15481703e-01 1.67848118e-03 4.31887512e+02] [-1.15481528e-01 9.93309607e-01 -2.01684430e-04 -6.56665916e+01] [-1.69054234e-03 6.50122547e-06 9.99998571e-01 -8.77013211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3957692310001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.92, Y:-65.67, Z:-0.88 [[ 9.93005877e-01 1.18053001e-01 1.67849211e-03 4.31916450e+02] [-1.18052829e-01 9.93007296e-01 -2.01593449e-04 -6.56703798e+01] [-1.69055362e-03 2.03273838e-06 9.99998571e-01 -8.77890818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42576923100006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.94, Y:-65.67, Z:-0.88 [[ 9.92704703e-01 1.20559345e-01 1.67850076e-03 4.31943761e+02] [-1.20559177e-01 9.92706122e-01 -2.01521378e-04 -6.56725786e+01] [-1.69055326e-03 -2.30745008e-06 9.99998571e-01 -8.78235650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45576923100003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:431.97, Y:-65.67, Z:-0.88 [[ 9.92107616e-01 1.25378068e-01 1.67851157e-03 4.31973111e+02] [-1.25377906e-01 9.92109036e-01 -2.01431314e-04 -6.56725150e+01] [-1.69052156e-03 -1.06067256e-05 9.99998571e-01 -8.78577008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48576923100006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:432.00, Y:-65.67, Z:-0.88 [[ 9.91907463e-01 1.26951832e-01 1.67852017e-03 4.32001986e+02] [-1.26951673e-01 9.91908883e-01 -2.01359618e-04 -6.56745057e+01] [-1.69050204e-03 -1.33608353e-05 9.99998571e-01 -8.79107907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51576923100004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:432.03, Y:-65.68, Z:-0.88 [[ 9.91852865e-01 1.27377695e-01 1.67852874e-03 4.32030374e+02] [-1.27377537e-01 9.91854285e-01 -2.01288119e-04 -6.56771718e+01] [-1.69049554e-03 -1.41586590e-05 9.99998571e-01 -8.79216731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54576923100007 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:432.06, Y:-65.68, Z:-0.88 [[ 9.92228673e-01 1.24416406e-01 1.67853731e-03 4.32058387e+02] [-1.24416244e-01 9.92230093e-01 -2.01216634e-04 -6.56799865e+01] [-1.69052988e-03 -9.18439440e-06 9.99998571e-01 -8.79507718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57576923100004 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:432.09, Y:-65.68, Z:-0.88 [[ 9.92501053e-01 1.22224559e-01 1.67854793e-03 4.32086816e+02] [-1.22224394e-01 9.92502472e-01 -2.01127998e-04 -6.56832933e+01] [-1.69054575e-03 -5.53975320e-06 9.99998571e-01 -8.79819108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60576923100007 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:432.12, Y:-65.69, Z:-0.88 [[ 9.92803640e-01 1.19741870e-01 1.67855639e-03 4.32115719e+02] [-1.19741701e-01 9.92805059e-01 -2.01057417e-04 -6.56870731e+01] [-1.69055426e-03 -1.38266195e-06 9.99998571e-01 -8.80764148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63576923100004 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:432.14, Y:-65.69, Z:-0.88 [[ 9.92808532e-01 1.19701304e-01 1.67856461e-03 4.32144851e+02] [-1.19701135e-01 9.92809950e-01 -2.00988765e-04 -6.56904660e+01] [-1.69055426e-03 -1.38272857e-06 9.99998571e-01 -8.80813730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66576923100007 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:432.17, Y:-65.70, Z:-0.88 [[ 9.93496060e-01 1.13854122e-01 1.67857282e-03 4.32173061e+02] [-1.13853945e-01 9.93497478e-01 -2.00920179e-04 -6.56961833e+01] [-1.69053345e-03 8.50126879e-06 9.99998571e-01 -8.77620139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69576923100004 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:432.20, Y:-65.70, Z:-0.88 [[ 9.93735201e-01 1.11747632e-01 1.67858249e-03 4.32200959e+02] [-1.11747452e-01 9.93736618e-01 -2.00839338e-04 -6.57009889e+01] [-1.69051221e-03 1.20038038e-05 9.99998571e-01 -8.77868539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7257692310001 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:432.23, Y:-65.71, Z:-0.88 [[ 9.93875100e-01 1.10496457e-01 1.67859446e-03 4.32229151e+02] [-1.10496276e-01 9.93876518e-01 -2.00739231e-04 -6.57059751e+01] [-1.69049659e-03 1.40312871e-05 9.99998571e-01 -8.77638917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75576923100004 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:432.26, Y:-65.72, Z:-0.87 [[ 9.93945561e-01 1.09860843e-01 1.67860357e-03 4.32257165e+02] [-1.09860661e-01 9.93946978e-01 -2.00663037e-04 -6.57154407e+01] [-1.69048795e-03 1.50356366e-05 9.99998571e-01 -8.73419156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7857692310001 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:432.29, Y:-65.72, Z:-0.87 [[ 9.93921053e-01 1.10082349e-01 1.67861310e-03 4.32285741e+02] [-1.10082167e-01 9.93922470e-01 -2.00583289e-04 -6.57220254e+01] [-1.69049196e-03 1.45785865e-05 9.99998571e-01 -8.72622209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81576923100005 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:432.31, Y:-65.73, Z:-0.87 [[ 9.93691281e-01 1.12137508e-01 1.67862020e-03 4.32312696e+02] [-1.12137329e-01 9.93692699e-01 -2.00523838e-04 -6.57298600e+01] [-1.69051888e-03 1.10228040e-05 9.99998571e-01 -8.73480447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8457692310001 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:432.34, Y:-65.74, Z:-0.88 [[ 9.93500495e-01 1.13815418e-01 1.67863138e-03 4.32342008e+02] [-1.13815241e-01 9.93501913e-01 -2.00430237e-04 -6.57357018e+01] [-1.69053553e-03 8.07370446e-06 9.99998571e-01 -8.79328737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87576923100005 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:432.37, Y:-65.74, Z:-0.88 [[ 9.93284263e-01 1.15687327e-01 1.67815256e-03 4.32370557e+02] [-1.15687147e-01 9.93285680e-01 -2.04441855e-04 -6.57409228e+01] [-1.69053624e-03 8.92819484e-06 9.99998571e-01 -8.79295475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9057692310001 meters Centerline goodness : 0.987574 Centerline is valid? [True, True] Translation: X:432.40, Y:-65.75, Z:-0.88 [[ 9.92725301e-01 1.20389619e-01 1.67810371e-03 4.32396466e+02] [-1.20389445e-01 9.92726719e-01 -2.04851457e-04 -6.57484396e+01] [-1.69056038e-03 1.33524954e-06 9.99998571e-01 -8.78099900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93576923100005 meters Centerline goodness : 0.985242 Centerline is valid? [True, True] Translation: X:432.43, Y:-65.75, Z:-0.88 [[ 9.92513126e-01 1.22126478e-01 1.67869189e-03 4.32426124e+02] [-1.22126315e-01 9.92514546e-01 -1.99912431e-04 -6.57522911e+01] [-1.69054072e-03 -6.59674237e-06 9.99998571e-01 -8.77386276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9657692310001 meters Centerline goodness : 0.983095 Centerline is valid? [True, True] Translation: X:432.45, Y:-65.75, Z:-0.88 [[ 9.92427277e-01 1.22822169e-01 1.67794490e-03 4.32452598e+02] [-1.22821996e-01 9.92428695e-01 -2.06191357e-04 -6.57545361e+01] [-1.69056554e-03 -1.45861360e-06 9.99998571e-01 -8.77936608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99576923100005 meters Centerline goodness : 0.979155 Centerline is valid? [True, True] Translation: X:432.48, Y:-65.76, Z:-0.87 [[ 9.92222061e-01 1.24469117e-01 1.67918670e-03 4.32481210e+02] [-1.24468964e-01 9.92223482e-01 -1.95765899e-04 -6.57601625e+01] [-1.69049529e-03 -1.47633848e-05 9.99998571e-01 -8.67856530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0257692310001 meters Centerline goodness : 0.977036 Centerline is valid? [True, True] Translation: X:432.51, Y:-65.76, Z:-0.87 [[ 9.92203504e-01 1.24616963e-01 1.67920898e-03 4.32510565e+02] [-1.24616810e-01 9.92204925e-01 -1.95579207e-04 -6.57646083e+01] [-1.69049190e-03 -1.52032918e-05 9.99998571e-01 -8.67391576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05576923100006 meters Centerline goodness : 0.968875 Centerline is valid? [True, True] Translation: X:432.54, Y:-65.77, Z:-0.88 [[ 9.92484239e-01 1.22361002e-01 1.67945547e-03 4.32544152e+02] [-1.22360849e-01 9.92485660e-01 -1.93493253e-04 -6.57668390e+01] [-1.69051150e-03 -1.34605940e-05 9.99998571e-01 -8.77333220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0857692310001 meters Centerline goodness : 0.969139 Centerline is valid? [True, True] Translation: X:432.57, Y:-65.77, Z:-0.87 [[ 9.92514742e-01 1.22113351e-01 1.67791804e-03 4.32568693e+02] [-1.22113177e-01 9.92516161e-01 -2.06450652e-04 -6.57729066e+01] [-1.69057115e-03 9.41365897e-09 9.99998571e-01 -8.68261532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11576923100006 meters Centerline goodness : 0.966123 Centerline is valid? [True, True] Translation: X:432.60, Y:-65.78, Z:-0.87 [[ 9.92735942e-01 1.20301825e-01 1.67951795e-03 4.32598090e+02] [-1.20301670e-01 9.92737362e-01 -1.93079115e-04 -6.57767533e+01] [-1.69054799e-03 -1.03722371e-05 9.99998571e-01 -8.66838319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1457692310001 meters Centerline goodness : 0.172418 Centerline is valid? [True, False] Translation: X:432.60, Y:-65.78, Z:-0.87 [[ 9.93235115e-01 1.16108195e-01 1.70121487e-03 4.32597808e+02] [-1.16099619e-01 9.93227452e-01 -4.48404444e-03 -6.57768544e+01] [-2.21032762e-03 4.25619999e-03 9.99988500e-01 -8.68326820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17576923100006 meters Centerline goodness : 0.169884 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.77, Z:-0.87 [[ 9.93717917e-01 1.11899698e-01 1.77742115e-03 4.32597180e+02] [-1.11878750e-01 9.93678814e-01 -9.24983141e-03 -6.57742711e+01] [-2.80123908e-03 8.99286755e-03 9.99955640e-01 -8.69567324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20576923100003 meters Centerline goodness : 0.916974 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.77, Z:-0.87 [[ 9.94138784e-01 1.08082107e-01 2.51734775e-03 4.32595414e+02] [-1.08036751e-01 9.94048075e-01 -1.40173308e-02 -6.57710769e+01] [-4.01738733e-03 1.36632061e-02 9.99898584e-01 -8.70642215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23576923100006 meters Centerline goodness : 0.910210 Centerline is valid? [False, False] Translation: X:432.59, Y:-65.77, Z:-0.87 [[ 9.94538027e-01 1.04335096e-01 2.88092380e-03 4.32594079e+02] [-1.04262101e-01 9.94367740e-01 -1.90318785e-02 -6.57661252e+01] [-4.85039056e-03 1.86275558e-02 9.99814727e-01 -8.71397038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26576923100004 meters Centerline goodness : 0.905707 Centerline is valid? [False, False] Translation: X:432.59, Y:-65.76, Z:-0.87 [[ 9.94533956e-01 1.04346844e-01 3.73451651e-03 4.32592733e+02] [-1.04255599e-01 9.94360358e-01 -1.94486236e-02 -6.57644011e+01] [-5.74285767e-03 1.89529724e-02 9.99803883e-01 -8.72816153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29576923100007 meters Centerline goodness : 0.129067 Centerline is valid? [False, False] Translation: X:432.59, Y:-65.76, Z:-0.87 [[ 9.94539016e-01 1.04268752e-01 4.49152417e-03 4.32591786e+02] [-1.04160113e-01 9.94360984e-01 -1.99224672e-02 -6.57623678e+01] [-6.54348717e-03 1.93458332e-02 9.99791439e-01 -8.74438500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32576923100004 meters Centerline goodness : 0.088622 Centerline is valid? [False, False] Translation: X:432.59, Y:-65.76, Z:-0.88 [[ 9.94579239e-01 1.03864127e-01 4.93766281e-03 4.32594283e+02] [-1.03740933e-01 9.94387309e-01 -2.07773800e-02 -6.57585996e+01] [-7.06797366e-03 2.01525130e-02 9.99771934e-01 -8.77945410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35576923100007 meters Centerline goodness : 0.087285 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.75, Z:-0.88 [[ 9.94989213e-01 9.98625380e-02 4.89280726e-03 4.32595473e+02] [-9.97054096e-02 9.94684281e-01 -2.57295855e-02 -6.57537094e+01] [-7.43622018e-03 2.51128207e-02 9.99656966e-01 -8.80801451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38576923100004 meters Centerline goodness : 0.087102 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.75, Z:-0.88 [[ 9.94998903e-01 9.97376103e-02 5.43985947e-03 4.32595581e+02] [-9.95642524e-02 9.94690142e-01 -2.60476859e-02 -6.57524524e+01] [-8.00890853e-03 2.53758034e-02 9.99645900e-01 -8.83303997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41576923100007 meters Centerline goodness : 0.087798 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.75, Z:-0.89 [[ 9.95038859e-01 9.92940965e-02 6.19286876e-03 4.32596563e+02] [-9.90944653e-02 9.94714879e-01 -2.68811603e-02 -6.57485969e+01] [-8.82927923e-03 2.61341201e-02 9.99619453e-01 -8.85060944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44576923100004 meters Centerline goodness : 0.086429 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.75, Z:-0.89 [[ 9.94863367e-01 1.01007212e-01 6.66520521e-03 4.32600977e+02] [-1.00810809e-01 9.94587907e-01 -2.51411248e-02 -6.57469157e+01] [-9.16856742e-03 2.43400593e-02 9.99661692e-01 -8.91037752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4757692310001 meters Centerline goodness : 0.088742 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.74, Z:-0.89 [[ 9.94894456e-01 1.00644937e-01 7.45773096e-03 4.32600600e+02] [-1.00418498e-01 9.94599530e-01 -2.62278487e-02 -6.57415622e+01] [-1.00571559e-02 2.53450471e-02 9.99628172e-01 -8.93314840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50576923100004 meters Centerline goodness : 0.088579 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.74, Z:-0.90 [[ 9.94931766e-01 1.00200561e-01 8.40407305e-03 4.32600439e+02] [-9.99357297e-02 9.94612516e-01 -2.75462032e-02 -6.57354959e+01] [-1.11189413e-02 2.65667254e-02 9.99585203e-01 -8.96368490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5357692310001 meters Centerline goodness : 0.088399 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.73, Z:-0.90 [[ 9.95034338e-01 9.90642227e-02 9.64084468e-03 4.32602050e+02] [-9.87426336e-02 9.94675520e-01 -2.95042763e-02 -6.57266596e+01] [-1.25123304e-02 2.84058056e-02 9.99518160e-01 -8.99505623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56576923100005 meters Centerline goodness : 0.137494 Centerline is valid? [False, False] Translation: X:432.60, Y:-65.72, Z:-0.90 [[ 9.95075389e-01 9.85743622e-02 1.03954039e-02 4.32601691e+02] [-9.82252625e-02 9.94712618e-01 -2.99767580e-02 -6.57240466e+01] [-1.32953793e-02 2.88080428e-02 9.99496538e-01 -9.01672068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5957692310001 meters Centerline goodness : 0.072814 Centerline is valid? [False, False] Translation: X:432.63, Y:-65.72, Z:-0.90 [[ 9.95750175e-01 9.16438963e-02 9.10965993e-03 4.32628710e+02] [-9.13573887e-02 9.95423559e-01 -2.80315203e-02 -6.57210847e+01] [-1.16368878e-02 2.70801565e-02 9.99565530e-01 -9.04626021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62576923100005 meters Centerline goodness : 0.071805 Centerline is valid? [False, False] Translation: X:432.63, Y:-65.72, Z:-0.91 [[ 9.95971371e-01 8.92272393e-02 8.91779689e-03 4.32634323e+02] [-8.89246831e-02 9.95587865e-01 -2.99533646e-02 -6.57202682e+01] [-1.15511064e-02 2.90396814e-02 9.99511515e-01 -9.11324011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6557692310001 meters Centerline goodness : 0.073681 Centerline is valid? [False, False] Translation: X:432.65, Y:-65.72, Z:-0.91 [[ 9.96476954e-01 8.36995499e-02 5.29775110e-03 4.32653037e+02] [-8.35220959e-02 9.96119853e-01 -2.77362343e-02 -6.57226127e+01] [-7.59870537e-03 2.71960390e-02 9.99601238e-01 -9.06653984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68576923100005 meters Centerline goodness : 0.087330 Centerline is valid? [False, False] Translation: X:432.68, Y:-65.73, Z:-0.91 [[ 9.97118685e-01 7.51789872e-02 1.01216524e-02 4.32675686e+02] [-7.48968149e-02 9.96856224e-01 -2.58483205e-02 -6.57267300e+01] [-1.20330827e-02 2.50157638e-02 9.99614634e-01 -9.13124774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7157692310001 meters Centerline goodness : 0.087144 Centerline is valid? [False, False] Translation: X:432.69, Y:-65.73, Z:-0.91 [[ 9.97559372e-01 6.94516933e-02 7.19461174e-03 4.32694137e+02] [-6.92724605e-02 9.97338945e-01 -2.27234470e-02 -6.57314773e+01] [-8.75364836e-03 2.21695991e-02 9.99715901e-01 -9.07542711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74576923100005 meters Centerline goodness : 0.086652 Centerline is valid? [False, False] Translation: X:432.71, Y:-65.74, Z:-0.90 [[ 9.97948151e-01 6.38997423e-02 4.03874100e-03 4.32712675e+02] [-6.38063668e-02 9.97759960e-01 -2.00950157e-02 -6.57365112e+01] [-5.31376038e-03 1.97960863e-02 9.99789917e-01 -9.03020503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7757692310001 meters Centerline goodness : 0.087205 Centerline is valid? [False, False] Translation: X:432.74, Y:-65.75, Z:-0.91 [[ 9.98350978e-01 5.65786573e-02 9.70462750e-03 4.32735968e+02] [-5.64048655e-02 9.98257500e-01 -1.73336200e-02 -6.57459916e+01] [-1.06684301e-02 1.67576483e-02 9.99802663e-01 -9.10677649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80576923100006 meters Centerline goodness : 0.066135 Centerline is valid? [False, False] Translation: X:432.74, Y:-65.75, Z:-0.92 [[ 9.98474837e-01 5.42665843e-02 1.01556462e-02 4.32739726e+02] [-5.40674541e-02 9.98357443e-01 -1.89506396e-02 -6.57496900e+01] [-1.11673514e-02 1.83726468e-02 9.99768841e-01 -9.16950120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8357692310001 meters Centerline goodness : 0.069155 Centerline is valid? [False, False] Translation: X:432.74, Y:-65.76, Z:-0.92 [[ 9.98469216e-01 5.41945110e-02 1.10534976e-02 4.32739258e+02] [-5.39897215e-02 9.98378286e-01 -1.80529409e-02 -6.57558453e+01] [-1.20139423e-02 1.74285305e-02 9.99775931e-01 -9.19118234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86576923100006 meters Centerline goodness : 0.070597 Centerline is valid? [False, False] Translation: X:432.77, Y:-65.77, Z:-0.93 [[ 9.98513689e-01 5.11823207e-02 1.87292180e-02 4.32765665e+02] [-5.09169121e-02 9.98599307e-01 -1.43837480e-02 -6.57721926e+01] [-1.94391777e-02 1.34087353e-02 9.99721123e-01 -9.27871348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8957692310001 meters Centerline goodness : 0.068221 Centerline is valid? [False, False] Translation: X:432.77, Y:-65.78, Z:-0.93 [[ 9.98592936e-01 4.95563894e-02 1.88762273e-02 4.32770618e+02] [-4.92638624e-02 9.98663035e-01 -1.56593404e-02 -6.57761856e+01] [-1.96270108e-02 1.47073908e-02 9.99699191e-01 -9.34897710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92576923100006 meters Centerline goodness : 0.070921 Centerline is valid? [False, False] Translation: X:432.80, Y:-65.79, Z:-0.93 [[ 9.98960045e-01 4.26310143e-02 1.61686392e-02 4.32795090e+02] [-4.24123896e-02 9.99007189e-01 -1.36317672e-02 -6.57882069e+01] [-1.67337229e-02 1.29318401e-02 9.99776350e-01 -9.32409005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95576923100003 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 447.98576923100006 meters Centerline goodness : 0.181762 Centerline is valid? [False, False] Translation: X:432.82, Y:-65.80, Z:-0.93 [[ 9.99200655e-01 3.75474172e-02 1.37201401e-02 4.32822102e+02] [-3.74017236e-02 9.99242749e-01 -1.07256660e-02 -6.58026839e+01] [-1.41124716e-02 1.02039356e-02 9.99848347e-01 -9.31918225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01576923100004 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 448.04576923100007 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 448.07576923100004 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 448.10576923100007 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 448.13576923100004 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 448.16576923100007 meters Centerline goodness : 0.336276 Centerline is valid? [False, False] Translation: X:432.97, Y:-65.85, Z:-0.94 [[ 9.97771519e-01 6.46942364e-02 1.63294546e-02 4.32973574e+02] [-6.44960216e-02 9.97841082e-01 -1.23870249e-02 -6.58458698e+01] [-1.70955697e-02 1.13062358e-02 9.99789933e-01 -9.42740936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19576923100004 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 448.2257692310001 meters Centerline goodness : 0.764972 Centerline is valid? [False, False] Translation: X:433.02, Y:-65.86, Z:-0.95 [[ 9.97503203e-01 6.72903227e-02 2.14329869e-02 4.33022116e+02] [-6.70391597e-02 9.97675389e-01 -1.22298533e-02 -6.58580452e+01] [-2.22061143e-02 1.07624684e-02 9.99695483e-01 -9.50693356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25576923100004 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 448.2857692310001 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 448.31576923100005 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 448.3457692310001 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 448.37576923100005 meters Centerline goodness : 0.754651 Centerline is valid? [False, False] Translation: X:433.17, Y:-65.89, Z:-0.96 [[ 9.96956921e-01 7.57375524e-02 1.84586115e-02 4.33170416e+02] [-7.54719341e-02 9.97039771e-01 -1.46860900e-02 -6.58883930e+01] [-1.95162583e-02 1.32482919e-02 9.99721761e-01 -9.56016620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4057692310001 meters Centerline goodness : 0.752147 Centerline is valid? [False, False] Translation: X:433.17, Y:-65.89, Z:-0.96 [[ 9.96623049e-01 7.98610691e-02 1.90973421e-02 4.33172106e+02] [-7.96819318e-02 9.96770527e-01 -9.96526520e-03 -6.58925893e+01] [-1.98315044e-02 8.40989987e-03 9.99767966e-01 -9.58982872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43576923100005 meters Centerline goodness : 0.621836 Centerline is valid? [False, False] Translation: X:433.17, Y:-65.89, Z:-0.96 [[ 9.96601805e-01 8.00475733e-02 1.94223647e-02 4.33173955e+02] [-7.98647469e-02 9.96755405e-01 -1.00142496e-02 -6.58920741e+01] [-2.01609634e-02 8.42905694e-03 9.99761215e-01 -9.62215467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4657692310001 meters Centerline goodness : 0.751432 Centerline is valid? [False, False] Translation: X:433.22, Y:-65.90, Z:-0.97 [[ 9.96416857e-01 8.11973439e-02 2.36735630e-02 4.33215727e+02] [-8.09659194e-02 9.96660747e-01 -1.05771330e-02 -6.58996075e+01] [-2.44533461e-02 8.62248184e-03 9.99663787e-01 -9.65997383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49576923100005 meters Centerline goodness : 0.083524 Centerline is valid? [False, False] Translation: X:433.22, Y:-65.90, Z:-0.97 [[ 9.96377029e-01 8.15111382e-02 2.42641756e-02 4.33216673e+02] [-8.12785155e-02 9.96636902e-01 -1.04253486e-02 -6.59011443e+01] [-2.50323549e-02 8.41542173e-03 9.99651220e-01 -9.68499543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5257692310001 meters Centerline goodness : 0.607912 Centerline is valid? [False, False] Translation: X:433.22, Y:-65.90, Z:-0.97 [[ 9.96347764e-01 8.16952206e-02 2.48399561e-02 4.33217412e+02] [-8.14559351e-02 9.96621648e-01 -1.04986681e-02 -6.59008839e+01] [-2.56137290e-02 8.43696265e-03 9.99636311e-01 -9.70400941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55576923100006 meters Centerline goodness : 0.607912 Centerline is valid? [False, False] Translation: X:433.22, Y:-65.90, Z:-0.97 [[ 9.96625348e-01 7.83222580e-02 2.45670426e-02 4.33217449e+02] [-7.79756423e-02 9.96845929e-01 -1.47645934e-02 -6.58975325e+01] [-2.56459527e-02 1.27991371e-02 9.99589149e-01 -9.70581031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5857692310001 meters Centerline goodness : 0.595883 Centerline is valid? [False, False] Translation: X:433.24, Y:-65.90, Z:-0.97 [[ 9.96707725e-01 7.78226184e-02 2.27453371e-02 4.33240235e+02] [-7.76233627e-02 9.96937330e-01 -9.51703299e-03 -6.58971805e+01] [-2.34163161e-02 7.72013075e-03 9.99695992e-01 -9.68480132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61576923100006 meters Centerline goodness : 0.593867 Centerline is valid? [False, False] Translation: X:433.24, Y:-65.89, Z:-0.97 [[ 9.96684123e-01 7.81547281e-02 2.26406362e-02 4.33243926e+02] [-7.79495599e-02 9.96909054e-01 -9.80835276e-03 -6.58942298e+01] [-2.33372244e-02 8.01100184e-03 9.99695553e-01 -9.72319711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6457692310001 meters Centerline goodness : 0.638402 Centerline is valid? [False, False] Translation: X:433.26, Y:-65.89, Z:-0.98 [[ 9.96230564e-01 8.37990160e-02 2.24140415e-02 4.33255502e+02] [-8.36985252e-02 9.96476566e-01 -5.38620908e-03 -6.58932879e+01] [-2.27864261e-02 3.48988389e-03 9.99734264e-01 -9.79850816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67576923100006 meters Centerline goodness : 0.754493 Centerline is valid? [False, False] Translation: X:433.26, Y:-65.89, Z:-0.98 [[ 9.96222185e-01 8.39428297e-02 2.22476863e-02 4.33259225e+02] [-8.38305059e-02 9.96462348e-01 -5.93587277e-03 -6.58892206e+01] [-2.26672557e-02 4.04841334e-03 9.99734868e-01 -9.83602493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7057692310001 meters Centerline goodness : 0.083057 Centerline is valid? [False, False] Translation: X:433.26, Y:-65.89, Z:-0.99 [[ 9.96225849e-01 8.39063479e-02 2.22211981e-02 4.33262120e+02] [-8.37804925e-02 9.96462792e-01 -6.53706351e-03 -6.58850433e+01] [-2.26910983e-02 4.65068872e-03 9.99731707e-01 -9.86990331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73576923100006 meters Centerline goodness : 0.616980 Centerline is valid? [False, False] Translation: X:433.26, Y:-65.88, Z:-0.99 [[ 9.96235358e-01 8.37561307e-02 2.23611592e-02 4.33264403e+02] [-8.36147031e-02 9.96472234e-01 -7.18813154e-03 -6.58807598e+01] [-2.28843244e-02 5.29134911e-03 9.99724117e-01 -9.89973185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76576923100004 meters Centerline goodness : 0.614784 Centerline is valid? [False, False] Translation: X:433.27, Y:-65.88, Z:-0.99 [[ 9.96245595e-01 8.35954569e-02 2.25058717e-02 4.33266486e+02] [-8.34407246e-02 9.96482758e-01 -7.73030335e-03 -6.58770894e+01] [-2.30729313e-02 5.82337443e-03 9.99716824e-01 -9.92821137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79576923100007 meters Centerline goodness : 0.757806 Centerline is valid? [False, False] Translation: X:433.29, Y:-65.87, Z:-0.99 [[ 9.96673274e-01 7.90335689e-02 1.99017644e-02 4.33288611e+02] [-7.89001144e-02 9.96855023e-01 -7.40510847e-03 -6.58698258e+01] [-2.04244260e-02 5.81022221e-03 9.99774517e-01 -9.90743069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82576923100004 meters Centerline goodness : 0.681739 Centerline is valid? [False, False] Translation: X:433.29, Y:-65.87, Z:-1.00 [[ 9.96755169e-01 7.80525908e-02 1.96704513e-02 4.33293483e+02] [-7.78970920e-02 9.96924722e-01 -8.55233165e-03 -6.58653280e+01] [-2.02774909e-02 6.99230982e-03 9.99769939e-01 -9.95786365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85576923100007 meters Centerline goodness : 0.750681 Centerline is valid? [False, False] Translation: X:433.32, Y:-65.86, Z:-1.00 [[ 9.97173894e-01 7.33711702e-02 1.61522669e-02 4.33321411e+02] [-7.32575891e-02 9.97284735e-01 -7.51552042e-03 -6.58594903e+01] [-1.66598318e-02 6.31100463e-03 9.99841298e-01 -9.99099202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88576923100004 meters Centerline goodness : 0.069885 Centerline is valid? [False, False] Translation: X:433.33, Y:-65.86, Z:-1.00 [[ 9.97241626e-01 7.25042075e-02 1.58833056e-02 4.33326397e+02] [-7.23754522e-02 9.97340920e-01 -8.53721987e-03 -6.58558132e+01] [-1.64600550e-02 7.36410959e-03 9.99837405e-01 -1.00407575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91576923100007 meters Centerline goodness : 0.069678 Centerline is valid? [False, False] Translation: X:433.35, Y:-65.85, Z:-1.00 [[ 9.97673125e-01 6.68665309e-02 1.33117497e-02 4.33349916e+02] [-6.67570400e-02 9.97732997e-01 -8.50673768e-03 -6.58479598e+01] [-1.38503880e-02 7.59829055e-03 9.99875209e-01 -1.00270678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94576923100004 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 448.9757692310001 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 449.00576923100004 meters Centerline goodness : 0.079048 Centerline is valid? [False, False] Translation: X:433.40, Y:-65.84, Z:-1.01 [[ 9.97568631e-01 6.75408267e-02 1.71774213e-02 4.33400389e+02] [-6.73964811e-02 9.97687036e-01 -8.84834535e-03 -6.58414934e+01] [-1.77353151e-02 7.66913400e-03 9.99813304e-01 -1.01303471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0357692310001 meters Centerline goodness : 0.079745 Centerline is valid? [False, False] Translation: X:433.42, Y:-65.83, Z:-1.01 [[ 9.98003822e-01 6.13070376e-02 1.51597532e-02 4.33424757e+02] [-6.11811483e-02 9.98089340e-01 -8.63344156e-03 -6.58341251e+01] [-1.56600788e-02 7.68871657e-03 9.99847811e-01 -1.01220427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06576923100005 meters Centerline goodness : 0.089184 Centerline is valid? [False, False] Translation: X:433.43, Y:-65.83, Z:-1.02 [[ 9.98108401e-01 5.96918790e-02 1.47138920e-02 4.33431240e+02] [-5.95467695e-02 9.98174310e-01 -1.01108035e-02 -6.58307841e+01] [-1.52905619e-02 9.21551318e-03 9.99840624e-01 -1.01782387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0957692310001 meters Centerline goodness : 0.084307 Centerline is valid? [False, False] Translation: X:433.46, Y:-65.83, Z:-1.03 [[ 9.98319503e-01 5.38296235e-02 2.14602479e-02 4.33456794e+02] [-5.36831394e-02 9.98531008e-01 -7.34488771e-03 -6.58308167e+01] [-2.18240955e-02 6.18049117e-03 9.99742722e-01 -1.02800108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12576923100005 meters Centerline goodness : 0.085391 Centerline is valid? [False, False] Translation: X:433.48, Y:-65.83, Z:-1.03 [[ 9.98694435e-01 4.78412856e-02 1.79063405e-02 4.33478407e+02] [-4.77334404e-02 9.98839589e-01 -6.40268750e-03 -6.58301518e+01] [-1.81918745e-02 5.53959713e-03 9.99819168e-01 -1.02596910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1557692310001 meters Centerline goodness : 0.073370 Centerline is valid? [False, False] Translation: X:433.50, Y:-65.83, Z:-1.03 [[ 9.99081844e-01 3.84941612e-02 1.88060980e-02 4.33502835e+02] [-3.83989515e-02 9.99247908e-01 -5.39797428e-03 -6.58307300e+01] [-1.89997446e-02 4.67088365e-03 9.99808578e-01 -1.02694020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18576923100005 meters Centerline goodness : 0.775224 Centerline is valid? [False, False] Translation: X:433.52, Y:-65.83, Z:-1.02 [[ 9.99323971e-01 3.35112875e-02 1.51193509e-02 4.33522581e+02] [-3.34486991e-02 9.99430865e-01 -4.37374534e-03 -6.58310917e+01] [-1.52573158e-02 3.86506594e-03 9.99876130e-01 -1.02493574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2157692310001 meters Centerline goodness : 0.081821 Centerline is valid? [False, False] Translation: X:433.54, Y:-65.83, Z:-1.02 [[ 9.99535782e-01 2.81647173e-02 1.16176234e-02 4.33542874e+02] [-2.81278809e-02 9.99598813e-01 -3.32206800e-03 -6.58317044e+01] [-1.17065277e-02 2.99374671e-03 9.99926995e-01 -1.02298297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24576923100005 meters Centerline goodness : 0.065755 Centerline is valid? [False, False] Translation: X:433.57, Y:-65.84, Z:-1.03 [[ 9.99560064e-01 2.22089752e-02 1.96580783e-02 4.33566455e+02] [-2.21908609e-02 9.99753104e-01 -1.13915240e-03 -6.58395352e+01] [-1.96785242e-02 7.02421565e-04 9.99806112e-01 -1.03129324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2757692310001 meters Centerline goodness : 0.091736 Centerline is valid? [False, False] Translation: X:433.58, Y:-65.84, Z:-1.03 [[ 9.99712904e-01 1.71436157e-02 1.67393508e-02 4.33584892e+02] [-1.71671045e-02 9.99851840e-01 1.26051490e-03 -6.58424604e+01] [-1.67152609e-02 -1.54751920e-03 9.99859093e-01 -1.02629522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30576923100006 meters Centerline goodness : 0.096560 Centerline is valid? [False, False] Translation: X:433.61, Y:-65.85, Z:-1.03 [[ 9.99811349e-01 1.09753343e-02 1.60252288e-02 4.33611239e+02] [-1.10520498e-02 9.99927848e-01 4.70648382e-03 -6.58482136e+01] [-1.59724174e-02 -4.88270756e-03 9.99860511e-01 -1.02678034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3357692310001 meters Centerline goodness : 0.104234 Centerline is valid? [False, False] Translation: X:433.62, Y:-65.85, Z:-1.03 [[ 9.99838968e-01 9.55451007e-03 1.51904623e-02 4.33619554e+02] [-9.61108010e-03 9.99947131e-01 3.65541625e-03 -6.58502401e+01] [-1.51547335e-02 -3.80082436e-03 9.99877936e-01 -1.03319112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36576923100006 meters Centerline goodness : 0.100183 Centerline is valid? [False, False] Translation: X:433.63, Y:-65.85, Z:-1.04 [[ 9.99861277e-01 8.36253592e-03 1.44047001e-02 4.33627585e+02] [-8.40391869e-03 9.99960725e-01 2.81473374e-03 -6.58527744e+01] [-1.43805960e-02 -2.93539920e-03 9.99892285e-01 -1.03942611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3957692310001 meters Centerline goodness : 0.588210 Centerline is valid? [False, False] Translation: X:433.63, Y:-65.85, Z:-1.05 [[ 9.99876771e-01 7.41041765e-03 1.38393939e-02 4.33634702e+02] [-7.43946401e-03 9.99970229e-01 2.04851551e-03 -6.58543837e+01] [-1.38238015e-02 -2.15122074e-03 9.99902133e-01 -1.04533843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42576923100006 meters Centerline goodness : 0.069444 Centerline is valid? [False, False] Translation: X:433.66, Y:-65.86, Z:-1.05 [[ 9.99908573e-01 6.44838153e-03 1.18854944e-02 4.33662598e+02] [-6.55865692e-03 9.99935592e-01 9.26264185e-03 -6.58616369e+01] [-1.18249998e-02 -9.33974787e-03 9.99886463e-01 -1.04588350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4557692310001 meters Centerline goodness : 0.081032 Centerline is valid? [False, False] Translation: X:433.67, Y:-65.86, Z:-1.05 [[ 9.99910916e-01 6.79259840e-03 1.14900174e-02 4.33666619e+02] [-6.90151882e-03 9.99931374e-01 9.46663070e-03 -6.58621427e+01] [-1.14249259e-02 -9.54508594e-03 9.99889175e-01 -1.04905603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48576923100006 meters Centerline goodness : 0.619713 Centerline is valid? [False, False] Translation: X:433.67, Y:-65.86, Z:-1.05 [[ 9.99911999e-01 7.24409313e-03 1.11138622e-02 4.33670584e+02] [-7.35218558e-03 9.99925769e-01 9.71608090e-03 -6.58628427e+01] [-1.10426530e-02 -9.79693705e-03 9.99891034e-01 -1.05204243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51576923100004 meters Centerline goodness : 0.098051 Centerline is valid? [False, False] Translation: X:433.73, Y:-65.87, Z:-1.05 [[ 9.99849344e-01 1.25312290e-02 1.20107382e-02 4.33726761e+02] [-1.26087942e-02 9.99899997e-01 6.40416374e-03 -6.58658499e+01] [-1.19292851e-02 -6.55463984e-03 9.99907360e-01 -1.04906275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54576923100007 meters Centerline goodness : 0.093404 Centerline is valid? [False, False] Translation: X:433.73, Y:-65.86, Z:-1.05 [[ 9.99840609e-01 1.34806364e-02 1.17058990e-02 4.33731360e+02] [-1.35586564e-02 9.99886219e-01 6.61142269e-03 -6.58641517e+01] [-1.16154409e-02 -6.76908515e-03 9.99909626e-01 -1.05239791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57576923100004 meters Centerline goodness : 0.119831 Centerline is valid? [False, False] Translation: X:433.74, Y:-65.86, Z:-1.06 [[ 9.99721799e-01 2.02134253e-02 1.21549134e-02 4.33739610e+02] [-2.03624312e-02 9.99717459e-01 1.22627071e-02 -6.58641143e+01] [-1.19036078e-02 -1.25067992e-02 9.99850931e-01 -1.05806390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60576923100007 meters Centerline goodness : 0.096702 Centerline is valid? [False, False] Translation: X:433.74, Y:-65.86, Z:-1.06 [[ 9.99716888e-01 2.08157259e-02 1.15260337e-02 4.33744249e+02] [-2.09540379e-02 9.99708276e-01 1.20121237e-02 -6.58608801e+01] [-1.12726302e-02 -1.22502399e-02 9.99861420e-01 -1.06105815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63576923100004 meters Centerline goodness : 0.090039 Centerline is valid? [False, False] Translation: X:433.75, Y:-65.86, Z:-1.06 [[ 9.99712965e-01 2.13317691e-02 1.09061259e-02 4.33748848e+02] [-2.14592174e-02 9.99701196e-01 1.17056041e-02 -6.58574874e+01] [-1.06531659e-02 -1.19362811e-02 9.99872009e-01 -1.06403266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66576923100007 meters Centerline goodness : 0.067715 Centerline is valid? [False, False] Translation: X:433.75, Y:-65.85, Z:-1.07 [[ 9.99714221e-01 2.15064831e-02 1.04377774e-02 4.33752724e+02] [-2.16229150e-02 9.99703760e-01 1.11732231e-02 -6.58533248e+01] [-1.01943886e-02 -1.13957252e-02 9.99883099e-01 -1.06677348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69576923100004 meters Centerline goodness : 0.109787 Centerline is valid? [False, False] Translation: X:433.76, Y:-65.85, Z:-1.07 [[ 9.99651941e-01 2.43776006e-02 1.00860587e-02 4.33760183e+02] [-2.45131514e-02 9.99607790e-01 1.35414543e-02 -6.58484025e+01] [-9.75199470e-03 -1.37839822e-02 9.99857440e-01 -1.07290139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7257692310001 meters Centerline goodness : 0.185623 Centerline is valid? [False, False] Translation: X:433.76, Y:-65.84, Z:-1.07 [[ 9.99657344e-01 2.41842876e-02 1.00157067e-02 4.33762024e+02] [-2.43136409e-02 9.99619836e-01 1.30011923e-02 -6.58448878e+01] [-9.69747454e-03 -1.32402556e-02 9.99865318e-01 -1.07489557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75576923100004 meters Centerline goodness : 0.106444 Centerline is valid? [False, False] Translation: X:433.76, Y:-65.84, Z:-1.08 [[ 9.99664166e-01 2.39363056e-02 9.93013658e-03 4.33763767e+02] [-2.40587588e-02 9.99633629e-01 1.24009368e-02 -6.58414365e+01] [-9.62966586e-03 -1.26356789e-02 9.99873797e-01 -1.07679455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7857692310001 meters Centerline goodness : 0.185843 Centerline is valid? [False, False] Translation: X:433.77, Y:-65.83, Z:-1.08 [[ 9.99679826e-01 2.33345983e-02 9.78477355e-03 4.33767998e+02] [-2.34418504e-02 9.99664754e-01 1.09935570e-02 -6.58340870e+01] [-9.52496301e-03 -1.12194104e-02 9.99891694e-01 -1.08117087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81576923100005 meters Centerline goodness : 0.184755 Centerline is valid? [False, False] Translation: X:433.77, Y:-65.83, Z:-1.08 [[ 9.99685929e-01 2.30821227e-02 9.76008968e-03 4.33769206e+02] [-2.31829102e-02 9.99677740e-01 1.03426151e-02 -6.58301905e+01] [-9.51821488e-03 -1.05656340e-02 9.99898880e-01 -1.08273762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8457692310001 meters Centerline goodness : 0.067170 Centerline is valid? [False, False] Translation: X:433.77, Y:-65.82, Z:-1.09 [[ 9.99689211e-01 2.29229594e-02 9.79891050e-03 4.33771081e+02] [-2.30156564e-02 9.99690401e-01 9.45420973e-03 -6.58235534e+01] [-9.57915830e-03 -9.67679982e-03 9.99907295e-01 -1.08514045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87576923100005 meters Centerline goodness : 0.067163 Centerline is valid? [False, False] Translation: X:433.77, Y:-65.82, Z:-1.09 [[ 9.99694815e-01 2.26745853e-02 9.80507950e-03 4.33772046e+02] [-2.27610139e-02 9.99702250e-01 8.79479119e-03 -6.58197415e+01] [-9.60274180e-03 -9.01528071e-03 9.99913252e-01 -1.08644734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9057692310001 meters Centerline goodness : 0.105621 Centerline is valid? [False, False] Translation: X:433.77, Y:-65.82, Z:-1.09 [[ 9.99701073e-01 2.24211672e-02 9.74963719e-03 4.33773054e+02] [-2.25008878e-02 9.99713640e-01 8.14542854e-03 -6.58160059e+01] [-9.56421527e-03 -8.36236914e-03 9.99919295e-01 -1.08755426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93576923100005 meters Centerline goodness : 0.185568 Centerline is valid? [False, False] Translation: X:433.78, Y:-65.81, Z:-1.09 [[ 9.99714170e-01 2.19192741e-02 9.54590860e-03 4.33775632e+02] [-2.19867445e-02 9.99733606e-01 7.02134339e-03 -6.58097072e+01] [-9.38946288e-03 -7.22921993e-03 9.99929786e-01 -1.08996570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9657692310001 meters Centerline goodness : 0.067230 Centerline is valid? [False, False] Translation: X:433.78, Y:-65.81, Z:-1.09 [[ 9.99723172e-01 2.15459334e-02 9.45258959e-03 4.33777821e+02] [-2.16050160e-02 9.99747400e-01 6.19344992e-03 -6.58050168e+01] [-9.31675821e-03 -6.39595875e-03 9.99936143e-01 -1.09236422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9503.49 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%| | 0/14976 [00:00